Yarn feeding robot

Abstract

The application relates to a yarn feeding robot, which comprises a mounting seat, a arranging module arranged in the mounting seat and used for arranging a plurality of cones in a preset mode, a shaping module connected with the arranging module and used for obtaining corresponding thread ends from the plurality of cones arranged in the preset mode, and a feeding module connected with the shaping module and used for twisting the thread ends of the plurality of cones from which the corresponding thread ends have been obtained and feeding the plurality of cones with the twisted thread ends to a preset position. The yarn feeding robot provided by the application is stable and reliable in the feeding process, meets the requirements of a winding machine on feeding, and realizes automatic yarn feeding without manual adjustment of the cones after feeding.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of textile machinery, in particular to a yarn feeding robot. BACKGROUND

[0002] With the development of social economy and industrial upgrading, it is of great significance to automate the existing equipment in labor-intensive industries and replace workers with intelligent robots to do repetitive and boring work.

[0003] The textile industry, as one of the main labor-intensive industries, has a high labor cost. In particular, the bobbin winding process, as an important link in the textile industry, requires 3-5 yarn inserting workers to complete daily production for a bobbin winder. Yarn inserting workers repeat the mechanical action of picking up the bobbin, pulling out the thread end, and putting it into the yarn library every day. Moreover, there is a problem of large noise pollution and a large amount of short fibers in the air in the bobbin winding workshop, which threatens the health of workers. Therefore, it has become an urgent problem to intelligently transform the bobbin winding workshop to reduce the labor pressure of the textile factory, improve work efficiency, and improve the working environment of workers. SUMMARY

[0004] Therefore, it is necessary to provide a yarn feeding robot that can solve the problem that existing yarn feeding cannot be automated.

[0005] In one aspect of the present application, a yarn feeding robot is provided, comprising:

[0006] a mounting seat;

[0007] a sorting module arranged in the mounting seat, the sorting module being configured to arrange a plurality of bobbins in a predetermined manner;

[0008] a shaping module connected to the sorting module, the shaping module being configured to obtain thread ends from the plurality of bobbins arranged in the predetermined manner, respectively; and

[0009] a feeding module connected to the shaping module, the feeding module being configured to twist a plurality of thread ends of the plurality of bobbins and feed the plurality of bobbins to a predetermined position.

[0010] In one embodiment, the sorting module includes a lifting device, an identification device, a distinguishing device, and a dropping device.

[0011] The lifting device is configured to lift the bobbins one by one.

[0012] The identification device is arranged on the lifting device, and the identification device is configured to identify a first feature of the bobbins during lifting of the bobbins, wherein the bobbins also have a second feature different from the first feature, and the first feature and the second feature are both used to represent the end size of the bobbins.

[0013] The distinguishing device is connected with the lifting device, and is used for allowing the cop to fall down preferentially with the part having the second feature according to the first feature of the cop identified by the identifying device;

[0014] The dropping device is connected with the distinguishing device, and is used for receiving the plurality of cobs from the distinguishing device and arranging according to the preset mode.

[0015] In one of the embodiments, the arrangement module further comprises a feeding device connected with the lifting device, and the feeding device comprises:

[0016] a feeding shell having a feeding cavity; and

[0017] a feeding mechanism arranged at the bottom of the feeding shell, and the feeding mechanism comprises at least two feeding portions located in the feeding cavity and arranged in sequence along the conveying direction of the cop;

[0018] The feeding portion can move up and down in the vertical direction.

[0019] In one of the embodiments, the lifting device comprises a primary lifting device, and the primary lifting device comprises:

[0020] a first fixed frame;

[0021] a first lifting mechanism mounted on the first fixed frame, and the first lifting mechanism comprises a first lifting conveyor belt moving forward in a cycle and a first lifting unit mounted on the first lifting conveyor belt, and the first lifting conveyor belt is used for driving the first lifting unit to lift the cop from bottom to top; and

[0022] a first ejection mechanism mounted on the first fixed frame and located at the top end of the first lifting mechanism, and the first ejection mechanism protrudes from the plane where the first lifting conveyor belt is located;

[0023] The first ejection mechanism protrudes from one side of the plane where the first lifting conveyor belt is located, and the first ejection mechanism has a first ejection surface which is outwardly inclined relative to the plane where the first lifting conveyor belt is located.

[0024] In one of the embodiments, the lifting device further comprises a secondary lifting device, the primary lifting device is connected with the secondary lifting device, the primary lifting device is located on the upstream side of the secondary lifting device along the conveying direction of the cop, the identifying device is arranged on the secondary lifting device, and the distinguishing device is connected with the secondary lifting device;

[0025] The lifting height of the first lifting device is less than the lifting height of the second lifting device.

[0026] In one of the embodiments, the second lifting device comprises a second fixed frame and a second lifting mechanism, the second lifting mechanism is installed on the second fixed frame, and the second lifting mechanism has a conveying surface for conveying the tube yarn.

[0027] The identification device comprises an identification mechanism and two trigger units, the identification mechanism is installed on the second fixed frame, the identification mechanism comprises two identification units, the two identification units are respectively arranged on both sides of the conveying surface in the conveying direction of the tube yarn, and the two trigger units are respectively installed on the identification mechanism.

[0028] In one of the embodiments, the arrangement module further comprises an arrangement device, the arrangement device is located between the first lifting device and the second lifting device, and two ends of the arrangement device are respectively connected with the first lifting device and the second lifting device.

[0029] The arrangement device comprises:

[0030] A material arrangement housing, the material arrangement housing defines a material arrangement channel, the material arrangement channel has a second inlet and a second outlet arranged oppositely; and

[0031] A rotating conveying assembly, the rotating conveying assembly comprises a rotating conveying member accommodated in the material arrangement channel, the rotating conveying member has a central axis extending along an eighth direction perpendicular to the extending direction of the material arrangement channel.

[0032] The rotating conveying member comprises a plurality of accommodating cavities arranged at intervals around the central axis, and the rotating conveying member can rotate around the central axis as a rotating shaft to make the accommodating cavities selectively align with and communicate with the second outlet in sequence.

[0033] In one of the embodiments, the material arrangement device further comprises a second shearing assembly, the second shearing assembly is arranged in the material arrangement channel, and the second shearing assembly is used for shearing the thread end of the tube yarn in the arrangement channel.

[0034] In one of the embodiments, the distinguishing device comprises:

[0035] A distinguishing housing, the distinguishing housing defines a distinguishing channel having a first inlet and a first outlet; and

[0036] A first distinguishing member and a second distinguishing member, both of which are installed on the distinguishing housing.

[0037] The first distinguishing member and the second distinguishing member are arranged in the distinguishing channel and define a dropping opening.

[0038] The dropping opening is communicated between the first feeding opening and the first discharging opening and only allows the part of the tube yarn with the second feature to drop preferentially.

[0039] In one of the embodiments, the distinguishing device further comprises a second shearing assembly arranged in the distinguishing channel, and the second shearing assembly is used to shear the thread end of the tube yarn in the distinguishing channel.

[0040] In one of the embodiments, the dropping device comprises a receiving mechanism and a buffering mechanism.

[0041] The receiving mechanism is connected with the distinguishing device, and the receiving mechanism comprises a plurality of first receiving cylinders, each of which is capable of receiving a corresponding tube yarn from the distinguishing device.

[0042] The buffering mechanism is connected with the receiving mechanism, and the buffering mechanism comprises a plurality of second receiving cylinders which are arranged one by one corresponding to the plurality of first receiving cylinders, and the second receiving cylinders are used to buffer the tube yarn from the receiving mechanism.

[0043] In one of the embodiments, the shaping module comprises a conveying device and a thread end obtaining device.

[0044] The conveying device has a track, and the conveying device comprises a moving unit capable of positioning a plurality of tube yarns, and the moving unit is slidingly connected with the track.

[0045] The thread end obtaining device is arranged around the track, and the track has a thread end obtaining station, and the thread end obtaining device is capable of obtaining the thread end of the tube yarn when the tube yarn is located at the thread end obtaining station.

[0046] In one of the embodiments, the moving unit has a receiving platform, and the moving unit comprises a positioning column arranged on the receiving platform, and the positioning column is used to position the tube yarn.

[0047] The moving unit further comprises an elastic limiting member connected with the positioning column, and the elastic limiting member is arranged on the outer circumferential wall of the positioning column and surrounds the positioning column, and the outer edge of the elastic limiting member is capable of being in contact with the tube yarn when the tube yarn is inserted into the positioning column.

[0048] In one of the embodiments, the thread end obtaining device comprises a first support, a thread suction assembly and a thread shearing assembly.

[0049] The line suction assembly is arranged on the first support, and comprises a shell and a negative pressure mechanism. The shell has a line suction port, a line outlet port and a line suction channel connecting the line suction port and the line outlet port. The line suction port is arranged to face the tube yarn on the acquisition station. The negative pressure mechanism is connected to the line outlet port and is configured to provide negative pressure to the line suction channel to suck the tail yarn on the surface of the tube yarn to the line outlet port.

[0050] The line cutting assembly is arranged on the line suction assembly, and comprises a pair of scissors and a line cutting driving member. The pair of scissors is arranged at the line outlet port. The line cutting driving member is configured to drive the pair of scissors to switch between an open position and a cutting position to cut the tail yarn of the tube yarn at the line outlet port.

[0051] In one of the embodiments, the shaping module further comprises a line scraping device arranged around the track. The track has a line scraping station. The line scraping device is configured to scrape the surface of the tube yarn when the tube yarn is located at the line scraping station.

[0052] In one of the embodiments, the feeding device comprises a grabbing moving assembly and a twisting assembly. The grabbing moving assembly is arranged on the mounting base. The twisting assembly is arranged on the grabbing moving assembly.

[0053] The twisting assembly is configured to twist the tail yarn of a plurality of the tube yarns. The grabbing moving assembly is configured to grab a plurality of the tube yarns and feed the twisted tail yarn of the plurality of the tube yarns to the preset position.

[0054] In one of the embodiments, the yarn feeding robot further comprises a walking module. The mounting base, the arrangement module, the shaping module and the feeding module are all supported on the walking module. The walking module is configured to drive the mounting base, the arrangement module, the shaping module and the feeding module to move along a preset track. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 FIG. 1 is a structural schematic view of a yarn feeding robot according to an embodiment of the present application;

[0056] Figure 2 FIG. 2 is a structural schematic view of a feeding device and a first lifting device according to an embodiment of the present application;

[0057] Figure 3 FIG. 3 is a structural schematic view of the feeding device shown in FIG. 2; Figure 2

[0058] FIG. 4 is a structural schematic view of a feeding mechanism of the feeding device shown in FIG. 2; Figure 4 Figure 3

[0059] ​​Figure 5 Structure diagram of a first lifting device according to an embodiment of the present application;

[0060] Figure 6 Structure diagram of a first lifting device according to an embodiment of the present application; Figure 1 Structure diagram of a first lifting device according to an embodiment of the present application;

[0061] Figure 7 Structure diagram of a first lifting device according to an embodiment of the present application; Figure 6 Structure diagram of a first lifting device according to an embodiment of the present application;

[0062] Figure 8 Structure diagram of a first lifting device according to an embodiment of the present application;

[0063] Figure 9 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application;

[0064] Figure 10 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application; Figure 9 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application;

[0065] Figure 11 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application; Figure 9 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application;

[0066] Figure 12 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application; Figure 11 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application;

[0067] Figure 13 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application; Figure 10 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application;

[0068] Figure 14 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application; Figure 13 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application;

[0069] Figure 15 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application;

[0070] Figure 16 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application; Figure 15 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application;

[0071] Figure 17 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application; Figure 15 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application;

[0072] Figure 18 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application;

[0073] Figure 19 Structure diagram of a second lifting device, a recognition device and a distinguishing device according to an embodiment of the present application;Figure 18 Structure diagram of another view of the blanking device shown in the figure;

[0074] Figure 20 Structure diagram of the blanking guide mechanism in an embodiment of the present application;

[0075] Figure 21 Structure diagram of Figure 20 Partial structure diagram of the blanking guide mechanism shown in the figure;

[0076] Figure 22 Structure diagram of Figure 20 Another partial structure diagram of the blanking guide mechanism shown in the figure

[0077] Figure 23 Structure diagram of the conveying device in an embodiment of the present application;

[0078] Figure 24 Structure diagram of Figure 23 Top view diagram of the partial structure of the conveying device shown in the figure;

[0079] Figure 25 Structure diagram of Figure 24 Diagram of the station in the partial structure of the conveying device shown in the figure;

[0080] Figure 26 Structure diagram of Figure 23 Structure diagram of another partial structure of the conveying device shown in the figure;

[0081] Figure 27 Structure diagram of the thread taking device in an embodiment of the present application;

[0082] Figure 28 Structure diagram of Figure 27 Structure diagram of another view of the thread taking device shown in the figure;

[0083] Figure 29 Structure diagram of Figure 27 Structure diagram of the partial structure of the thread taking device shown in the figure;

[0084] Figure 30 Structure diagram of Figure 29 Structure diagram of another view of the partial structure of the thread taking device shown in the figure;

[0085] Figure 31 Structure diagram of Figure 27 Structure diagram of another partial structure of the thread taking device shown in the figure;

[0086] Figure 32 Enlarged structure diagram of the first pressing assembly in the thread taking device in an embodiment of the present application;

[0087] Figure 33A structure schematic view of the squeegee device shown in the embodiment of the present application;

[0088] Figure 34 A structure schematic view of the squeegee device shown in the embodiment of the present application; Figure 33 A structure schematic view of the squeegee device shown in the embodiment of the present application;

[0089] Figure 35 A structure schematic view of the squeegee device shown in the embodiment of the present application;

[0090] Figure 36 A structure schematic view of the squeegee device shown in the embodiment of the present application; Figure 35 A structure schematic view of the squeegee device shown in the embodiment of the present application;

[0091] Figure 37 A structure schematic view of the squeegee device shown in the embodiment of the present application; Figure 35 A structure schematic view of the squeegee device shown in the embodiment of the present application; DETAILED DESCRIPTION

[0092] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without some or all of these specific details. In other instances, well known process steps have not been described in detail in order to avoid unnecessarily obscuring the present application. The specific embodiments of the present application are shown in the drawings and described below.

[0093] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this description, the singular forms "a", "an" and "the" include plural references unless the context clearly dictates otherwise. The term "and / or" includes any and all combinations of one or more of the associated listed items.

[0094] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0095] In addition, the terms "first", "second", etc. are used herein only to describe different instances, and are not used to denote or imply relative importance or a number of the specified technical features. Thus, the features defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly and specifically limited.

[0096] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0097] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0098] It should be noted that when an element is referred to as "fixed to" or "provided on" another element, it can be directly on the other element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation.

[0099] In addition, the drawings are not drawn to scale 1:1, and the relative sizes of the elements are only drawn by example in the drawings, not necessarily according to the true scale.

[0100] Figure 1 The structure of the yarn feeding robot in an embodiment of the present application is shown. For ease of description, the drawings only show the structures related to the embodiments of the present application.

[0101] Referring to the drawings, an embodiment of the present application provides a yarn feeding robot 100, comprising a mounting base 10, an arrangement module 20, a shaping module 30 and a feeding module 40. In the embodiment of the present application, the yarn feeding robot 100 can feed the cones 200 to the yarn library of the winding machine. Specifically, the yarn library has a plurality of yarn holes and a negative pressure hole, each yarn hole is used to place a corresponding cone 200, and the negative pressure hole is used to fix the thread ends of the plurality of cones 200.

[0102] The arrangement module 20 is arranged on the mounting base 10, the arrangement module 20 is used to arrange the plurality of cones 200 in a preset manner, the shaping module 30 is connected with the arrangement module 20, the shaping module 30 is used to obtain the thread ends from the plurality of cones 200 arranged in the preset manner respectively, and the feeding module 40 is connected with the shaping module 30, the feeding module 40 is used to twist the plurality of thread ends of the plurality of cones 200 and feed the plurality of cones 200 to the preset position.

[0103] In some embodiments, the yarn feeding robot 100 further comprises a storage module 50, the storage module 50 is used to store the cones 200, and the storage module 50 is connected with the arrangement module 20 to supply the cones 200 to the arrangement module 20. Specifically, the arrangement module 20 is located on one side of the storage module 50 along a first direction, and more specifically, the arrangement module 20, the shaping module 30 and the feeding module 40 are all located on the same side of the storage module 50. In the embodiment of the present application, the first direction is parallel to the horizontal direction.

[0104] In this way, the plurality of cones 200 arranged in a disorderly manner can be arranged in a preset manner by the arrangement module 20, and then supplied to the shaping module 30, so as to facilitate the shaping module 30 to obtain the thread ends of the plurality of cones 200, and then the thread ends of the plurality of cones 200 are twisted by the feeding module 40 and fed to the preset position. At this time, the plurality of cones 200 can be correspondingly fed to the yarn holes of the yarn library, and the twisted thread ends can be correspondingly fed into the negative pressure hole. Therefore, the yarn feeding robot 100 of the present application has a stable and reliable feeding process, and meets the requirements of the winding machine for feeding. After feeding, there is no need to manually adjust the cones 200, and automatic yarn feeding is realized.

[0105] In the embodiment of the present application, the yarn feeding robot 100 can simultaneously feed three cones 200, and in other embodiments, the yarn feeding robot 100 can also feed two or more than three cones 200, which is not limited herein.

[0106] In some embodiments, the mounting base 10 comprises a mounting plate having a mounting platform, and the sorting module 20, the shaping module 30 and the feeding module 40 are arranged on the mounting platform. Specifically, the mounting plate is rectangular, and in other embodiments, the mounting plate can also have other shapes, which are not limited herein. In the embodiments of the present application, the storage bin module 50 is fixed to the mounting base 10, and in other embodiments, the storage bin module 50 is detachably connected to the mounting base 10. In this way, the storage bin module 50 can be connected to the mounting base 10 only when the sorting module 20 needs to store the cop 200, and when the storage bin module 50 is out of stock, the storage bin module 50 can be detached from the mounting base 10 and moved to other locations to collect the cop 200.

[0107] Generally, the winding machine comprises a plurality of yarn libraries arranged along a predetermined direction, so that in order to facilitate the yarn feeding robot 100 to go to the yarn library that needs to be fed to feed, the yarn feeding robot 100 can also comprise a walking module, and the mounting base 10, the sorting module 20, the shaping module 30 and the feeding module 40 are all supported by the walking module, and the walking module is used to drive the mounting base 10, the sorting module 20, the shaping module 30 and the feeding module 40 to move according to a predetermined trajectory.

[0108] Specifically, the walking module comprises an AGV moving mechanism, which has higher automation and better flexibility, so it can quickly respond to the feeding demand of the winding machine, and in addition, it occupies less space and is more sensitive in movement. In other embodiments, the walking module can also only comprise walking wheels and a driving member for driving the walking wheels to rotate, which is not limited herein.

[0109] The yarn feeding robot 100 in the embodiments of the present application will be described in detail below.

[0110] In some embodiments, the storage bin module 50 is funnel-shaped. Specifically, the storage bin module 50 comprises a bin body comprising a first bin body, a transition bin body and a second bin body, the first bin body is connected to the second bin body through the transition bin body, the radial dimension of the first bin body is greater than that of the second bin body, and the radial dimension of the transition bin body gradually decreases from the first bin body to the second bin body. In the embodiments of the present application, the first bin body, the transition bin body and the second bin body are connected in sequence along the conveying direction of the cop 200. Specifically, the first bin body and the second bin body are both rectangular. The transition bin body has an inclined inner wall inclined toward the second bin body relative to the first bin body, and preferably, the inclined inner wall comprises a plurality of inclined inner walls connected along the circumference of the transition bin body.

[0111] In some embodiments, the storage silo module 50 has a storage cavity 51 for storing yarn tubes 200. The storage silo module 50 also includes a first detection mechanism for detecting the material level signal in the storage cavity 51. Specifically, the first detection mechanism includes a first through-beam sensor. When the signal of the first through-beam sensor is turned on, that is, when there is no yarn tube 200 obstructing the transmission path from the transmitter to the receiver of the first through-beam sensor, a material shortage signal is sent to remind the staff to replenish the material in the storage cavity 51, thereby preventing empty feeding. It should be understood that when the signal of the first through-beam sensor is turned off, the yarn tube 200 in the storage cavity 51 is sufficient. In other embodiments, there are two first detection mechanisms, one of which is located in the first silo body and the other is located in the second silo body. When the first detection mechanism in the first silo body detects that the yarn tube 200 in the first silo body is sufficient, while the first detection mechanism in the second silo body sends a material shortage signal, it can be determined that the yarn tube 200 is stuck when it is sent from the first silo body to the second silo body, thus reminding the staff to clear the blockage.

[0112] In some embodiments, the sorting module 20 includes a lifting device 21 and an identification device 22. Figure 9 (Shown) a distinguishing device 23 and a feeding device 24. A lifting device 21 is provided on the mounting base 10. The lifting device 21 is used to lift the yarn tubes 200 one by one. An identification device 22 is provided on the lifting device 21. The identification device 22 is used to identify a first feature of the yarn tube 200 during the lifting process. The yarn tube 200 also has a second feature different from the first feature. Both the first and second features are used to characterize the end size of the yarn tube 200. Specifically, the outer diameter of the yarn tube 200 gradually decreases from one end to the other, forming a large end and a small end with unequal outer diameters. The small end is the part with the first feature, and the large end is the part with the second feature.

[0113] The separating device 23 is connected to the lifting device 21. The separating device 23 is used to identify the first feature of the yarn tube 200 according to the identification device 22, allowing the yarn tube 200 to fall preferentially with the portion having the second feature. The feeding device 24 is connected to the separating device 23. The feeding device 24 is used to receive multiple yarn tubes 200 from the separating device 23 and arrange them according to a preset pattern. Specifically, the feeding device 40 allows multiple yarn tubes 200 to be arranged at intervals along a first direction, facilitating the simultaneous acquisition of yarn ends from multiple yarn tubes 200 laterally.

[0114] Thus, the tube yarns 200 are lifted one by one by the lifting device 21, and in the lifting process, the big end and the small end of each tube yarn 200 are identified by the identification device 22, and then the posture of the tube yarn 200 is adjusted by the distinguishing device 23, so that the tube yarn 200 finally falls along the vertical direction to the preset arrangement of the dropping device 24 in the posture of the big end downward and the small end upward. Therefore, under the cooperation of the lifting device 21, the identification device 22, the distinguishing device 23 and the dropping device 24, the automatic transportation and posture adjustment of the tube yarn 200 can be realized efficiently and reliably.

[0115] As shown in Figures 2-4 some embodiments, the arrangement module 20 further comprises a feeding device 26, which is connected with the lifting device 21, and is used to provide the tube yarns 200 to the lifting device 21. Specifically, one end of the feeding device 26 away from the lifting device 21 is connected with the storage bin 50, and the feeding device 26 is used to transport the tube yarns 200 in the storage bin 50 to the lifting device 21.

[0116] Further, the feeding device 26 comprises a feeding mechanism 261 and a feeding mechanism 262, one end of the feeding mechanism 261 is connected with the storage bin 50, and the other end of the feeding mechanism 261 is connected with one end of the feeding mechanism 262, and the other end of the feeding mechanism 262 is connected with the lifting device 21. Specifically, the feeding mechanism 261 is located on one side of the feeding mechanism 262 along the first direction, and the feeding mechanism 261 is located below the storage bin 50 along the vertical direction.

[0117] Specifically, in the embodiments of the present application, the feeding device 26 further comprises a feeding shell 263, the feeding mechanism 261 comprises a conveying belt 2611, and the feeding shell 263 is used to accommodate the tube yarns 200, and the conveying belt 2611 is arranged at the bottom of the feeding shell 263.

[0118] Specifically, in the embodiments of the present application, the feeding device 26 further comprises a feeding shell 264, and the feeding mechanism 262 is arranged at the bottom of the feeding shell 264, and the feeding shell 264 is used to accommodate the tube yarns 200.

[0119] The end of the feeding shell 264 away from the lifting device 21 (i.e. the left side in Figure 2 ) is defined as the front end of the feeding shell 264, and the end of the feeding shell 264 close to the lifting device 21 (i.e. the right side in Figure 2 ) is defined as the rear end of the feeding shell 264, Figure 1 the right side of the feeding shell 264 away from the screen in Figure 1 is defined as the right side of the feeding shell 264, and the left side of the feeding shell 264 close to the screen in is defined as the left side of the feeding shell 264.

[0120]

[0120] Further, the feeding shell 264 has a feeding cavity 2641, and the feeding shell 264 comprises a feeding shell bottom wall 2642, a feeding shell front wall 2643, a feeding shell left side wall 2644, and a feeding shell right side wall 2645. The feeding shell bottom wall 2642 extends downwardly and obliquely along the second direction from the front end of the feeding shell 264 to the rear end of the feeding shell 264. The feeding shell left side wall 2644 and the feeding shell right side wall 2645 are oppositely and parallelly arranged in the third direction on the left and right sides of the feeding shell bottom wall 2642. The feeding shell front wall 2643 is arranged at the front end of the feeding shell bottom wall 2642 in the second direction and is connected between the feeding shell left side wall 2644 and the feeding shell right side wall 2645. In this way, the feeding shell bottom wall 2642, the feeding shell left side wall 2644, the feeding shell front wall 2643, and the feeding shell right side wall 2645 jointly define the feeding cavity 2641 for storing the tube yarn 200. The feeding shell bottom wall 2642 is provided with a connecting groove penetrating through the feeding shell bottom wall 2642 in the vertical direction and connecting the feeding cavity 2641 with the external environment. Specifically, the second direction is perpendicular to the first direction and the vertical direction.

[0121] Further, one end of the feeding cavity 2641 provided with the feeding shell front wall 2643 is the feeding inlet end, and the other end of the feeding cavity 2641 away from the feeding shell front wall 2643 is the feeding outlet end. Specifically, one end of the feeding shell right side wall 2645 close to the feeding shell front wall 2643 is provided with a hollow groove connected with the feeding inlet end. In this way, the feeding inlet end and the feeding outlet end of the feeding cavity 2641 are oppositely arranged in the second direction. The feeding mechanism 262 can receive the tube yarn 200 conveyed by the upstream work station and then orderly convey the tube yarn 200 to the downstream lifting device 21, so as to realize the conveying of the tube yarn 200.

[0122] The feeding mechanism 262 is located directly below the feeding shell 264, and the feeding mechanism 262 comprises a fourth fixed seat 2621, at least two first lifting mechanisms 2622, and at least two feeding parts 2623. The fourth fixed seat 2621 is arranged directly below the connecting groove of the feeding shell bottom wall 2642. The first lifting mechanism 2622 is installed on the side of the fourth fixed seat 2621 facing the feeding shell 264, and the at least two first lifting mechanisms 2622 are arranged in the second direction. At least part of the feeding part 2623 is installed on one end of the first lifting mechanism 2622 facing the feeding shell 264. The at least two feeding parts 2623 are arranged in sequence along the conveying direction of the tube yarn 200. The first lifting mechanism 2622 can drive the feeding part 2623 to move up and down in the vertical direction. Specifically, the feeding part 2623 is arranged in sequence along the direction from the feeding inlet end of the feeding cavity 2641 to the feeding outlet end in the second direction.

[0123] Therefore, the feeding part 2623 extends into the feeding cavity 2641 through the connecting groove on the bottom wall 2642 of the feeding shell, at least two feeding parts 2623 are arranged in sequence along the second direction, and the first lifting mechanism 2622 can drive at least part of the feeding parts 2623 to lift in the ninth direction, so that each adjacent two feeding parts 2623 can be lifted relatively in the vertical direction to change the height difference between them, thereby allowing or preventing the tube yarn 200 to move in the feeding cavity 2641, and then the automatic flow limiting conveying of the tube yarn 200 is realized, the accumulation of the tube yarn 200 is effectively avoided, and the production efficiency is improved. When the height of the feeding part 2623 located upstream of the conveying direction of the tube yarn 200 is higher than the height of the feeding part 2623 located downstream, the tube yarn 200 can be normally conveyed along the feeding part 2623. When the height of the feeding part 2623 located upstream of the conveying direction of the tube yarn 200 is lower than the height of the feeding part 2623 located downstream, the tube yarn 200 cannot continue to move under the blockage of the feeding part 2623 located downstream, so that the tube yarn 200 can be allowed or prevented to move from the feeding inlet end to the feeding outlet end of the feeding cavity according to the need, and then the automatic flow limiting conveying of the tube yarn 200 is realized.

[0124] Specifically, the feeding mechanism 262 has a feeding mode allowing the tube yarn 200 to move from the feeding inlet end to the feeding outlet end and a stop feeding mode preventing the tube yarn 200 from moving from the feeding inlet end to the feeding outlet end, and the feeding mechanism 262 can be selectively switched between the feeding mode and the stop feeding mode, so as to control the smooth feeding of the tube yarn 200 while limiting the feeding speed of the tube yarn 200, thereby avoiding the accumulation of the tube yarn 200 at the feeding outlet end of the feeding cavity 2641.

[0125] When the feeding mechanism 262 is in the feeding mode, in the direction from the feeding inlet end to the feeding outlet end, at least two feeding parts 2623 form a stepped structure with a downward trend, and the tube yarn 200 automatically moves along the feeding surface from the feeding inlet end to the feeding outlet end under the action of gravity.

[0126] When the feeding mechanism 262 is in the stop feeding mode, in at least two adjacent feeding parts 2623, the height of the feeding part 2623 close to the feeding inlet end of the feeding cavity 2641 relative to a horizontal plane is lower than the height of the feeding part 2623 close to the feeding outlet end relative to the same horizontal plane, so that the tube yarn 200 is blocked by the feeding part 2623 close to the feeding outlet end of the feeding cavity 2641 and cannot move in the second direction towards the feeding outlet end, thereby stopping the conveying of the tube yarn 200.

[0127] Further, the feeding part 2623 has a supporting surface for carrying the tube yarn 200 and communicating with the feeding cavity 2641, and the supporting surface extends downward relative to the horizontal direction in the direction from the feeding inlet end to the feeding outlet end of the feeding cavity 2641, so that the tube yarn 200 on the supporting surface can gradually roll down in the direction from the feeding inlet end to the feeding outlet end under the action of gravity.

[0128] Specifically, in an embodiment, the feeding mechanism 262 comprises two feeding portions 2623, the two feeding portions 2623 are arranged along a direction from the feeding inlet end of the feeding cavity 2641 to the feeding outlet end, and the support surfaces of the two feeding portions 2623 are both smooth planes extending downwardly along the direction from the feeding inlet end of the feeding cavity 2641 to the feeding outlet end, so that the tube yarn 200 moves along the support surfaces smoothly.

[0129] In the above embodiment, when the feeding mechanism 262 is in the feeding mode, the height of the feeding portion 2623 close to the feeding inlet end of the feeding cavity 2641 is higher than the height of the other feeding portion 2623, so that the tube yarn 200 moves from the feeding inlet end of the feeding cavity 2641 to the feeding outlet end of the feeding cavity 2641 along the second direction under the action of gravity.

[0130] When the feeding mechanism 262 is in the stop feeding mode, the height of the feeding portion 2623 close to the feeding inlet end of the feeding cavity 2641 is lower than the height of the other feeding portion 2623, so that the tube yarn 200 on the feeding portion 2623 close to the feeding inlet end of the feeding cavity 2641 is blocked by the side wall of the other feeding portion 2623 and cannot continue to move, thereby stopping the delivery of the tube yarn 200.

[0131] In other embodiments, the feeding mechanism 262 comprises three feeding portions 2623, the feeding portion 2623 closest to the feeding outlet end is fixedly arranged relative to the feeding cavity 2641, and the support surface of the feeding portion 2623 is configured as an arc surface extending downwardly relative to the delivery direction of the tube yarn 200, and the support surfaces of the remaining feeding portions 2623 are smooth planes extending downwardly and obliquely relative to the delivery direction of the tube yarn 200. In this way, the support surface in the form of an arc surface can enable the tube yarn 200 to adjust its posture more efficiently to make its central axis parallel to the second direction, thereby saving the time wasted due to adjusting the posture of the tube yarn 200.

[0132] In the above embodiment, when the feeding mechanism 262 is in the feeding mode, the heights of the three feeding portions 2623 along the direction from the feeding inlet end of the feeding cavity 2641 to the feeding outlet end gradually decrease, so that the tube yarn 200 moves from the feeding inlet end of the feeding cavity 2641 to the feeding outlet end of the feeding cavity 2641 along the first direction.

[0133] When the feeding mechanism 262 is in the stop feeding mode, the heights of the three feeding portions 2623 along the direction from the feeding inlet end of the feeding cavity 2641 to the feeding outlet end gradually increase, so that the tube yarn 200 close to the feeding inlet end of the feeding cavity 2641 cannot continue to move to the next feeding portion 2623, thereby stopping the delivery of the tube yarn 200.

[0134] It can be understood that the number of the feeding portions 2623 is not limited, so that the conveying process of the tube yarn 200 can be more accurately adjusted. The shape of the arc-shaped supporting surface of the feeding portion 2623 is preferably a circular arc surface, and can also be set as a curved surface, a continuously derivable arc, or a multi-faceted shape with edges and corners, etc.

[0135] In some embodiments, in order to control the lifting of the feeding portion 2623, the feeding mechanism 262 further comprises a second detection mechanism installed on the cavity wall of the feeding cavity 2641, which is used to detect the number of the tube yarn 200 in the feeding outlet end, and the feeding portion 2623 is configured to rise or fall according to the detection result of the second detection mechanism.

[0136] Specifically, in some embodiments, the second detection mechanism is located at the feeding outlet end of the feeding cavity 2641, and comprises a grating sensor emitting unit 2624a and a grating sensor receiving unit 2624b. The grating sensor emitting unit 2624a is installed on one of the left side wall 2644 or the right side wall 2645 of the feeding shell, and the grating sensor receiving unit 2624b is installed on the other one of the left side wall 2644 or the right side wall 2645 of the feeding shell. Both the grating sensor emitting unit 2624a and the grating sensor receiving unit 2624b extend longitudinally along the vertical direction, and the grating sensor emitting unit 2624a and the grating sensor receiving unit 2624b are oppositely arranged in the third direction, and the grating sensor emitting unit 2624a can emit light to the grating sensor receiving unit 2624b.

[0137] When the grating sensor receiving unit 2624b receives light, it indicates that the tube yarn 200 at the feeding outlet end of the feeding cavity 2641 is below the threshold value, so that the feeding mechanism 262 is in the feeding mode, and the height of the feeding portion 2623 close to the feeding outlet end of the feeding cavity 2641 is lowered relative to the height of the remaining feeding portions 2623, until the height of the feeding portion 2623 in the direction from the feeding inlet end to the feeding outlet end of the feeding cavity 2641 gradually decreases to form a stepped structure, so that the tube yarn 200 moves from the feeding surface to the feeding outlet end.

[0138] When the grating sensor receiving unit 2624b does not receive light, it indicates that the tube yarn 200 at the feeding outlet end of the feeding cavity 2641 exceeds the threshold value, so that the feeding mechanism 262 is in the stop feeding mode, and the height of the feeding portion 2623 close to the feeding outlet end of the feeding cavity 2641 is raised relative to the height of the remaining feeding portions 2623. At this time, in at least two adjacent feeding portions 2623, the height of the feeding portion 2623 close to the feeding inlet end is lower than the height of the feeding portion 2623 close to the feeding inlet end, so that the tube yarn 200 is blocked by the feeding portion 2623 close to the feeding outlet end and cannot move, thereby stopping the conveying of the tube yarn 200 and avoiding the tube yarn 200 from being blocked at the feeding outlet end.

[0139] In some embodiments, in order to further avoid the accumulation of the tubes 200 in the feeding cavity 2641, the feeding mechanism 262 further comprises at least two groups of third detection mechanisms 2625, which are installed on the cavity wall of the feeding cavity 2641 and located at the end of the feeding cavity 2641 away from the feeding inlet end, and are arranged in the second direction. The third detection mechanisms 2625 are used to detect the number of the tubes 200 on the feeding part 2623, so as to control the conveying speed of the tubes 200 of the upstream station, and further control the number of the tubes 200 conveyed to the feeding inlet end to keep at a preset value, and the specific value of the preset value can be set according to the needs.

[0140] Specifically, in some embodiments, the feeding mechanism 262 further comprises two groups of third detection mechanisms 2625, each group of third detection mechanisms 2625 is correspondingly arranged with one feeding part 2623, so as to detect whether there is a tube 200 on each feeding part 2623. Each group of third detection mechanisms 2625 comprises one photoelectric proximity switch 2625a and one receiving plate 2625b, the photoelectric proximity switch 2625a is installed on the left side wall 2644 of the feeding shell, the receiving plate 2625b is installed on the right side wall 2645 of the feeding shell, the photoelectric proximity switch 2625a and the receiving plate 2625b are oppositely arranged in the third direction, and the photoelectric proximity switch 2625a can emit light to the receiving plate 2625b.

[0141] When any one of the receiving plates 2625b receives the light emitted by the corresponding photoelectric proximity switch 2625a, it indicates that the number of the tubes 200 in the feeding cavity 2641 is small, so that the upstream station conveys the tubes 200 into the feeding cavity 2641. When all the receiving plates 2625b do not receive the light emitted by the photoelectric proximity switch 2625a, it indicates that the number of the tubes 200 in the feeding cavity 2641 is large, so that the upstream station stops conveying the tubes 200 into the feeding cavity 2641, so that the number of the tubes 200 entering the feeding inlet end of the feeding cavity 2641 is kept at a preset value, avoiding the accumulation of too many tubes 200, and also avoiding the influence of too few tubes 200 on the feeding efficiency.

[0142] Please refer to Figure 1In the embodiments of the present application, the lifting device 21 comprises a first lifting device 211 and a second lifting device 212, the first lifting device 211 is connected with the second lifting device 212, the first lifting device 211 is located at the upstream side of the second lifting device 212 along the conveying direction of the tube yarn 200, the identification device 22 is arranged at the second lifting device 212, and the distinguishing device 23 is connected with the second lifting device 212. The first lifting device 211 and the second lifting device 212 are arranged along a fourth direction, the lifting height of the first lifting device 211 is less than the lifting height of the second lifting device 212, and the fourth direction is perpendicular to the vertical direction. Specifically, the fourth direction is arranged in parallel with the second direction. Further, the feeding device 26 is located between the first lifting device 211 and the second lifting device 212. In other embodiments, the lifting device 21 can only comprise one of the first lifting device 211 or the second lifting device 212, which is not limited herein.

[0143] As shown in the drawings, the first lifting device 211 will be described in detail below. Figures 5-8

[0144] The first lifting device 211 comprises a first fixed frame 213 and a first lifting mechanism 214, the first fixed frame 213 is fixed to the mounting seat 10, and the first lifting mechanism 214 is installed on the first fixed frame 213.

[0145] Specifically, the first fixed frame 213 comprises two first fixed vertical rods, the two first fixed vertical rods are arranged in parallel to the horizontal direction and are located at the two sides of the first fixed frame 213, and each first fixed vertical rod extends along the vertical direction. Specifically, the fifth direction is arranged in parallel with the first direction. In this way, the first fixed frame 213 extends longitudinally along the vertical direction as a whole, thereby providing support for the first lifting mechanism 214 along the vertical direction.

[0146] Specifically, the lifting mechanism 214 comprises a first fixed plate 2141, a first driving assembly 2142, a first driving wheel unit 2143, a first driven wheel unit 2144, a first lifting conveyor belt 2145, and a plurality of first lifting units 2146. The first fixed plate 2141 is fixedly connected to the first fixed frame 213, the first driving assembly 2142, the first driving wheel unit 2143, the first driven wheel unit 2144, and the first lifting conveyor belt 2145 are drivingly connected, the first driving assembly 2142 drives the first lifting conveyor belt 2145 to move forward around the first fixed plate 2141 by means of the first driving wheel unit 2143 and the first driven wheel unit 2144, so as to lift the tube yarn 200 from bottom to top.

[0147] ​Specifically, the first driving assembly 2142 is located on one side of the first fixed frame 213 in the fifth direction and close to the bottom of the first fixed frame 213, and the first driving assembly 2142 comprises a first driving motor 2142a, a first driving wheel (not shown in the figure) and a first driving belt 2142b. The first driving motor 2142a is located on one side of the first fixed frame 213 in the fifth direction, and has an output shaft for outputting torque, the first driving wheel is sleeved on the output shaft of the first driving motor 2142a and can rotate synchronously with the output shaft, and the first driving belt 2142b is wound around the driving wheel and the first driving wheel unit 2143 to drive the driving wheel and the first driving wheel unit 2143 in transmission. In this way, the first driving motor 2142 drives the first driving wheel unit 2143 to work in turn through the driving wheel and the first driving belt 2142b. It can be understood that the structure of the first driving assembly 2142 is not limited to this, and can be set as needed.

[0148] The first driving wheel unit 2143 is arranged at the bottom of the first fixed frame 213, and the first driving wheel unit 2143 comprises a first rotating shaft 2143a, two first driving wheels 2143b and a first idler wheel 2143c. The central axis of the first rotating shaft 2143a extends in the fifth direction, and the two ends of the first rotating shaft 2143a are rotatably mounted on the two first fixed vertical rods respectively. The two first driving wheels 2143b are respectively sleeved on the two ends of the first rotating shaft 2143a, and the first idler wheel 2143c is sleeved on one end of the first rotating shaft 2143a close to the first driving assembly 2142, and the first driving belt 2142b is wound around the first idler wheel 2143c.

[0149] The first driving wheel unit 2143 is arranged at the bottom of the first fixed frame 213, and the first driving wheel unit 2143 comprises a first rotating shaft 2143a, two first driving wheels 2143b and a first idler wheel 2143c. The central axis of the first rotating shaft 2143a extends in the fifth direction, and the two ends of the first rotating shaft 2143a are rotatably mounted on the two first fixed vertical rods respectively. The two first driving wheels 2143b are respectively sleeved on the two ends of the first rotating shaft 2143a, and the first idler wheel 2143c is sleeved on one end of the first rotating shaft 2143a close to the first driving assembly 2142, and the first driving belt 2142b is wound around the first idler wheel 2143c.

[0150] The first fixed plate 2141 is mounted on the first fixed frame 213, and is located between the first driving wheel unit 2143 and the first driven wheel unit 2144 in the lifting direction of the tube yarn 200. The width direction of the first fixed plate 2141 extends in the fifth direction, and the thickness direction of the first fixed plate 2141 is a fourth direction perpendicular to the vertical direction and the fifth direction.

[0151] The first lifting conveyors 2145 are two, and the two first lifting conveyors 2145 are arranged in the fifth direction with an interval, one of the first lifting conveyors 2145 is arranged around a first driving wheel 2143b and a first driven wheel 2144b, and the other first lifting conveyor 2145 is arranged around another first driving wheel 2143b and another first driven wheel 2144b, and the two first lifting conveyors 2145 are arranged outside the first fixed plate 2141, the width direction of the first lifting conveyor 2145 extends along the fifth direction, and the plane of the first lifting conveyor 2145 is perpendicular to the fourth direction. In this way, the first lifting conveyor 2145 is circulated and moved forward by the first driving wheel unit 2143 and the first driven wheel unit 2144.

[0152] A plurality of first lifting units 2146 are arranged along the extension direction of the first lifting conveyor 2145 with an interval, each of the first lifting units 2146 extends along the fifth direction, and the two ends of the first lifting unit 2146 in the fifth direction are fixedly connected to the two first lifting conveyors 2145, and the middle part of the first lifting unit 2146 abuts against the first fixed plate 2141 in the fourth direction, and the first fixed plate 2141 is used to support and guide the first lifting unit 2146. In this way, the tube yarn 200 can be supported on the first lifting unit 2146, and the central axis direction of the tube yarn 200 supported on the first lifting unit 2146 extends along the fifth direction, and the first lifting unit 2146 can be moved in the vertical direction along the first fixed plate 2141 under the drive of the first lifting conveyor 2145 to lift the tube yarn 200.

[0153] Specifically, in some embodiments, the first lifting unit 2146 includes a first lifting mounting seat 2146a and a plurality of first lifting teeth 2146b, the first lifting mounting seat 2146a extends along the fifth direction, and the two ends of the first lifting mounting seat 2146a are connected to the two first lifting conveyors 2145, and the middle part of the first lifting mounting seat 2146a abuts against the first fixed plate 2141. The plurality of first lifting teeth 2146b are arranged with an interval along the first direction, and each of the first lifting teeth 2146b includes a first lifting part 2146c and a second lifting part 2146d connected to each other. One end of the first lifting part 2146c is connected to the first lifting mounting seat 2146a, and the other end of the first lifting part 2146c extends away from the first lifting conveyor 2145, and preferably, the included angle between the first lifting part 2146c and the conveying direction of the tube yarn 200 is an acute angle. One end of the second lifting part 2146d is connected to the end of the first lifting part 2146c away from the first lifting mounting seat 2146a, and the other end of the second lifting part 2146d extends downwardly away from the lifting direction of the tube yarn 200.

[0154] In this way, the tube yarn 200 can be rolled from the upstream station to the first lifting part 2146c, and since one end of the first lifting part 2146c is provided with the second lifting part 2146d extending towards the bending, the hollow tube yarn 200 can be prevented from being inserted into the first lifting part 2146c during the rolling process.

[0155] Further, the size of the first lifting part 2146c in the direction perpendicular to the plane of the first lifting conveyor belt 2145 matches the radial size of the tube yarn 200, so that only one tube yarn 200 can be conveyed by one set of first lifting units 2146 at a time, thereby ensuring the orderly conveying of the tube yarn 200.

[0156] In order to prevent the tube yarn 200 from being stacked in the vertical direction, the primary lifting device 211 of the present application further comprises a blocking mechanism 215 installed on the first lifting mechanism 214, and the tube yarn 200 stacked above can fall under the blocking of the blocking mechanism 215, thereby realizing the one-by-one conveying of the tube yarn 200.

[0157] In combination Figure 4 as shown, Figure 4 a structural schematic view of the blocking mechanism of the lifting device in an embodiment of the present application is shown.

[0158] Specifically, the blocking mechanism 215 comprises a blocking piece mounting seat 2151, a blocking piece 2152, and a restoring piece (not shown in the figure). The blocking piece mounting seat 2151 is installed on the first fixed plate 2141, one end of the blocking piece 2152 is rotatably installed on the blocking piece mounting seat 2151, and the rotation axis of the blocking piece 2152 extends along the fourth direction. The other end of the blocking piece 2152 is connected with the blocking piece mounting seat 2151 through the restoring piece, and the restoring piece is used to provide the driving force for switching the blocking piece 2152 from the non-blocking state to the blocking state. Specifically, in an embodiment, the restoring piece is a torsional spring which can be deformed and restored.

[0159] In this way, when the first lifting unit 2146 with two tube yarns 200 stacked in the vertical direction moves below the blocking mechanism 215, the tube yarn 200 above contacts the blocking piece 2152 protruding out of the plane of the first lifting conveyor belt 2145, and thus falls under the resistance of the blocking piece 2152. The first lifting unit 2146 with the remaining one tube yarn 200 continues to move upwards, and the first lifting unit 2146 pushes the blocking piece 2152 to rotate inward and retract into the plane of the first lifting conveyor belt 2145, so that the remaining tube yarn 200 on the blocking piece 2152 moves upwards smoothly. When the first lifting unit 2146 leaves the blocking piece 2152, the blocking piece 2152 is re-extended out of the plane of the first lifting conveyor belt 2145 under the restoring action of the restoring piece to prepare for blocking the next stacked tube yarn 200, thereby ensuring the one-by-one conveying of the tube yarn 200.

[0160] In order to push the tube yarn 200 lifted to the top end of the first lifting conveyor 2145 out of the plane where the first lifting conveyor 2145 is located and make it fall to the next station, the first lifting device 211 further comprises a first ejection mechanism 216. The first ejection mechanism 216 is installed at the top end of the first fixed frame 213, protrudes out of the plane where the first lifting conveyor 2145 is located, and has a first ejection surface 2161 on the side away from the plane where the first lifting conveyor 2145 is located. The first ejection surface 2161 is inclined outward relative to the plane where the first lifting conveyor 2145 is located, and gradually increases in distance relative to the plane where the first lifting conveyor 2145 is located in the lifting direction of the tube yarn 200.

[0161] In this way, the tube yarn 200 moving to the top end of the first lifting conveyor 2145 is pushed by the first ejection surface 2161 to move away from the first lifting conveyor 2145 until it falls from the first lifting unit 2146 to the next station, thereby achieving the one-by-one conveying of the tube yarn 200 and effectively improving the production efficiency of the production equipment provided with the first lifting device 211.

[0162] Specifically, in an embodiment, the first ejection mechanism 216 comprises a mounting crossbar 2162 and two ejection pieces 2163. The mounting crossbar 2162 extends in the fifth direction and is located in front of the first lifting conveyor 2145, and both ends of the mounting crossbar 2162 are fixedly connected to two fixed vertical bars. The two ejection pieces 2163 are spaced apart in the first direction, each ejection piece 2163 is fixedly connected to one side of the mounting crossbar 2162 facing the first lifting conveyor 2145, and the cross section of each ejection piece 2163 perpendicular to the fifth direction is substantially a right triangle, and the hypotenuse of the right triangle forms the inclined first ejection surface 2161.

[0163] Further, in order to avoid interference between the movement of the first lifting unit 2146 and the first ejection mechanism 216, each group of first lifting units 2146 is provided with two avoidance grooves, and the two avoidance grooves are spaced apart in the first direction and each extends in the lifting direction of the tube yarn 200. In this way, the ejection piece 2163 can pass through the avoidance groove in the longitudinal direction of the first lifting conveyor 2145, thereby achieving the falling of the tube yarn 200 while avoiding interference with the movement of the first lifting unit 2146.

[0164] In some embodiments, the primary lifting device 211 further includes a first guide plate 217 mounted on a fixed frame. Two sets of first guide plates 217 are respectively mounted on two fixed vertical rods 12 and located on opposite sides of the two first lifting conveyor belts 2145 in the fifth direction. Each set of first guide plates 217 extends vertically. In this way, the yarn tube 200 can be positioned at the upper limit of the first guide plate 217 in the first direction to prevent misalignment of the yarn tube 200 in the fifth direction.

[0165] In some embodiments, the primary lifting device 211 further includes a first guard plate 218 and a second guard plate 219, which are disposed on opposite sides of the first fixed frame 213 in the fourth direction to protect the first lifting mechanism 214. Preferably, the first guard plate 218 and the second guard plate 219 are formed of transparent material, thereby facilitating the operator to see the situation inside the first guard plate 218 and the second guard plate 219.

[0166] like Figures 9-11 As shown, the secondary lifting device 212 will be described in detail below.

[0167] The secondary lifting device 212 includes a second fixed frame 2121 and a second lifting mechanism 2122. The second lifting mechanism 2122 is installed on the second fixed frame 2121 and forms a vertically upward extending conveying surface to lift the tube yarn 200 from bottom to top.

[0168] Specifically, the second fixed frame 2121 includes two second fixed vertical rods, which are spaced apart in a sixth direction parallel to the horizontal direction, and each second fixed vertical rod extends vertically. Specifically, the sixth direction is parallel to the first direction. Thus, the second fixed frame 2121 extends longitudinally in the vertical direction, thereby providing vertical support for the second lifting mechanism 2122.

[0169] The second lifting mechanism 2122 includes a second fixed plate 2122a, a second drive assembly (not shown), a second driving wheel unit 2122b, a second driven wheel unit 2122c, a second lifting conveyor belt 2122d, and multiple sets of second lifting units 2122e. The second fixed plate 2122a is fixed to the second fixed frame 2121. The second drive assembly, the second driving wheel unit 2122b, the second driven wheel unit 2122c, and the second lifting conveyor belt 2122d are connected by transmission. The second lifting units 2122e are installed on the second lifting conveyor belt 2122d to support the bobbin 200. The second drive assembly drives the second lifting conveyor belt 2122d to run around the second fixed plate 2122a to lift the bobbin 200 via the second driving wheel unit 2122b and the second driven wheel unit 2122c.

[0170] Specifically, the second driving assembly is located on one side of the second fixed frame 2121 in the sixth direction and close to the bottom of the second fixed frame 2121, and the second driving assembly comprises a second driving motor, a second driving wheel and a second driving belt. The second driving motor is located on one side of the second fixed frame 2121 in the sixth direction, the second driving motor has an output shaft for outputting torque, the second driving wheel is sleeved on the output shaft of the second driving motor and can rotate synchronously with the output shaft, and the second driving belt is wound around the second driving wheel and the second driving wheel unit 2122b to drive the second driving wheel and the second driving wheel unit 2122b. Thus, the second driving motor drives the second driving wheel, the second driving belt and the second driving wheel unit 2122b in turn. It can be understood that the structure of the second driving assembly is not limited to this, and can be set as needed.

[0171] The second driving wheel unit 2122b is arranged at the bottom of the second fixed frame 2121, and the second driving wheel unit 2122b comprises a third rotating shaft 2122f, two second driving wheels 2122g and a second idler wheel 2122h. The central axis direction of the third rotating shaft 2122f extends along the sixth direction, and the two ends of the third rotating shaft 2122f are rotatably mounted on the two second fixed vertical rods respectively. The two second driving wheels 2122g are respectively sleeved on the two ends of the third rotating shaft 2122f, and the second idler wheel 2122h is sleeved on one end of the third rotating shaft 2122f close to the second driving assembly. The second driving belt is wound around the second idler wheel 2122h.

[0172] The second driving wheel unit 2122b is arranged at the bottom of the second fixed frame 2121, and the second driving wheel unit 2122b comprises a third rotating shaft 2122f, two second driving wheels 2122g and a second idler wheel 2122h. The central axis direction of the third rotating shaft 2122f extends along the sixth direction, and the two ends of the third rotating shaft 2122f are rotatably mounted on the two second fixed vertical rods respectively. The two second driving wheels 2122g are respectively sleeved on the two ends of the third rotating shaft 2122f, and the second idler wheel 2122h is sleeved on one end of the third rotating shaft 2122f close to the second driving assembly. The second driving belt is wound around the second idler wheel 2122h.

[0173] The second fixed plate 2122a is mounted on the second fixed frame 2121, and the second fixed plate 2122a is located between the second driving wheel unit 2122b and the second driving wheel unit 2122c along the conveying direction of the pipe yarn 200. The length direction of the second fixed plate 2122a extends along the vertical direction, the width direction of the second fixed plate 2122a extends along the first direction, and the thickness direction of the second fixed plate 2122a is the seventh direction perpendicular to the vertical direction and the sixth direction. Specifically, the seventh direction is parallel to the second direction.

[0174] The second lifting conveyors 2122d are two, and the two second lifting conveyors 2122d are arranged in the sixth direction with an interval, one of the second lifting conveyors 2122d is arranged around one second driving wheel 2122g and one second driven wheel 2122j, the other second lifting conveyor 2122d is arranged around the other second driving wheel 2122g and the other second driven wheel 2122j, and the two second lifting conveyors 2122d are arranged outside the second fixed plate 2122a, and the width direction of the second lifting conveyor 2122d extends along the sixth direction. In this way, the second driving wheel 2122g can drive the second lifting conveyor 2122d to circulate forward with the assistance of the second driven wheel 2122j, and one side of the second lifting conveyor 2122d in the seventh direction and the second fixed plate 2122a together form a conveying surface for conveying the tube yarn 200, and the width direction of the conveying surface extends along the sixth direction.

[0175] A plurality of second lifting units 2122e are arranged along the extension direction of the conveying surface, each second lifting unit 2122e extends longitudinally along the sixth direction, and the two ends of the second lifting unit 2122e in the sixth direction are fixedly connected to the two second lifting conveyors 2122d, and the middle part of the second lifting unit 2122e abuts against the second fixed plate 2122a. In this way, the tube yarn 200 can be supported on the second lifting unit 2122e, and the central axis direction of the tube yarn 200 extends along the sixth direction, and the second lifting unit 2122e can be driven by the second lifting conveyor 2122d to move vertically along the second fixed plate 2122a to lift the tube yarn 200.

[0176] Specifically, in some embodiments, the second lifting unit 2122e includes a second lifting mounting seat and a plurality of second lifting teeth, the second lifting mounting seat extends longitudinally along the sixth direction, the two ends of the second lifting mounting seat are connected to the two second lifting conveyors 2122d, and the middle part of the second lifting mounting seat abuts against the second fixed plate 2122a, and the second fixed plate 2122a can play a supporting and guiding role for the second lifting unit 2122e. The plurality of second lifting teeth are arranged in the sixth direction with an interval, and one end of each second lifting tooth is connected to the second lifting mounting seat, and the other end of the second lifting tooth extends upwardly, thereby avoiding the tube yarn 200 from rolling off the second lifting tooth during conveying.

[0177] Further, the size of the second lifting tooth in the direction perpendicular to the conveying surface matches the radial size of the tube yarn 200, so that one group of second lifting units 2122e can convey only one tube yarn 200 at a time, thereby ensuring the orderly conveying of the tube yarn 200.

[0178] In some embodiments, the secondary lifting device 212 further comprises a front guard 2123 and two sets of side guards 2124. The front guard 2123 is fixedly connected to the second fixed frame 2121 and is spaced apart from the conveying surface in the seventh direction. The two sets of side guards 2124 are respectively fixedly connected to the two second fixed vertical rods and are spaced apart from the conveying surface in the sixth direction. Each set of side guards 2124 extends in the vertical direction. In this way, the front guard 2123 and the two sets of side guards 2124 can prevent the tube yarn 200 from rolling off the second lifting unit 2122e during transportation. It should be understood that the shapes of the front guard 2123 and the side guards 2124 are not limited and can be set as required to meet different requirements.

[0179] As shown in Figure 11 and Figure 12 , the identification device 22 will be described in detail below.

[0180] The identification device 22 comprises an identification mechanism 221 and two trigger units 222. The identification mechanism 221 is arranged on the secondary lifting device 212, and the trigger units 222 are installed on the identification mechanism 221. The identification mechanism 221 and the trigger mechanism 222 work together to identify the first feature of the tube yarn 200. Specifically, the identification mechanism 221 is installed on the second fixed frame 2121. The identification mechanism 221 comprises two identification units 2211, which are respectively installed on the two second fixed vertical rods and are spaced apart from the conveying surface in the transportation direction of the tube yarn 200. The two trigger units 222 are respectively installed on the two identification units 2211. Each trigger unit 222 comprises a trigger 2221, and the two triggers 2221 can only generate a trigger signal under the trigger of the first feature of the tube yarn 200. In this way, the end where the triggered trigger 2221 is located is the end where the small end is located, so the identification of the large end and the small end of the tube yarn 200 can be realized according to the source of the trigger signal.

[0181] Specifically, each identification unit 2211 is provided with a limiting sliding groove 2211a extending in the vertical direction on the side facing the conveying surface. The outer periphery of the limiting sliding groove 2211a is provided with an abutting surface 2211b. At least part of the trigger 2221 in each trigger unit 222 extends into the corresponding limiting sliding groove 2211a and is controlled to generate a trigger signal. The width of the limiting sliding groove 2211a in the seventh direction is greater than the outer diameter of the small end of the tube yarn 200 and less than the outer diameter of the large end of the tube yarn 200, so the limiting sliding groove 2211a only allows the small end of the tube yarn 200 to enter. The abutting surface 2211b is an inclined surface inclined towards the limiting sliding groove 2211a in the other identification unit 2211 in the transportation direction of the tube yarn 200. The abutting surface 2211b abuts against the large end of the tube yarn 200 and changes the distance between the small end of the tube yarn 200 and the trigger 2221.

[0182] Thus, since the width of the limiting sliding groove 2211a in the seventh direction is smaller than the outer diameter of the large end of the tube yarn 200, the large end of the tube yarn 200 cannot enter the limiting sliding groove 2211a but contacts the abutting surface 2211b, so that the tube yarn 200 is moved along the sixth direction towards another identification unit 2211 under the pushing of the inclined abutting surface 2211b. Since the width of the limiting sliding groove 2211a in the seventh direction is larger than the outer diameter of the small end of the tube yarn 200, under the pushing of the abutting surface 2211b, the small end of the tube yarn 200 enters the limiting sliding groove 2211a and moves upwards along the limiting sliding groove 2211a, thereby triggering the trigger 2221 in the limiting sliding groove 1523, the trigger 2221 generates a trigger signal and sends it to the distinguishing device 23 for storage, while the large end of the tube yarn 200 is always located outside the limiting sliding groove 2211a and cannot contact the trigger 2221, thereby no trigger signal is generated, so that the large and small ends of the tube yarn 200 are quickly identified. Moreover, since the large and small ends are identified by the above mechanical method, the reliability is high.

[0183] Further, each trigger unit 222 further comprises a trigger mounting member 2222 fixedly connected to the side of the identification unit 2211 away from the conveying surface in the seventh direction, and the trigger mounting member 2222 is provided with an arc-shaped mounting groove 2222b. The trigger 2221 comprises a trigger main body 2221a and a trigger arm 2221b, the trigger main body 2221a comprises a first mounting column and a second mounting column, the trigger mounting member 2222 is provided with a mounting hole 2222a and the arc-shaped mounting groove 2222b, the first mounting column is inserted into the mounting hole 2222a, and the second mounting column is limited in the arc-shaped mounting groove 2222b.

[0184] Thus, the position of the second mounting column in the arc-shaped mounting groove 2222b can be adjusted as needed to adjust the mounting angle of the trigger 2221. One end of the trigger arm 2221b is connected to the trigger main body 2221a, and the other end of the trigger arm 2221b extends into the limiting sliding groove 2211a through the side wall of the limiting sliding groove 2211a.

[0185] In order to push the tube yarn 200 lifted to the top end of the conveying surface out of the conveying surface and into the distinguishing device 23, the secondary lifting device 212 further comprises a second ejection mechanism 2125. The second ejection mechanism 2125 is installed at the top end of the second fixed frame 2121, the second ejection mechanism 2125 protrudes out of the conveying surface, and the side of the second ejection mechanism 2125 away from the conveying surface has a second ejection surface 2125a, which gradually increases in distance from the conveying surface in the conveying direction of the tube yarn 200.

[0186] In this way, the tube yarn moving to the top end of the conveying surface is pushed by the second ejection surface 2125a to move away from the conveying surface until it falls from the second lifting unit 2122e, thereby achieving the one-by-one conveying of the tube yarn 200 and effectively improving the production efficiency of the device provided with the second lifting device 212.

[0187] Specifically, in an embodiment, the second ejection mechanism 2125 includes a second mounting crossbar 2125b and two second ejection pieces 2125c. The second mounting crossbar 2125b extends in the sixth direction and is located in front of the conveying surface, and the two ends of the second mounting crossbar 2125b are respectively fixed to the two second fixed vertical bars. The two second ejection pieces 2125c are arranged in the sixth direction, each second ejection piece 2125c is fixed to one side of the second mounting crossbar 2125b facing the conveying surface, and the cross section of each second ejection piece 2125c perpendicular to the sixth direction is substantially a right triangle, and the hypotenuse of the right triangle forms an obliquely extending second ejection surface 2125a.

[0188] Further, in order to avoid interference between the movement of the second lifting unit 2122e and the second ejection mechanism 2125, each group of second lifting units 2122e is provided with two avoidance grooves, and the two avoidance grooves are arranged in the sixth direction, and each avoidance groove extends linearly along the extension direction of the conveying surface. In this way, the second ejection piece 2125c can pass through the avoidance groove along the extension direction of the conveying surface, thereby achieving the falling of the tube yarn 200 while avoiding interference with the movement of the second lifting unit 2122e.

[0189] In some embodiments, the second lifting device 212 further includes a feeding connection mechanism 2126 and a first feeding detection assembly 2127. The feeding connection mechanism 2126 is used to connect the upstream process of the second lifting device 212, and the first feeding detection assembly 2127 is used to detect the number of tube yarns 200 in the feeding connection mechanism 2126.

[0190] The feeding adapter 2126 is arranged at the bottom of the second lifting mechanism 2122, and includes a feeding adapter bottom plate 2126a, a feeding adapter left side plate 2126b and a feeding adapter right side plate 2126c. The feeding adapter left side plate 2126b and the feeding adapter right side plate 2126c are respectively fixed to two second fixed vertical rods and are arranged in the sixth direction. The feeding adapter bottom plate 2126a is connected between the feeding adapter left side plate 2126b and the feeding adapter right side plate 2126c and is located at the bottom of the conveying surface. The second lifting unit 2122e can move upward from below the feeding adapter bottom plate 2126a and pass through the feeding adapter bottom plate 2126a. In this way, the tube yarn 200 output in the upstream process enters the feeding adapter 2126 and is supported on the feeding adapter bottom plate 2126a. The second lifting unit 2122e passing through the feeding adapter bottom plate 2126a drives the tube yarn 200 closest to the conveying surface on the feeding adapter bottom plate 2126a to move upward, thereby achieving the conveying of the tube yarn 200.

[0191] The first feeding detection assembly 2127 is arranged at the bottom of the second lifting mechanism 2122 and is arranged on the feeding adapter 2126. The first feeding detection assembly 2127 includes a feeding detection emitting unit 2127a and a reflecting plate 2127b. The feeding detection emitting unit 2127a is arranged between the feeding adapter left side plate 2126b and the feeding adapter right side plate 2126c and is located above the feeding adapter bottom plate 2126a. The reflecting plate 2127b is arranged on the feeding adapter bottom plate 2126a. The feeding detection emitting unit 2127a can emit a signal to the reflecting plate 2127b.

[0192] In this way, when the tube yarn 200 exists in the feeding adapter 2126, the signal emitted by the feeding detection emitting unit 2127a cannot reach the reflecting plate 2127b. When the tube yarn 200 does not exist or exists in small quantity in the feeding adapter 2126, the signal emitted by the feeding detection emitting unit 2127a can reach the reflecting plate 2127b. Therefore, the quantity of the tube yarn 200 in the feeding adapter 2126 can be identified, and the downstream station can be controlled to stop feeding to avoid material jamming.

[0193] Please refer to Figure 9 、 Figure 13 and Figure 14 again. The distinguishing device 23 will be described in detail below.

[0194] The distinguishing device 23 is arranged at the top of the second lifting device 212 and on one side in the seventh direction. The distinguishing device 23 includes a distinguishing housing 231, a first distinguishing member 232 and a second distinguishing member 233. The first distinguishing member 232 and the second distinguishing member 233 are arranged in the distinguishing housing 231 and are used to control the falling posture of the tube yarn 200.

[0195] Specifically, the distinguishing housing 231 comprises a distinguishing housing front side wall 2311, a distinguishing housing rear side wall 2312, a distinguishing housing left side wall 2313 and a distinguishing housing right side wall 2314, the distinguishing housing left side wall 2313 and the distinguishing housing right side wall 2314 are spaced apart in the sixth direction, and the distinguishing housing front side wall 2311 and the distinguishing housing rear side wall 2312 are spaced apart in the seventh direction and connected between the distinguishing housing left side wall 2313 and the distinguishing housing right side wall 2314, respectively.

[0196] Further, the distinguishing housing front side wall 2311 extends in the vertical direction, the distinguishing housing rear side wall 2312 comprises a guide segment 2312a and an identification segment 2312b, one end of the guide segment 2312a is close to the conveying surface of the secondary lifting device 212, the other end of the guide segment 2312a extends downwardly and obliquely towards the distinguishing housing front side wall 2311, one end of the identification segment 2312b is connected to the end of the guide segment 2312a towards the distinguishing housing front side wall 2311, and the other end of the identification segment 2312b extends downwardly in the vertical direction. One end of the distinguishing housing left side wall 2313 and the distinguishing housing right side wall 2314 is fixedly connected to the second fixed frame 2121, and the other end of the distinguishing housing left side wall 2313 and the distinguishing housing right side wall 2314 first extends in the seventh direction to connect the guide segment 2312a of the distinguishing housing rear side wall 2312, and then extends downwardly in the vertical direction to connect the identification segment 2312b of the distinguishing housing rear side wall 2312 and the distinguishing housing front side wall 2311.

[0197] In this way, the distinguishing housing front side wall 2311, the distinguishing housing rear side wall 2312, the distinguishing housing left side wall 2313 and the distinguishing housing right side wall 2314 jointly define a distinguishing passage with a first feeding port and a first discharging port, the distinguishing passage first extends in the horizontal direction and then bends downwardly and extends in the vertical direction, the first feeding port is towards the second ejection mechanism 2125 of the secondary lifting device 212, the first feeding port and the first discharging port are spaced apart in the vertical direction and the first discharging port is below the first feeding port, and the tube yarn 200 entering the distinguishing passage from the top end of the secondary lifting device 212 through the first feeding port rolls down along the distinguishing housing rear side wall 2312.

[0198] The first distinguishing member 232 and the second distinguishing member 233 are installed on the distinguishing housing front side wall 2311 and spaced apart in the sixth direction, at least one of the first distinguishing member 232 and the second distinguishing member 233 extends into the distinguishing passage, and the other one defines a discharging port. The discharging port is communicated between the first feeding port and the first discharging port, and only allows the large end of the tube yarn 200 to fall preferentially, so as to adjust the posture of the tube yarn 200 to a vertical downward state with the large end below.

[0199] Preferably, before the tube 200 falls, both the first distinguishing member 232 and the second distinguishing member 233 extend into the distinguishing passage, and after the tube 200 falls, according to the triggering signal of the identification device 22, one of the first distinguishing member 232 and the second distinguishing member 233 is controlled to exit the distinguishing passage to form a falling opening with the other.

[0200] In this way, the first distinguishing member 232 and the second distinguishing member 233 exit the distinguishing passage according to the feeding state of the tube 200, so that the falling posture of the tube 200 can be reliably and quickly controlled.

[0201] Specifically, the first distinguishing member 232 and the second distinguishing member 233 first extend into the distinguishing passage. When the large end of the tube is located at the side of the distinguishing passage provided with the first distinguishing member 232, the first distinguishing member 232 exits the distinguishing passage, and the second distinguishing member 233 remains in the state of extending into the distinguishing passage, so that the small end of the tube 200 is blocked by the second distinguishing member 233, and the large end of the tube 200 falls preferentially to form a posture with the large end downward. When the large end of the tube 200 is located at the side of the distinguishing passage provided with the second distinguishing member 233, the second distinguishing member 233 exits the distinguishing passage, so that the small end of the tube 200 is blocked by the first distinguishing member 232, and the large end of the tube 200 falls preferentially to form a posture with the large end downward. After the distinguishing is completed, the first distinguishing member 232 or the second distinguishing member 233 that exits the distinguishing passage re-extends into the distinguishing passage to prepare for the next distinguishing.

[0202] Specifically, in an embodiment, the first distinguishing member 232 and the second distinguishing member 233 are both pen-type cylinders, which include a cylinder barrel and a piston rod. The cylinder barrel is fixed to the side of the front side wall 2311 of the distinguishing housing away from the distinguishing passage, and the piston rod can extend into the distinguishing passage through the front side wall 2311 of the distinguishing housing.

[0203] The distinguishing device 23 further comprises a distinguishing detection assembly 234, which is arranged on the distinguishing housing 231 and located above the first distinguishing member 232 and the second distinguishing member 233. The distinguishing detection assembly 234 is used to detect whether the tube 200 exists in the distinguishing passage.

[0204] Specifically, the distinguishing detection assembly 234 comprises two distinguishing detection units, one of which is arranged on the front side wall 2311 of the distinguishing housing, and the other of which is arranged on the rear side wall 2312 of the distinguishing housing, and the two distinguishing detection units are oppositely arranged in the seventh direction. In this way, when the tube 200 passes through the distinguishing detection assembly 234, the distinguishing detection assembly 234 can identify the existence of the tube 200 and control the corresponding first distinguishing member 232 or second distinguishing member 233 to act. When no tube 200 passes through the distinguishing detection assembly 234, the first distinguishing member 232 and the second distinguishing member 233 are controlled to maintain the existing working state.

[0205] In some embodiments, the distinguishing device 23 further comprises a first shearing assembly 235 arranged on the rear side wall 2312 of the distinguishing housing, the first shearing assembly 235 having a shearing gap for shearing the tube yarn 200, and the shearing gap is located at the bottom of the first feeding port and communicates with the first feeding port. In this way, the first shearing assembly 235 can shear the excess length of the tube yarn 200 entering the distinguishing channel, thereby preventing the excess length of the tube yarn 200 from being wound in the subsequent process and causing the material blocking phenomenon caused by the material falling and hanging, thereby affecting the normal conveying of the tube yarn 200.

[0206] Specifically, the first shearing assembly 235 comprises a first shearing mounting seat 2351 and a plurality of second shearing units 2352, the first shearing mounting seat 2351 is fixedly connected to the side surface of the rear side wall 2312 of the distinguishing housing away from the distinguishing channel, and the plurality of second shearing units 2352 are arranged in the first shearing mounting seat 2351 and arranged in sequence from one end to the other end of the rear side wall 2312 of the distinguishing housing along the sixth direction, thereby forming a shearing gap extending along the sixth direction.

[0207] Each second shearing unit 2352 comprises a first shearing head 2352a, a second shearing head 2352b and a first shearing driving member 2352c. The first shearing head 2352a is fixedly connected to the first shearing mounting seat 2351, one side of the first shearing head 2352a is provided with a plurality of first shearing teeth 2352d, and the plurality of first shearing teeth 2352d are arranged along the sixth direction. One side of the second shearing head 2352b is provided with a plurality of second shearing teeth 2352e, and the plurality of second shearing teeth 2352e are arranged along the sixth direction. The second shearing head 2352b and the first shearing head 2352a are arranged in a stacking manner in a direction perpendicular to the sixth direction, and the first shearing teeth 2352d and the second shearing teeth 2352e jointly form a shearing gap.

[0208] The first shearing driving member 2352c comprises a first driving member body 2352f and a first driving shaft 2352g, the first driving member body 2352f is fixedly connected to the first shearing mounting seat 2351, one end of the first driving shaft 2352g is connected to the first driving member body 2352f, and the other end of the first driving shaft 2352g is connected to the second shearing head 2352b. The first driving shaft 2352g is used to drive the second shearing head 2352b to reciprocate relative to the first shearing head 2352a along the sixth direction to shear the excess length of the tube yarn 200.

[0209] Furthermore, the second shear head 2352b includes a second shear head body 2352h and a shearing connecting seat 2352i disposed on one side of the second shear head body 2352h. The second shear head body 2352h is provided with a plurality of second shearing teeth 2352e, and the shearing connecting seat 2352i is provided with a mating groove. The first drive shaft 2352g includes a first sub-drive shaft and a second sub-drive shaft. One end of the first sub-drive shaft is connected to the first drive body 2352f, and one end of the second sub-drive shaft is eccentrically connected to the other end of the first sub-drive shaft. The other end of the second sub-drive shaft extends into the mating groove in a direction perpendicular to the sixth direction and can rotate relative to the second shear head 2352b.

[0210] Thus, the rotation of the eccentrically set first and second sub-drive shafts is converted into the reciprocating motion of the second shear head 2352b relative to the first shear head 2352a in the sixth direction, thereby continuously trimming the excessively long threads on the yarn tube 200.

[0211] In some embodiments, the separating device 23 further includes a first auxiliary shearing unit (not shown). The first auxiliary shearing unit is disposed at the end of the separating housing 231 where the first outlet is located and on one side of the separating housing 231 in the sixth direction. The first auxiliary shearing unit forms a first auxiliary shearing slit extending in the seventh direction. The first auxiliary shearing unit is used to cut the thread ends of the yarn tube 200 that fall from the first outlet, thereby further ensuring the thread end removal effect. It is understood that the specific structure of the first auxiliary shearing unit is roughly the same as the structure of the second shearing unit 2352, so it will not be described in detail here.

[0212] In some embodiments, the sorting module 20 further includes a material straightening device 25, which is located between the primary lifting device 211 and the secondary lifting device 212, and its two ends are respectively connected to the primary lifting device 211 and the secondary lifting device 212. Specifically, the material straightening device 25 is connected to the feeding connection mechanism 2126 of the secondary lifting device 212. The feeding connection mechanism 2126 of the secondary lifting device 212 is located below the material straightening device 25 in the vertical direction.

[0213] like Figures 15-17 As shown, the sorting device 25 will now be described in detail.

[0214] The material straightening device 25 includes a material straightening housing 251 and a rotary conveying assembly 252. The material straightening housing 251 defines a material straightening channel that forms a second discharge port connected to the primary lifting device 211. The rotary conveying assembly 252 is used to temporarily store and straighten the yarn tubes 200 in the material straightening channel.

[0215] Specifically, the monolith shell 251 comprises a monolith shell left side wall 2511, a monolith shell right side wall 2512, a monolith shell front side wall 2513 and a monolith shell rear side wall 2514, the monolith shell left side wall 2511 and the monolith shell right side wall 2512 are oppositely arranged in the eighth direction, the monolith shell front side wall 2513 and the monolith shell rear side wall 2514 are spaced apart in the ninth direction, the monolith shell front side wall 2513 is connected between the monolith shell left side wall 2511 and the monolith shell right side wall 2512 and is located on the side of the monolith shell 251 away from the primary lifting device 211, and the monolith shell rear side wall 2514 is connected between the monolith shell left side wall 2511 and the monolith shell right side wall 2512 and is located on the side of the monolith shell 251 close to the primary lifting device 211. Specifically, the eighth direction is parallel to the first direction, and the ninth direction is parallel to the second direction.

[0216] In this way, the monolith shell left side wall 2511, the monolith shell right side wall 2512, the monolith shell front side wall 2513 and the monolith shell rear side wall 2514 jointly define a monolith channel that communicates with the primary lifting device 211, the monolith channel has oppositely arranged second inlet and second outlet, the second inlet is toward the primary lifting device 211, and the second outlet is vertically downward, in the ninth direction, the second outlet is on the side of the second inlet away from the primary lifting device 211, and in the vertical direction, the second outlet is below the second inlet.

[0217] The rotating conveying assembly 252 comprises a rotating conveying member 2521 and a conveying member driving mechanism 2522, and the conveying member driving mechanism 2522 is used to drive the rotating conveying member 2521 to rotate to realize the conveying and arrangement of the tube yarn 200.

[0218] Specifically, the rotating conveying member 2521 is accommodated in the monolith channel and is located at one end of the monolith channel close to the second outlet, and the monolith shell 251 is provided with a shape matching part of the rotating conveying member 2521. The rotating conveying member 2521 is a hollow cylindrical structure with a central axis extending in the eighth direction, and the side wall of the rotating conveying member 2521 is provided with a plurality of accommodation cavities 2521a for accommodating one tube yarn 200, and the plurality of accommodation cavities 2521a are arranged at intervals around the central axis of the rotating conveying member 2521. Each accommodation cavity 2521a extends from one end to the other end of the rotating conveying member 2521 in the eighth direction, and the cross section of each accommodation cavity 2521a perpendicular to the eighth direction is substantially semicircular, and the shape of the accommodation cavity 2521a matches the shape of the tube yarn 200. The rotating conveying member 2521 can rotate around its central axis under the drive of the conveying member driving mechanism 2522 to selectively align and communicate with the second outlet in sequence.

[0219] Thus, when the tube yarn 200 enters the whole material channel from the second feeding port, it can fall into the accommodating cavity 2521a facing the second discharging port. With the rotation of the rotating conveying member 2521, the aforementioned accommodating cavity 2521a rotates to the bottom of the rotating conveying member 2521 and aligns with the second discharging port. The tube yarn 200 in the accommodating cavity 2521a falls out of the accommodating cavity 2521a and drops to the outside of the whole material channel through the second discharging port under the action of gravity. Therefore, the tube yarn 200 is uniformly and orderly conveyed one by one to the next process through the rotating conveying member 2521, thereby realizing smooth and efficient conveying of the tube yarn 200.

[0220] Further, when the rotating conveying member 2521 is in a normal working state, it rotates in the counterclockwise direction. When the tube yarn 200 in the whole material channel is too much to cause material jamming, the rotating conveying member 2521 rotates in the clockwise direction to push out the jammed tube yarn 200, and then can resume normal operation.

[0221] The conveying member driving mechanism 2522 includes a conveying member driving member 2522a, a third driving wheel 2522b, a third driven wheel 2522c, and a third driving belt 2522d. The conveying member driving member 2522a is arranged outside one side of the whole material shell 251 in the eighth direction, the third driving wheel 2522b is connected to the output shaft of the conveying member driving member 2522a, the third driven wheel 2522c is connected to one end of the rotating conveying member 2521 in the direction of the central axis, and the rotation axis of the third driven wheel 2522c coincides with the central axis of the rotating conveying member 2521, and the third driving belt 2522d is arranged around the third driving wheel 2522b and the third driven wheel 2522c. In this way, the conveying member driving member 2522 drives the rotating conveying member 2521 to rotate through the third driving wheel 2522b, the third driving belt 2522d, and the third driven wheel 2522c. It can be understood that the specific structure of the conveying member driving mechanism 2522 is not limited to this, and can be set as needed to meet different requirements.

[0222] In some embodiments, the rotating conveying assembly 252 further includes a plurality of detected units 2523 and a first position detection unit 2524. The plurality of detected units 2523 are arranged at intervals around the central axis on one side end surface of the rotating conveying member 2521 in the eighth direction, and each detected unit 2523 is arranged corresponding to one accommodating cavity 2521a. One end of the first position detection unit 2524 is inserted into the right side wall 2512 of the whole material shell and faces the rotating conveying member 2521, and the first position detection unit 2524 is used to identify the detected unit 2523. When the first position detection unit 2524 aligns with the detected unit 2523 in the eighth direction, the accommodating cavity 2521a corresponding to the detected unit 2523 is aligned and communicated with the second discharging port. Specifically, in an embodiment, the first position detection unit 2524 is a reflection sensor.

[0223] Thus, when the first position detecting unit 2524 is aligned with one of the detected units 2523 in the eighth direction, it indicates that one of the accommodating cavities 2521a has been aligned with the second discharge port, the first position detecting unit 2524 identifies the detected unit 2523 to control the rotating conveying member 2521 to pause rotating, so as to make the tube yarn 200 in the accommodating cavity 2521a aligned with the second discharge port accurately drop from the second discharge port.

[0224] Specifically, in some embodiments, the rotating conveying member 2521 is provided with six accommodating cavities 2521a, which are arranged in the circumferential direction on the side wall of the rotating conveying member 2521. Corresponding to the six accommodating cavities 2521a, the side end face of the rotating conveying member 2521 is provided with six detected units 2523, and each detected unit 2523 is arranged corresponding to one accommodating cavity 2521a. It can be understood that the number of accommodating cavities 2521a is not limited to this, and can be set according to different requirements.

[0225] In some embodiments, the material arranging device 25 further comprises a pushing assembly 253, which comprises a pushing fixed plate 2531, a pushing plate 2532 and a pushing driving member 2533. The pushing fixed plate 2531 is fixedly connected to the bottom of the material arranging shell 251, the pushing driving member 2533 is a driving motor, which is installed on the pushing fixed plate 2531 and located on the side of the second discharge port of the material arranging passage in the ninth direction towards the primary lifting device 211, the pushing plate 2532 is installed on the output end of the pushing driving member 2533, and the pushing plate 2532 can be extended and retracted in the ninth direction under the driving of the pushing driving member 2533, so as to extend into the second discharge port below or on the side of the second discharge port close to the second inlet port.

[0226] Thus, after the tube yarn 200 drops from the second discharge port, the pushing plate 2532 can extend into the second inlet port below to push the tube yarn 200 out in the ninth direction.

[0227] Further, the pushing assembly 253 further comprises a pushing detection unit 2534, the pushing detection unit 2534 comprises two pairs of pushing detection modules, the two pushing detection modules are respectively arranged on the front side wall 2513 and the rear side wall 2514 of the whole material housing and located on the opposite sides of the second discharge port in the ninth direction, the pushing detection unit 2534 is used for detecting the number of the tube yarn 200 in the second discharge port to control the working state of the pushing assembly 253. When the pushing detection unit 2534 detects that the second discharge port has the tube yarn 200, the pushing plate 2532 is controlled to extend into the second discharge port below in the ninth direction to push out the tube yarn. When the pushing detection unit 2534 detects that the second discharge port has no tube yarn, the pushing plate 2532 is controlled to continue to be kept on one side of the second discharge port. Specifically, in an embodiment, the pushing detection unit 2534 is a reflection sensor.

[0228] In some embodiments, the whole material device 25 further comprises a discharge assembly 254, the discharge assembly 254 is arranged on the side of the second discharge port away from the second feeding port, the discharge assembly 254 is in a hollow housing structure, the discharge assembly 254 defines a discharge channel extending in the ninth direction, so that the whole material channel can be communicated to the downstream station through the discharge channel, and the tube yarn 200 pushed out by the pushing assembly 253 can enter the downstream station through the discharge channel.

[0229] Preferably, in an embodiment, the discharge assembly 254 further comprises a discharge detection unit 2541, the discharge detection unit 2541 is used for detecting the number of the tube yarn 200 in the discharge channel. In this way, when the number of the tube yarn 200 in the discharge channel reaches a preset value, the pushing assembly 253 is controlled to stop pushing to prevent jamming.

[0230] Specifically, the discharge detection unit 2541 comprises two discharge detection transmitting modules 2541a and receiving modules 2541b, the discharge detection transmitting modules 2541a are arranged above the discharge channel, the receiving modules 2541b are arranged below the discharge channel, the discharge detection transmitting modules 2541a can send signals to the receiving modules 2541b. When the receiving modules 2541b cannot receive the signals sent by the discharge detection transmitting modules 2541a, it indicates that the number of the tube yarn 200 in the discharge channel reaches the preset value, and when the receiving modules 2541b can receive the signals sent by the discharge detection transmitting modules 2541a, it indicates that the number of the tube yarn 200 in the discharge channel does not reach the preset value.

[0231] In some embodiments, the unitizing device 25 further comprises a second shearing assembly 255 mounted on the rear side wall 2514 of the unitizing housing, the second shearing assembly 255 having a shearing gap for shearing the tube yarn 200, and the shearing gap is located at the bottom of the second inlet and communicates with the second inlet. In this way, when the tube yarn 200 entering the unitizing device 25 from the first lifting device 211 passes through the second inlet, the thread tail behind the tube yarn can be quickly sheared by the second shearing assembly 255, thereby effectively avoiding entanglement in the subsequent process. Specifically, the second shearing assembly 255 has the same structure as the first shearing assembly 235, which will not be repeated here.

[0232] In some embodiments, the unitizing device 25 further comprises a buffering assembly 256 located between the rotating conveying member 2521 and the second outlet, the buffering assembly 256 comprising a rotating rod 2561 and a buffering member 2562, the central axis of the rotating rod 2561 extending along the eighth direction, both ends of the rotating rod 2561 being fixed to the left side wall 2511 and the right side wall 2512 of the unitizing housing respectively, one end of the buffering member 2562 being connected to the rotating rod 2561, the other end of the buffering member 2562 being vertically downwardly and naturally suspended, the end of the buffering member 2562 away from the rotating rod 2561 and the rear side wall 2514 of the unitizing housing together forming a buffering gap with adjustable size, the buffering member 2562 being able to rotate around the rotating rod 2561 under external force to change the size of the buffering gap.

[0233] In this way, when the tube yarn 200 rolls down in the unitizing channel and starts to contact the buffering member 2562, the buffering gap is smaller than the radial dimension of the tube yarn 200, so the buffering member 2562 can play a certain blocking role on the tube yarn 200 to reduce the falling speed of the tube yarn 200, prevent the tube yarn 200 from changing the movement posture due to too fast movement and colliding with the unitizing housing 251, and at the same time adjust the posture of the tube yarn 200 to make the central axis of the tube yarn 200 extend along the eighth direction. With the falling of the tube yarn 200 under the action of gravity, the buffering member 2562 rotates away from the second inlet under the pushing action of the tube yarn 200 to increase the buffering gap, and when the size of the buffering gap is greater than the diameter of the tube yarn 200, the tube yarn 200 can fall through the buffering gap.

[0234] In some embodiments, the monolithic device 25 further comprises a second guide plate 257, which is in the shape of a rectangular plate, and is arranged in the monolithic channel and located on the side of the rotating conveying member 2521 close to the second feeding port, and the length direction of the second guide plate 257 is parallel to the eighth direction. The second guide plate 257 extends obliquely in the ninth direction, and in the direction from the second feeding port to the second discharging port, the height of the second guide plate 257 gradually decreases until it abuts against the rotating conveying member 2521. In this way, the tube yarn 200 output by the first lifting device 211 can roll along the second guide plate 257 and fall into the accommodating cavity 2521a of the rotating conveying member 2521.

[0235] In some embodiments, the monolithic device 25 further comprises a second feeding detection assembly 258 for detecting the number of tube yarns 200 in the monolithic channel to control the working state of the first lifting device 211. When the second feeding detection assembly 258 detects that the number of tube yarns 200 in the monolithic channel is greater than a preset number, a full material warning is sent to control the upstream first lifting device 211 to pause feeding, and the upstream first lifting device 211 continues to feed only after the tube yarns 200 in the monolithic channel are completely processed, so as to avoid the accumulation of tube yarns 200 due to too many tube yarns 200 in the monolithic channel.

[0236] Specifically, in one embodiment, the monolithic device 25 comprises two groups of second feeding detection assemblies 258, each group of second feeding detection assemblies 258 comprising two feeding detection units arranged in pairs, wherein the two feeding detection units of one group of second feeding detection assemblies 258 are respectively mounted on the left side wall 2511 and the right side wall 2512 of the monolithic housing, and the two feeding detection units of the other group of second feeding detection assemblies 258 are respectively mounted on the front side wall 2513 and the rear side wall 2514 of the monolithic housing.

[0237] In this way, the two feeding detection units of one group of second feeding detection assemblies 258 are located on opposite sides of the monolithic channel in the eighth direction, and the two feeding detection units of the other group of second feeding detection assemblies 258 are located on opposite sides of the monolithic channel in the ninth direction, so that the number of tube yarns 200 in the monolithic channel can be accurately detected by the two groups of second feeding detection assemblies 258. More specifically, the detection units are reflective sensors. It can be understood that the number and mounting position of the detection assemblies are not limited, and different numbers of detection assemblies can be arranged at different positions of the monolithic housing 251 as needed to achieve the desired detection effect.

[0238] As shown in FIGS. 24 and 25, the blanking device 24 will be described in detail below. Figure 18 and Figure 19 As shown in FIGS. 24 and 25, the blanking device 24 will be described in detail below.

[0239] In some embodiments, the material dropping device 24 comprises a material receiving mechanism 241 connected with the distinguishing device 23, and the material receiving mechanism 241 is configured to receive a plurality of the tubes 200 from the distinguishing device 23.

[0240] Specifically, the material receiving mechanism 241 comprises a mounting frame 2411, a material receiving assembly 2412, and a material receiving driving mechanism 2413, and the material receiving assembly 2412 comprises a material receiving base 2412a and a plurality of first material receiving cylinders 2412b mounted on the material receiving base 2412a, each of which is configured to receive one of the tubes 200. The material receiving base 2412a is movably connected to the mounting frame 2411, and the outlet end of each of the first material receiving cylinders 2412b is configured to be controllably opened or closed. The material receiving driving mechanism 2413 is arranged on the mounting frame 2411 and is in driving connection with the material receiving base 2412a to drive the material receiving base 2412a to move relative to the mounting frame 2411. Specifically, the above-mentioned first material receiving station corresponds to the first outlet of the distinguishing device 23.

[0241] In the process of moving relative to the mounting frame 2411, the material receiving base 2412a can drive the plurality of first material receiving cylinders 2412b to pass through the first material receiving station in sequence, and can drive the plurality of first material receiving cylinders 2412b to move to the material dropping station. Optionally, a first track 2411a is fixedly arranged on the mounting frame 2411, and the material receiving base 2412a is slidably connected to the first track 2411a along the first track 2411a, so as to realize the movement of the material receiving base 2412a relative to the mounting frame 2411.

[0242] In this way, in actual operation, the outlet end of each of the first material receiving cylinders 2412b is closed, the material receiving base 2412a drives the material receiving base 2412a to move, thereby driving the plurality of first material receiving cylinders 2412b to pass through the first material receiving station in sequence and receive the tubes 200, until each of the first material receiving cylinders 2412b completes the receiving. When each of the first material receiving cylinders 2412b completes the receiving, the material receiving base 2412a drives the material receiving base 2412a to move to the material dropping station and waits for the material dropping. When the downstream needs the tubes 200, the outlet end of each of the first material receiving cylinders 2412b is opened, and the tubes 200 drop from the outlet end of the first material receiving cylinder 2412b, i.e., the material dropping is completed. The material receiving mechanism 241 of the present application utilizes the plurality of first material receiving cylinders 2412b to receive the tubes 200 and group the tubes 200, thereby coordinating the pace of the upstream and downstream devices, which is conducive to meeting the feeding requirements of the existing winding machines and improving the feeding efficiency.

[0243] Further, the receiving assembly 2412 further comprises a first discharging flap 2412c and a first discharging driver 2412d. The first discharging flap 2412c is movably connected to the receiving seat 2412a and is provided with a plurality of first discharging holes (not shown in the figure) corresponding to the discharging ends of the plurality of first receiving tubes 2412b. The first discharging driver 2412d is installed on the receiving seat 2412a and is in driving connection with the first discharging flap 2412c to drive the first discharging flap 2412c to move relative to the receiving seat 2412a. The first discharging flap 2412c includes an open position in the process of moving relative to the receiving seat 2412a. When the first discharging flap 2412c moves to the open position, each first discharging hole is aligned with the discharging end of a corresponding first receiving tube 2412b, so that the tube yarn 200 in the first receiving tube 2412b falls from the discharging end of the first receiving tube 2412b and the corresponding first discharging hole, that is, the discharging is completed. Optionally, the first discharging driver 2412d can be a pneumatic cylinder.

[0244] In this way, when receiving, the first discharging flap 2412c blocks the discharging end of the first receiving tube 2412b to prevent the tube yarn 200 from falling from the discharging end of the first receiving tube 2412b. When discharging, the first discharging driver 2412d drives the first discharging flap 2412c to move to the open position, so that the discharging end of each first receiving tube 2412b is aligned with a corresponding first discharging hole. At this time, the tube yarn 200 in the first receiving tube 2412b can fall from the discharging end of the first receiving tube 2412b and the first discharging hole, thereby completing the discharging. After the discharging is completed, the first discharging driver 2412d drives the first discharging flap 2412c to reset, so that the first discharging flap 2412c blocks the discharging end of each first receiving tube 2412b again, thereby preparing for the next receiving. In the embodiment shown in the figure, the discharging end of the first receiving tube 2412b is the bottom end of the first receiving tube 2412b, and the discharging end of the first receiving tube 2412b is the top end of the first receiving tube 2412b. Figure 1 In the embodiment shown in the figure, the discharging end of the first receiving tube 2412b is the bottom end of the first receiving tube 2412b, and the discharging end of the first receiving tube 2412b is the top end of the first receiving tube 2412b.

[0245] In specific embodiments, the material receiving assembly 2412 further comprises a first guide shaft 2412e and a first guide block 2412f. The first guide shaft 2412e is fixedly connected to one of the first material receiving opening and closing plate 2412c and the material receiving seat 2412a, and the first guide block 2412f is fixedly connected to the other one of the first material receiving opening and closing plate 2412c and the material receiving seat 2412a. The first guide block 2412f is slidingly connected to the first guide shaft 2412e, so that the first material receiving opening and closing plate 2412c can move relative to the material receiving seat 2412a through the sliding connection between the first guide shaft 2412e and the first guide block 2412f, so that the action of opening or closing the discharge end of the first material receiving cylinder 2412b is more stable and reliable. Specifically, the first guide shaft 2412e is fixedly connected to the material receiving seat 2412a, and the first guide block 2412f is fixedly connected to the first material receiving opening and closing plate 2412c.

[0246] Further, the first guide block 2412f is provided with a first guide hole, and the first guide shaft 2412e penetrates the first guide hole and is in sliding fit with the first guide hole, so as to realize the sliding connection between the first guide block 2412f and the first guide shaft 2412e.

[0247] It should be noted that in some embodiments, the first guide shaft 2412e can comprise a plurality of first guide shafts 2412e, and the plurality of first guide shafts 2412e are arranged in parallel with each other, and each first guide shaft 2412e is slidingly connected with at least one first guide block 2412f.

[0248] It should be further noted that in some embodiments, the moving direction of the first material receiving opening and closing plate 2412c relative to the material receiving seat 2412a is parallel to the moving direction of the material receiving seat 2412a relative to the mounting frame 2411, so as to facilitate reducing the space occupied by the material receiving assembly 2412 and facilitating the layout of the material receiving assembly 2412. Of course, in other embodiments, the moving direction of the first material receiving opening and closing plate 2412c relative to the material receiving seat 2412a can also be not parallel to the moving direction of the material receiving seat 2412a relative to the mounting frame 2411, as long as the opening and closing of the discharge end of each first material receiving cylinder 2412b can be realized, which is not limited herein.

[0249] In the embodiments of the present application, each first material receiving cylinder 2412b is provided with a first sensor 2412g (see Figure 2), the first sensor 2412g is used for sensing the tube yarn 200 in the corresponding first receiving cylinder 2412b. Thus, during the receiving process, when the first sensor 2412g on one first receiving cylinder 2412b senses the tube yarn 200, the receiving process of the first receiving cylinder 2412b is completed, and the receiving drive mechanism 2413 can drive the receiving seat 2412a to continue moving, so that the next first receiving cylinder 2412b moves to the first receiving station for receiving. Optionally, the first sensor 2412g can be a pair of light sensors.

[0250] Further, the first receiving cylinder 2412b is provided with a mounting hole penetrating into the inside of the first receiving cylinder 2412b, and the first sensor 2412g is mounted in the mounting hole, so as to facilitate the installation of the first sensor 2412g.

[0251] In the embodiment of the present application, the receiving mechanism 241 further comprises a second position detection unit 2414 and a sensing sheet 2415, the second position detection unit 2414 is mounted on one of the mounting frame 2411 and the receiving seat 2412a, and the sensing sheet 2415 is mounted on the other one of the mounting frame 2411 and the receiving seat 2412a. The second position detection unit 2414 is used for detecting the position of the sensing sheet 2415. Thus, the second position detection unit 2414 detects the position of the sensing sheet 2415, so as to determine the position of the first receiving cylinder 2412b, which is beneficial to the receiving drive mechanism 2413 driving the receiving seat 2412a to move so that each first receiving cylinder 2412b sequentially passes through the first receiving station for receiving. Optionally, the second position detection unit 2414 can be a photoelectric limit switch.

[0252] Specifically, in the embodiment, the plurality of first receiving cylinders 2412b are arranged at intervals along the moving direction of the receiving seat 2412a. When the second position detection unit 2414 senses the sensing sheet 2415, one first receiving cylinder 2412b at the end of the plurality of first receiving cylinders 2412b is located at the first receiving station. Thus, during the receiving process, when the second position detection unit 2414 senses the sensing sheet 2415, the receiving drive mechanism 2413 stops driving the receiving seat 2412a to move, so that the first receiving cylinder 2412b at one end of the plurality of first receiving cylinders 2412b is located at the first receiving station for receiving. After the first sensor 2412g on the first receiving cylinder 2412b senses the tube yarn 200, the receiving drive mechanism 2413 continues to drive the receiving seat 2412a to move, so that the next first receiving cylinder 2412b moves to the first receiving station for receiving. This cycle continues until each first receiving cylinder 2412b completes the receiving process. Specifically, the plurality of first receiving cylinders 2412b are arranged in the first direction.

[0253] Further, the first sensor 2412g and the second position detecting unit 2414 are electrically connected with the material receiving driving mechanism 2413, so that the material receiving driving mechanism 2413 drives the material receiving seat 2412a to move according to the sensing signals of the first sensor 2412g and the second position detecting unit 2414. Specifically, the first sensor 2412g and the second position detecting unit 2414 are electrically connected with the material receiving driving member 2413a of the material receiving driving mechanism 2413 described below.

[0254] Specifically, in the embodiment of the present application, three first material receiving tubes 2412b are installed on the material receiving seat 2412a. When the second position detecting unit 2414 senses the sensing sheet 2415, the leftmost first material receiving tube 2412b is at the first material receiving station. At this time, the material receiving driving mechanism 2413 stops driving the material receiving seat 2412a to move, so that the leftmost first material receiving tube 2412b performs material receiving. When the first sensor 2412g on the leftmost first material receiving tube 2412b senses the tube yarn 200, the material receiving driving mechanism 2413 drives the material receiving seat 2412a to continue moving to the left, until the middle first material receiving tube 2412b reaches the first material receiving station, so that the middle first material receiving tube 2412b performs material receiving. When the first sensor 2412g on the middle first material receiving tube 2412b senses the tube yarn 200, the material receiving driving mechanism 2413 drives the material receiving seat 2412a to continue moving to the left, until the rightmost first material receiving tube 2412b reaches the first material receiving station, so that the rightmost first material receiving tube 2412b performs material receiving. When the first sensor 2412g on the rightmost first material receiving tube 2412b senses the tube yarn 200, the material receiving driving mechanism 2413 drives the material receiving seat 2412a to move to the material dropping station, so as to perform material dropping.

[0255] It should be noted that the mounting frame 2411 can also be installed with a stroke limiting switch for limiting the movement stroke of the material receiving seat 2412a, and the movement stroke of the material receiving seat 2412a is limited within the range between the first material receiving station and the material dropping station by the stroke limiting switch.

[0256] In the embodiment of the present application, the material receiving driving mechanism 2413 comprises a material receiving driving member 2413a, a fourth driving wheel 2413b, a fourth driven wheel 2413b and a fourth transmission belt 2143c. The material receiving driving member 2413a is installed on the mounting frame 2411, and the fourth driving wheel 2413b is installed on the driving end of the material receiving driving member 2413a to be driven to rotate by the material receiving driving member 2413a. The fourth driven wheel 2413b is installed on the mounting frame 2411 and is arranged in the moving direction of the material receiving seat 2412a in a spaced manner with the fourth driving wheel 2413b, and the fourth transmission belt 2143c is sleeved between the fourth driving wheel 2413b and the fourth driven wheel 2413b to sequentially move under the driving of the fourth driving wheel 2413b. The material receiving seat 2412a is connected with the fourth transmission belt 2143c to move with the fourth transmission belt 2143c. In this way, when it is needed to move the material receiving seat 2412a, the material receiving driving member 2413a drives the fourth driving wheel 2413b to rotate, thereby driving the fourth transmission belt 2143c to sequentially move between the fourth driving wheel 2413b and the fourth driven wheel 2413b, and further driving the material receiving seat 2412a to move. Optionally, the material receiving driving member 2413a can be a stepping motor.

[0257] Optionally, the fourth driving wheel 2413b and the fourth driven wheel 2413b can adopt synchronous pulleys, and the fourth transmission belt 2143c can adopt a synchronous belt. In this way, the synchronous belt transmission has an accurate transmission ratio without slip, can obtain a constant speed ratio, stable transmission, can absorb vibration, has low noise and the like, so as to facilitate ensuring the stable and reliable movement of the material receiving seat 2412a and high precision.

[0258] It should be noted that the material receiving driving mechanism 2413 is not limited to the belt transmission mode to drive the material receiving seat 2412a to move, and in other embodiments, the material receiving driving mechanism 2413 can also adopt a lead screw module or a gear and rack transmission structure, which is not limited here.

[0259] In the embodiment of the present application, the material receiving mechanism 241 further comprises a supporting member 2416 installed on the mounting frame 2411, which has a drag chain groove 2416a extending longitudinally along the moving direction of the material receiving seat 2412a, and the air pipe of the first material receiving driving member 2412d is supported in the drag chain groove 2416a by a drag chain to prevent the air pipe of the first material receiving driving member 2412d from being knotted or interfering with the movement of the material receiving seat 2412a during the movement of the material receiving seat 2412a. Of course, in other embodiments, other wires of the material receiving mechanism 241 can also be supported in the drag chain groove 2416a by a drag chain, such as the wires of the inductor, the wires of the first material receiving driving member 2412d and the like.

[0260] In some embodiments, the material dropping device 24 further comprises a buffering mechanism 242 connected with the material receiving mechanism 241, and the buffering mechanism 242 is used to buffer the plurality of yarn packages 200 from the material receiving mechanism 241.

[0261] Specifically, the buffering mechanism 242 comprises a buffering seat 2421 and a plurality of second material receiving cylinders 2422 mounted on the buffering seat 2421, the plurality of second material receiving cylinders 2422 are arranged one by one with the plurality of first material receiving cylinders 2412b, and the feeding end of each second material receiving cylinder 2422 is in communication with the discharging end of the corresponding first material receiving cylinder 2412b, so that the yarn package 200 in the first material receiving cylinder 2412b can be dropped into the corresponding second material receiving cylinder 2422. The discharging end of each second material receiving cylinder 2422 is configured to be able to be controlled to open or close. Specifically, the buffering seat 2421 is arranged on the mounting frame 2411.

[0262] In this way, in actual operation, the discharging end of each first material receiving cylinder 2412b of the material receiving mechanism 241 is closed to achieve material receiving. After each first material receiving cylinder 2412b completes material receiving, the discharging end of each second material receiving cylinder 2422 of the buffering mechanism 242 is closed, and the discharging end of each first material receiving cylinder 2412b is opened, so that the yarn package 200 in each first material receiving cylinder 2412b is dropped into the corresponding second material receiving cylinder 2422. At this time, the discharging end of the first material receiving cylinder 2412b is closed to enable the first material receiving cylinder 2412b to continue material receiving. When the yarn package 200 is needed downstream, the discharging end of each second material receiving cylinder 2422 is opened, so that the yarn package 200 in the second material receiving cylinder 2422 is dropped downstream. The buffering mechanism 242 can also play a role in buffering the yarn package 200, which is conducive to coordinating the pace of upstream and downstream devices, meeting the feeding requirements of existing winding machines, and having high feeding efficiency.

[0263] The buffering mechanism 242 further comprises a second material dropping opening and closing plate 2423 and a second material dropping driving member 2424. The second material dropping opening and closing plate 2423 is movably connected to the buffering seat 2421, and is provided with a second material dropping hole (not shown in the figure) corresponding to the discharging end of each second material receiving cylinder 2422, so that the yarn package 200 in the second material receiving cylinder 2422 can be dropped from the discharging end of the second material receiving cylinder 2422 and the second material dropping hole. The second material dropping driving member 2424 is mounted on the buffering seat 2421 and is in transmission connection with the second material dropping opening and closing plate 2423 to drive the second material dropping opening and closing plate 2423 to move relative to the buffering seat 2421.

[0264] The second material-falling opening and closing plate 2423 moves in a process including a second opening position. When the second material-falling opening and closing plate 2423 moves to the second opening position, each second material-falling hole is aligned with the discharge end of a corresponding one of the second material-receiving barrels 2422. Thus, when it is necessary to fall material downstream, the second material-falling driving member 2424 drives the second material-falling opening and closing plate 2423 to move to the second opening position, and the tube yarn 200 in the second material-receiving barrel 2422 can be fallen downstream from the discharge end of the second material-receiving barrel 2422 and the second material-falling hole. When the falling of the tube yarn 200 in the second material-receiving barrel 2422 is completed, the second material-falling driving member 2424 drives the second material-falling opening and closing plate 2423 to reset, so as to block the discharge end of each second material-receiving barrel 2422, so as to receive the tube yarn 200 fallen from the first material-receiving barrel 2412b again.

[0265] In specific embodiments, the buffering mechanism 242 further includes a second guide shaft 2425 and a second guide block 2426. The second guide shaft 2425 is fixedly connected to one of the second material-falling opening and closing plate 2423 and the buffer seat 2421, and the second guide block 2426 is fixedly connected to the other one of the second material-falling opening and closing plate 2423 and the buffer seat 2421. The second guide block 2426 is slidingly connected to the second guide shaft 2425. Thus, the sliding connection between the second guide shaft 2425 and the second guide block 2426 enables the second material-falling opening and closing plate 2423 to move relative to the buffer seat 2421, so that the second material-falling opening and closing plate 2423 opens or closes the discharge end of the second material-receiving barrel 2422 more stably and reliably. In specific embodiments shown in the drawings, the second guide shaft 2425 is fixedly connected to the buffer seat 2421, and the second guide block 2426 is fixedly connected to the second material-falling opening and closing plate 2423.

[0266] Further, the second guide block 2426 is provided with a second guide hole (not shown in the drawings), and the second guide shaft 2425 is arranged in the second guide hole and slidingly matched with the second guide hole. Thus, the sliding connection between the second guide block 2426 and the second guide shaft 2425 is realized through the sliding matching of the shaft hole.

[0267] It should be noted that, in some embodiments, the second guide shaft 2425 can include a plurality (i.e., two or more). The plurality of second guide shafts 2425 are arranged in parallel with each other, and each second guide shaft 2425 is slidingly connected with at least one second guide block 2426, so that the movement of the second material-falling opening and closing plate 2423 relative to the buffer seat 2421 is more stable and reliable.

[0268] It should be noted that, in some embodiments, the plurality of second receiving tubes 2422 are arranged along a preset direction, and the second material-falling opening and closing plate 2423 is movably connected to the buffer seat 2421 along the preset direction. Thus, the space occupied by the transfer receiving device can be reduced, and the layout of the transfer receiving device can be facilitated. Of course, in other embodiments, the moving direction of the second material-falling opening and closing plate 2423 relative to the receiving seat 31 can not be parallel to the preset direction, as long as the opening and closing of the outlet end of each second receiving tube 2422 can be realized, which is not limited herein.

[0269] It can be understood that the plurality of first receiving tubes 2412b are also arranged along a preset direction, so that the plurality of first receiving tubes 2412b located at the material-falling station correspond to the plurality of second receiving tubes 2422 one by one, and the outlet end of each first receiving tube 2412b is aligned with the inlet end of a corresponding second receiving tube 2422, so that the tube yarn 200 falling from the outlet end of each first receiving tube 2412b can enter the second receiving tube 2422 through the inlet end of the corresponding second receiving tube 2422. Specifically, the plurality of second receiving tubes 2422 are arranged along a first direction.

[0270] In the embodiments of the present application, each second receiving tube 2422 is provided with a second sensor 2427 for sensing the tube yarn 200 in the corresponding second receiving tube 2422. Thus, when the second sensor 2427 senses the tube yarn 200 in the corresponding second receiving tube 2422, it indicates that the second receiving tube 2422 has completed receiving, and at this time, the second material-falling opening and closing plate 2423 can be controlled to move to open the outlet end of the second receiving tube 2422, so as to fall downstream. When the second sensor 2427 does not sense the tube yarn 200 in the corresponding second receiving tube 2422, it indicates that the second receiving tube 2422 has completed receiving, and at this time, the second material-falling opening and closing plate 2423 can be controlled to reset to close the outlet end of the second receiving tube 2422, so as to wait for the tube yarn 200 falling from the first receiving tube 2412b again. Alternatively, the second sensor 2427 can be a reflection type photoelectric sensor.

[0271] Further, the second receiving tube 2422 is provided with a second mounting hole (not shown in the figure) penetrating into the inside of the second receiving tube 2422, and the second sensor 2427 is mounted in the second mounting hole, so as to facilitate the installation of the second sensor 2427.

[0272] Furthermore, the second sensor 2427 is electrically connected to the second discharge drive 2424, which controls the movement of the second discharge opening and closing plate 2423 according to the sensing signal from the second sensor 2427, thereby opening or closing the discharge end of the second receiving cylinder 2422. Specifically, when the second sensor 2427 senses the presence of yarn 200 in the second receiving cylinder 2422, the second discharge drive 2424 can drive the second discharge opening and closing plate 2423 to move and open the discharge end of the second receiving cylinder 2422 to discharge downstream. When the second sensor 2427 senses that there is no yarn 200 in the second receiving cylinder 2422, the second discharge drive 2424 can drive the second discharge opening and closing plate 2423 to reset and close the discharge end of the second receiving cylinder 2422 to receive the yarn 200 falling from the discharge end of the first receiving cylinder 2412b again. Optionally, the second unloading drive 2424 can be a cylinder.

[0273] In embodiments of the present invention, the buffer mechanism 242 may include multiple buffer mechanisms 242, which are arranged sequentially from upstream to downstream. In each pair of adjacent buffer mechanisms 242, the upstream second receiving cylinders 2422 correspond one-to-one with the downstream second receiving cylinders 2422. Furthermore, in the corresponding pairs of second receiving cylinders 2422, the discharge end of the upstream second receiving cylinder 2422 is connected to the feed end of the downstream second receiving cylinder 2422. Thus, by controlling the movement of the second discharge opening and closing plate 2423 of each buffer mechanism 242, the yarn tube 200 can pass sequentially from the upstream second receiving cylinder 2422 through each downstream second receiving cylinder 2422, ultimately achieving the output of the yarn tube 200. In other words, the yarn tube 200 can be buffered using the second receiving cylinders 2422 of multiple buffer mechanisms 242, which helps improve the buffering effect, further enhances the coordination of upstream and downstream devices, further meets the feeding requirements of existing winding machines, and has high feeding efficiency.

[0274] In one specific embodiment, the receiving component 2412 and multiple buffer mechanisms 242 are arranged sequentially from top to bottom, so that the yarn tube 200 can pass through the first receiving cylinder 2412b of the receiving component 2412 and the second receiving cylinder 2422 of the multiple buffer mechanisms 242 in sequence by utilizing the gravity of the yarn tube 200 itself, and finally be output.

[0275] like Figures 20-22 As shown, in some embodiments, the feeding device 24 further includes a feeding guide device 243, which is connected to the buffer mechanism 242. The feeding guide device 243 is used to guide the multiple yarn tubes 200 buffered by the buffer mechanism 242 to the shaping module 30. Specifically, the feeding guide device 243 is located vertically below the buffer mechanism 242.

[0276] Specifically, the blank guiding device 243 comprises a support 2431 and a guiding mechanism 2432 arranged on the support 2431, and the guiding mechanism 2432 comprises a plurality of blank discharge ports 2432a. Specifically, the guiding mechanism 2432 further comprises a plurality of blank receiving ports 2432b and a plurality of guiding channels 2432c, each guiding channel 2432c is in communication with a corresponding blank receiving port 2432b and a blank discharge port 2432a. It should be noted that the number of blank receiving ports 2432b of the guiding mechanism 2432 should be consistent with the number of the second receiving barrels 2422 of the buffer mechanism 242 closest to the guiding mechanism 2432. In this way, a plurality of copes 200 can be guided at the same time through the guiding mechanism 2432, thereby improving the working efficiency of the blank guiding device 243. In the embodiment of the present application, the support 2431 is arranged on the mounting frame 2411.

[0277] In some embodiments, the guiding mechanism 2432 comprises a guiding fixed part 2433 and a guiding movable part 2434, the guiding fixed part 2433 is fixed to the support 2431, and the guiding movable part 2434 is movable relative to the guiding fixed part 2433 to switch between an engaging position and a disengaging position, when the guiding movable part 2434 is in the engaging position, the guiding movable part 2434 cooperates with the guiding fixed part 2433 to form the guiding channel 2432c, and when the guiding movable part 2434 is in the disengaging position, the guiding movable part 2434 is separated from the guiding fixed part 2433. In order to ensure the stability of the blanking of the cope 200, therefore, the cope 200 is still at least partially located in the guiding channel 2432c after being received by the shaping module 30, and due to the limitation of the guiding channel 2432c, the cope 200 cannot be separated from the guiding mechanism 2432 and be driven to the next station, therefore, by switching the guiding movable part 2434 relative to the guiding fixed part 2433 between the engaging position and the disengaging position, reliable guiding can be ensured while not blocking the cope 200 from entering the next station.

[0278] Further, the guiding mechanism 2432 further comprises a first pivot shaft 2435, and the guiding movable part 2434 is pivotally connected to the guiding fixed part 2433 through the first pivot shaft 2435. The pivoting mode is simple, and when the guiding movable part 2434 is in the disengaging position, a larger opening is formed between the guiding movable part 2434 and the guiding fixed part 2433 to allow the movement of the cope 200. In other embodiments, the guiding movable part 2434 can also be translated relative to the guiding fixed part 2433, which is not limited herein. Preferably, the first pivot shaft 2435 is arranged on the side of the guiding movable part 2434 and the guiding fixed part 2433 away from the shaping device 30.

[0279] In one specific embodiment, the guiding mechanism 2432 further includes a guiding drive member 2436, which is used to drive the guiding movable member 2434 to rotate relative to the guiding fixed member 2433. Specifically, the guiding drive member 2436 includes a first cylinder 2436a and a first hinge seat 2436b. The first cylinder 2436a is mounted on the support 2431. The first hinge seat 2436b includes a seat body and a hinge member, which are hinged together. The seat body is mounted on the guiding movable member 2434. The first cylinder 2436a includes a telescopic shaft, which is connected to the hinge member to drive the hinge member to rotate around the seat body, thereby driving the guiding movable member 2434 to rotate.

[0280] In some embodiments, the side of the guide movable member 2434 facing the guide fixed member 2433 is provided with a V-shaped guide groove 2434a. The V-shaped guide groove 2434a has a simple structure and provides accurate guidance and positioning, which greatly reduces the shaking caused by factors such as vibration of the yarn tube 200 during the guiding process.

[0281] Furthermore, the guide fixing member 2433 has a guide plane on the side facing the guide movable member 2434, and the V-shaped guide groove 2434a cooperates with the guide plane to form a guide channel 2432c. The method of guiding by setting the guide plane and the V-shaped guide groove 2434a is simple, and when the guide movable member 2434 is in the separated position, the two sides of the yarn tube 200 in the radial direction are no longer restricted by the guide fixing member 2433, which facilitates the further movement of the yarn tube 200 to the next station.

[0282] In some embodiments, the shaping module 30 includes a conveying device 31 and a thread end acquisition device 32. The conveying device 31 is connected to the sorting device 20, and the thread end acquisition device 32 is disposed on one side of the conveying device 31. Specifically, the conveying device 31 is connected to the material drop guide device 243. In embodiments of this application, the conveying device 31 has a track and includes a moving unit 313. The moving unit 313 is capable of positioning multiple yarn tubes 200. The moving unit 313 is slidably connected to the track. The thread end acquisition device 32 is arranged around the track, which includes a thread end acquisition station. The thread end acquisition device 32 can acquire the thread end of the yarn tube 200 when the yarn tube 200 is located at the thread end acquisition station.

[0283] like Figures 23-26 As shown, the conveying device 31 will now be described in detail.

[0284] The conveying device 31 includes a support platform 311, a track assembly 312, a moving unit 313, and a conveying drive mechanism 314. In embodiments of this application, the moving unit 313 includes at least two units.

[0285] The track assembly 312 is arranged on the support platform 311, and has two second tracks 3121 extending along a tenth direction and two third tracks 3122 extending along an eleventh direction intersecting the tenth direction, the two second tracks 3121 and the two third tracks 3122 are spliced to form a ring-shaped closed track, the second track 3121 includes at least two stations 3121a arranged along the tenth direction, the third track 3122 includes at least two stations 3121a arranged along the eleventh direction, and at least two moving units 313 are slidingly connected to the ring-shaped closed track, and each station 3121a is capable of placing a moving unit 313. The ring-shaped closed track is a form of track, and in other embodiments, it can also be other open tracks, which are not limited herein.

[0286] It should be noted that the second track 3121 and the third track 3122 can extend linearly along the tenth direction and the eleventh direction respectively, or can extend in a curve, etc., which are not limited herein, but preferably, the second track 3121 and the third track 3122 can extend linearly along the tenth direction and the eleventh direction respectively. In an embodiment, the ring-shaped closed track is a parallelogram track, and more specifically, the ring-shaped closed track is a rectangular track, and in other embodiments, it can also be a rhombus track, which is not limited herein. Specifically, the tenth direction is parallel to the first direction, and the eleventh direction is parallel to the second direction. In the embodiments of the present application, the moving unit 313 is used to carry the cop 200.

[0287] In some embodiments, the at least two stations 3121a of the second track 3121 are sequentially connected along the tenth direction, in other embodiments, the at least two stations 3121a of the third track 3122 are sequentially connected along the eleventh direction, and in other embodiments, the at least two stations 3121a of the second track 3121 are sequentially connected along the tenth direction, and the at least two stations 3121a of the third track 3122 are sequentially connected along the eleventh direction. In this way, the space utilization of the track assembly 312 can be higher, and the structure is more compact.

[0288] It should also be noted that the number of moving units 313 should be less than the number of stations 3121a, so that the moving units 313 can move on the ring-shaped closed track.

[0289] The conveying driving mechanism 314 is arranged on the support platform 311, and the conveying driving mechanism 314 includes at least four conveying driving members 3141, two of which are located on both sides of the center line of the annular closed track in the tenth direction and are diagonally arranged relative to the center of the annular closed track, and the other two conveying driving members 3141 are located on both sides of the center line of the annular closed track in the eleventh direction and are diagonally arranged relative to the center of the annular closed track. Specifically, the annular closed track includes a first center line and a second center line, the first center line is arranged in parallel with the tenth direction, and the second center line is arranged in parallel with the eleventh direction, and the two conveying driving members 3141 are located on both sides of the second center line of the annular closed track in the tenth direction, and the other two conveying driving members 3141 are located on both sides of the first center line of the annular closed track in the eleventh direction.

[0290] The two conveying driving members 3141 located on both sides of the center line of the annular closed track in the tenth direction are used to drive the movement unit 313 on the corresponding station 3121a to move along the second track 3121, and the two conveying driving members 3141 located on both sides of the center line of the annular closed track in the eleventh direction are used to drive the movement unit 313 on the corresponding station 3121a to move along the third track 3122. Specifically, the two conveying driving members 3141 located on both sides of the center line of the annular closed track in the tenth direction are used to drive the movement unit 313 on the station 3121a located on the outermost side of the second track 3121 in the tenth direction to move along the first track 22, and the two conveying driving members 3141 located on both sides of the center line of the annular closed track in the eleventh direction are used to drive the movement unit 313 on the station 3121a located on the outermost side of the second track 21 in the eleventh direction to move along the third track 3122.

[0291] In this way, by arranging the annular closed track, a plurality of stations 3121a, for example, including a second material receiving station corresponding to the material guiding device 243, a line scraping station corresponding to the subsequent line scraping device 33, a line end obtaining station corresponding to the line end obtaining device 32, and a grabbing station corresponding to the material feeding module 40, are concentrated in the annular closed track, and the four conveying driving members 3141 are respectively located on the four sides of the center line of the annular closed track to push the movement unit 313 on the cop 200 to move on the annular closed track to switch the station, so that the plurality of stations are concentrated by using the conveying device 31, the structure of the yarn feeding robot is more compact, and the working efficiency is improved.

[0292] In the embodiment of the present application, the second material receiving station, the line scraping station, the line end obtaining station, and the grabbing station are sequentially adjacent in the conveying direction of the cop 200. In addition, the stations of the annular closed track further include a waiting material receiving station adjacent to the second material receiving station.

[0293] In some embodiments, the two conveying drivers 3141 located on both sides of the center line of the closed loop track in the tenth direction are used to drive the moving units 313 to move in opposite directions, and the two conveying drivers 3141 located on both sides of the center line of the closed loop track in the eleventh direction are used to drive the moving units 313 to move in opposite directions, so that the four conveying drivers 3141 enable the moving units 313 to move in a circulating manner on the closed loop track. In this way, the moving units 313 can continuously circulate between the material receiving station, the line pressing station, the line head obtaining station and the material feeding station, so as to realize reciprocating non-stop work.

[0294] In the embodiments of the present application, the conveying drivers 3141 only include four. For the convenience of description, the four conveying drivers 3141 are respectively named as a first conveying driver, a second conveying driver, a third conveying driver and a fourth conveying driver, wherein the first conveying driver and the second conveying driver are located on both sides of the closed loop track in the tenth direction, and the third conveying driver and the fourth conveying driver are located on both sides of the closed loop track in the eleventh direction.

[0295] In some embodiments, each conveying driver 3141 includes a moving shaft 3141a extending in a straight line and a push block 3141b arranged on the moving shaft 3141a, and the push block 3141b can move reciprocally along the moving shaft 3141a to push the moving units 313 on the corresponding station 3121a to move. In this way, the movement of the push block 3141b is more stable. Preferably, the conveying driver 3141 includes a cylinder with a shaft.

[0296] In some embodiments, the track assembly 312 includes a support frame 3121 and a track body 3122, the track body 3122 is arranged on the support frame 3121, the support frame 3121 is supported on the support platform 311, and the conveying drivers 3141 are located between the track body 3122 and the support platform 311. In this way, by arranging the support frame 3121 to support the track body 3122, the space below the track body 3122 can be fully utilized to place the four conveying drivers 3141, so that the structure of the conveying device 31 is more compact, and the movement space of the push block 3141b is sufficient.

[0297] Further, the conveying driving member 3141 comprises a pawl 3141c arranged on the push block 3141b, the track body 3122 is provided with third guide holes 3122a, the pawl 3141c protrudes out of the third guide holes 3122a to contact the moving unit 313 on the corresponding station 3121a, and the third guide holes 3122a are used to guide the movement of the pawl 3141c. Specifically, the third guide holes 3122a include four third guide holes, two of which extend along the tenth direction, and the other two of which extend along the eleventh direction. The push block 3141b of the first conveying driving member and the push block 3141b of the second conveying driving member respectively protrude out of the two third guide holes 3122a extending along the tenth direction, and the push block 3141b of the third conveying driving member and the push block 3141b of the fourth conveying driving member respectively protrude out of the two third guide holes 3122a extending along the eleventh direction. More specifically, the push block 3141b of the first conveying driving member and the push block 3141b of the second conveying driving member contact one side of the moving unit 313 along the tenth direction, and the push block 3141b of the third conveying driving member and the push block 3141b of the fourth conveying driving member contact one side of the moving unit 313 along the eleventh direction. The pawl 3141c is used to push the moving unit 313 to move in a simple manner, and is conducive to achieving one-way pushing.

[0298] In some embodiments, the pawl 3141c comprises a fixed part and a claw part, the fixed part is fixedly connected to the push plate 412, one end of the claw part is connected to the fixed part, and the claw part and the fixed part are arranged at an included angle. Specifically, the fixed part and the claw part are both plate-shaped. Specifically, the claw part and the fixed part are arranged at an included angle of 90 degrees.

[0299] In some embodiments, the track body 3122 comprises a bottom plate 3122b, a frame 3122c and a first guide 3122d, the frame 3122c is arranged on the bottom plate 3122b, the first guide 3122d is located in the frame 3122c, the center of the orthographic projection of the frame 3122c towards the bottom plate 3122b is located in the area of the orthographic projection of the first guide 3122d towards the bottom plate 3122b, and the bottom plate 3122b, the frame 3122c and the first guide 3122d are arranged to form a ring-shaped closed track. In this way, the structure of the ring-shaped closed track is stable by the arrangement of the bottom plate 3122b, the frame and the first guide 3122d, and the movement of the moving unit 313 on the ring-shaped closed track is more stable.

[0300] Further, the first guide 3122d extends to the edge of the two outermost workstations 3121a away from the frame 3122c in the tenth direction. In this way, when the moving unit 313 moves, it is guided by the frame 3122c and the first guide 3122d, improving the stability of movement. In other embodiments, the first guide 3122d extends to the edge of the two outermost workstations 3121a away from the frame 3122c in the eleventh direction. In this way, when the moving unit 313 moves along the third track 3122, it is guided by the frame 3122c and the first guide 3122d, improving the stability of movement. In other embodiments, the extension direction of the first guide 3122d is a combination of the above two, which is not limited here. It should be noted that when the number of workstations 3121a on the second track 3121 or the third track 3122 is only two, the two workstations 3121a should be arranged at intervals to extend the first guide 3122d.

[0301] Further, the track body 3122 further comprises a second guide 3122e, which is arranged on the side of the first guide 3122d away from the bottom plate 3122b, and the second guide 3122e protrudes out of the first guide 3122d in the tenth direction and the eleventh direction, forming a guide channel between the second guide 3122e and the bottom plate 3122b for guiding the movement of the moving unit 313. In this way, when the moving unit 313 moves, it is guided by the second guide 3122e and the bottom plate 3122b, improving the stability of movement.

[0302] In some embodiments, the moving unit 313 is a parallelogram, so that the moving unit 313 can correspond to the shape of the annular closed track, and the moving unit 313 can better cooperate with the frame 3122c and the first guide 3122d, improving the stability of movement of the moving unit 313. Preferably, when the annular closed track is a rectangular track, the moving unit 313 is a rectangle.

[0303] In some embodiments, the conveying device 31 further comprises a plurality of stroke sensors, each conveying drive 3141 is provided with at least one stroke sensor, the stroke sensor is used to detect the stroke position of the conveying drive 3141. Specifically, the stroke sensor is arranged at the stroke start point and the stroke end point of each conveying drive 3141, so that the position of the moving unit 313 can be known through the stroke sensor, and it is determined that the moving unit 313 moves to the correct station. Further, the conveying device 100 further comprises a first detection unit, the first detection unit is arranged on the track assembly 312, and the first detection unit is used to detect the position of the moving unit. By arranging the first detection unit, whether the moving unit 20 is successfully positioned can be determined together with the plurality of stroke sensors. Specifically, the first detection unit is arranged on the frame 3122c. In some embodiments, the first detection unit comprises a collision switch, when the moving unit 313 collides with the collision switch, the position of the moving unit 313 can be known.

[0304] In some embodiments, the conveying device 31 further comprises a second detection unit, the second detection unit is arranged on the track assembly 312, and the second detection unit is used to detect the information of the tube yarn 200 on the moving unit 313. If the tube yarn 200 is taken away, the second detection unit can be triggered to issue a fault alarm.

[0305] In some embodiments, the moving unit 313 comprises a receiving platform 3131, and the moving unit 313 comprises a positioning column 3132 arranged on the receiving platform 3131, and the positioning column 3132 is used to position the tube yarn 200. Specifically, when the moving unit 313 is located at the receiving station, the tube yarn 200 can be dropped from the material falling guide device 243, and the tube yarn 200 is inserted and positioned on the positioning column 3132. It should be understood that each positioning column 3132 is correspondingly arranged with a corresponding row of material outlets 2432a, wherein the positioning column 3132 is arranged opposite to the row of material outlets 2432a outside the row of material outlets 2432a. In other embodiments, the positioning column 3132 can also extend into the guide channel 2432c from the row of material outlets 2432a, which is not limited here.

[0306] Further, the moving unit 313 further comprises an elastic limiting member 3133 connected to the positioning column 3132, the elastic limiting member 3133 is arranged on the outer circumferential wall of the positioning column 3132 and surrounds the positioning column 3132, and the outer edge of the elastic limiting member 3133 can keep in contact with the tube yarn 200 when the tube yarn 200 is inserted into the positioning column 3132. Specifically, the elastic limiting member 3133 comprises a rubber limiting member, and specifically can be an elastic rubber ring, which has simple structure and low cost. In other embodiments, the elastic limiting member 3133 can also comprise a silicone rubber limiting member, or other elastic limiting members such as elastic plastic limiting members or elastic metal limiting members, which are not limited here. In some embodiments, the elastic limiting member 3133 comprises at least two elastic limiting members 3133, which are arranged along the axial direction of the positioning column 3132. Preferably, the elastic limiting member 3133 comprises two elastic limiting members 3133, which are arranged near the two ends of the positioning column 3132 respectively.

[0307] In this way, the tube yarn 200, for example, is guided by the material falling guide device 243, discharged from the material discharge port 2432a, and can be accurately received and positioned by the positioning column 3132 of the moving unit 313. In addition, during the process of inserting the tube yarn 200 into the positioning column 3132, the outer edge of the elastic limiting member 3133 keeps in contact with the inner wall of the tube yarn 200, so as to buffer the falling tube yarn 200 and provide a reverse resistance to the tube yarn 200, so as to avoid the tube yarn 200 from being bounced and causing material jamming or even disengaging from the positioning column 3132 when falling on the material receiving platform 3131. Under the joint action of the material falling guide device 243 and the moving unit 313, the tube yarn 200 can be stably guided and received, and then stably sent to the next station.

[0308] In some embodiments, the guide movable member 2434 protrudes out of the guide fixed member 2433 towards the moving unit 313, and the projection of the guide movable member 2434 along the radial direction of the positioning column 3132 towards the elastic limiting member 3133 is at least partially located on the elastic limiting member 3133. In this way, after the tube yarn 200 is received by the positioning column 3132, it can still be guided by the guide movable member 2434, further improving the stability of the tube yarn 200 being received by the moving unit 313. It should be noted that the material discharge port 2432a is formed by the guide movable member 2434 and the guide fixed member 2433 together, therefore, the part of the guide movable member 2434 protruding out of the guide fixed member 2433 towards the moving unit 313 should be located on the side of the material discharge port 2432a away from the material discharge port 2432b. Preferably, the guide movable member 2434 protrudes out of the guide fixed member 2433 towards the moving unit 313, and the projection of the guide movable member 2434 along the radial direction of the positioning column 3132 towards the elastic limiting member 3133 is at least partially located on the elastic limiting member 3133.

[0309] In some embodiments, the mobile unit 313 further comprises elastic adjusting members 3134 supported on the receiving platform 3131 and arranged around the positioning column 3132. The side of the elastic adjusting members 3134 away from the receiving platform 3131 is capable of supporting the lower end of the tube yarn 200 when the tube yarn 200 is inserted into the positioning column 3132. In this way, the height of the tube yarn 200 relative to the receiving platform 3131 along the axial direction of the positioning column 3132 can be adjusted in the subsequent workstations. Specifically, the elastic adjusting members 3134 comprise elastic pieces. More specifically, the elastic adjusting members 3134 comprise metal elastic pieces. The elastic pieces are simple in structure, low in cost and long in service life. In other embodiments, the elastic adjusting members 3134 can also be rubber elastic adjusting members or silica gel elastic adjusting members, which are not limited herein. In some embodiments, the elastic adjusting members 3134 comprise a plurality of elastic adjusting members 3134 arranged in a stack along the axial direction of the positioning column 3132. The plurality of elastic adjusting members 3134 have a larger adjustment range along the axial direction of the positioning column 3132.

[0310] Further, the positioning column 3132 is also provided with limiting portions, and the two ends of the elastic adjusting members 3134 along the axial direction of the positioning column 3132 abut against the limiting portions and the receiving platform 3131, respectively. In this way, the elastic adjusting members 3134 can be limited between the limiting portions and the receiving platform 3131, thereby improving the stability of the height adjustment of the tube yarn 200 by the elastic adjusting members 3134.

[0311] In some embodiments, the positioning column 3132 is rotatably connected to the receiving platform 3131 about the axis thereof. In this way, the positioning column 3132 can be conveniently rotated to cooperate with other mechanisms in the next workstation.

[0312] In some embodiments, the positioning column 3132 comprises a main body portion 3132a and a tapered head portion 3232b connected to the main body portion 3132a at the side close to the discharge port 2432b, and the radial dimension of the tapered head portion 3232b gradually decreases from the main body portion 3132a toward the discharge port 2432b. In this way, the tube yarn 200 can be conveniently received and guided to cooperate with the main body portion 3132a, thereby reducing the difficulty of receiving the tube yarn 200.

[0313] Further, the radial dimension of the main body portion 3132a gradually decreases from the receiving platform 3131 toward the discharge port 2432b. In this way, the tube yarn 200 can also be easily guided to cooperate with the main body portion 3132a.

[0314] As shown in FIG. 6, the thread end acquisition device 32 will be described in detail below. Figures 27-32

[0315] The thread end acquisition module 32 comprises a first support 321, a thread suction assembly 322 and a thread cutting assembly 323. Figure 3 ​As shown in FIG. 1, the thread end obtaining device 32 is arranged on the support platform 311. The thread end obtaining device 32 includes a first support 321, a thread suction assembly 322 arranged on the first support 321, and a thread cutting assembly 323 arranged on the thread suction assembly 322. Specifically, the first support 321 is fixed on the support platform 311.

[0316] The thread suction assembly 322 includes a thread suction housing 3221 and a negative pressure mechanism (not shown in the figure). The thread suction housing 3221 has a thread suction port 3222a, a thread outlet, and a thread suction channel connecting the thread suction port 3222a and the thread outlet. The thread suction port 3222a is arranged to face the tube yarn 200 at the thread end obtaining position. The negative pressure mechanism is connected to the thread outlet and is used to provide negative pressure to the thread suction channel to suck the thread end on the surface of the tube yarn 200 from the thread suction port 3222a to the thread outlet.

[0317] The thread cutting assembly 323 includes a scissors 3231 and a thread cutting driving member 3232. The scissors 3231 is arranged at the thread outlet, and the thread cutting driving member 3232 is used to drive the scissors 3231 to switch between an open position and a cutting position to cut the thread end of the tube yarn 200 at the thread outlet.

[0318] In this way, the tail thread of the tube yarn 200 is sucked from the thread suction port 3222a by the negative pressure mechanism, discharged to the thread outlet through the thread suction channel, and then the scissors 3231 is driven by the thread cutting driving member 3232 to switch from the open position to the cutting position to cut off the tail thread and obtain the thread end. The thread end obtaining device 32 of the present application has a simple structure and can quickly and effectively obtain the thread end.

[0319] In some embodiments, the thread suction assembly 322 further includes a collection box 3222 arranged on the first support 321. The thread suction housing 3221 is arranged outside the collection box 3222. The collection box 3222 is provided with a first communication hole 3222a. The thread outlet is connected to the inside of the collection box 3222 through the first communication hole 3222a. The scissors 3231 is arranged in the collection box 3222. The negative pressure mechanism is connected to the inside of the collection box 3222. By arranging the collection box 3222, on the one hand, it can ensure that the negative pressure mechanism can provide sufficient negative pressure to the thread suction channel. On the other hand, the tail thread removed can be collected by the collection box 3222 for subsequent processing. In some embodiments, the collection box 3222 includes a box body 3222b and a cover body 3222c. The cover body 3222c is arranged on the box body 3222b. In some embodiments, the collection box 3222 is further provided with a transparent window 3222d for the worker to observe the amount of tail thread collected by the collection box 3222. Specifically, the transparent window 3222d is arranged on the cover body 3222c.

[0320] Further, the collecting box 3222 is provided with a second communication hole, and the negative pressure mechanism is in communication with the inside of the negative collecting box 3222 through the second communication hole. The thread obtaining module 32 further comprises a gauze part arranged in the inside of the collecting box 3222, and the gauze part covers the second communication hole. In this way, the tail thread can be prevented from being sucked into the negative pressure mechanism from the second communication hole, so as to avoid damaging the negative pressure mechanism, and the tail thread can also be collected through the gauze.

[0321] In some embodiments, the scissors 3231 comprise a first scissor blade 3231a, a second scissor blade 3231b and a second rotating shaft 3231c, the first scissor blade 3231a and the second scissor blade 3231b are rotationally connected through the second rotating shaft 3231c, and the thread cutting driving member 3232 is in transmission connection with at least one of the first scissor blade 3231a and the second scissor blade 3231b. Specifically, when the scissors 3231 are in the open position, the projection of the first scissor blade 3231a and the second scissor blade 3231b in the axial direction of the first communication hole 211 towards the collecting box 3222 is separated from the first communication hole 211, and when the scissors 3231 are in the cutting position, the projection of the first scissor blade 3231a and the second scissor blade 3231b in the axial direction of the first communication hole 3222a towards the collecting box 3222 at least partially overlaps with the first communication hole 3222a.

[0322] Further, the first scissor blade 3231a is fixed to the thread suction assembly 322, the second scissor blade 3231b is rotationally connected to the first scissor 3231a through the second rotating shaft 3231c, and the thread cutting driving member 3232 is in transmission connection with the second scissor blade 3231b. In this way, the scissors 3231 can be switched between the open position and the cutting position by driving only the second scissor blade 3231b to rotate relative to the first scissor blade 3231a, and the working process of the scissors 3231 is simpler and faster.

[0323] In some embodiments, the scissors assembly 323 further comprises a first connecting rod 3233, one end of the second scissor blade 3231b relative to the first scissor blade 3231a is connected to the first connecting rod 3233, the thread cutting driving member 3232 is in transmission connection with the first connecting rod 3233 and controlled to drive the first connecting rod 3233 to move in a twelfth direction, so that the second scissor blade 3231b rotates relative to the first scissor blade 3231a, wherein the twelfth direction is perpendicular to the axial direction of the second rotating shaft 3231c. Specifically, the twelfth direction is arranged in parallel with the first direction. The second scissor blade 3231b is driven to rotate through the first connecting rod 3233, which can simplify the connection relationship between the second scissor blade 3231b and the thread cutting driving member 3232. Specifically, the thread cutting driving member 3232 comprises a thread cutting driving cylinder 3232a and a first telescopic rod 3232b, the thread cutting driving cylinder 3232a is arranged outside the collecting box 3222, and the first telescopic rod 3232b extends into the inside of the collecting box 3222 and is connected to the first connecting rod 3233.

[0324] Further, the scissors 3231 further include a connecting shaft 3231d arranged at one end of the second scissor blade 3231b opposite to the first scissor blade 3231a, and the first connecting rod 3233 is provided with a connecting hole 3233a, and the connecting shaft 3231d is matched with the connecting hole 3233a, wherein the connecting shaft 3231d is arranged in parallel with the second rotating shaft 3231c. Specifically, the connecting shaft 3231d is in a cylindrical shape, and the connecting hole 3233a is in a waist-shaped hole. More specifically, the longitudinal direction of the connecting hole 3233a, the first direction and the rotating shaft 33 are perpendicular to each other. In this way, when the one driving member 32 drives the first connecting rod 3233 to move in the twelfth direction, the connecting shaft 3231d can move in the connecting hole 3233a to drive the second scissor blade 3231b to rotate relative to the first scissor blade 3231a around the rotating shaft 33, which is simple in structure and reliable in rotation.

[0325] In some embodiments, the scissors 3231 include a plurality of, and the line suction housing 3221 includes a plurality of, each of the scissors 3231 is located at the line outlet of a corresponding line suction housing 3221, the scissors 3231 are arranged in the longitudinal direction of the first connecting rod 3233, and one end of the second scissor blade 3231b of each of the scissors 3231 is connected with the first connecting rod 3233, wherein each of the line suction ports 3222a is arranged towards a corresponding tube yarn 200 on the yarn end obtaining station. In this way, by using only one line cutting driving member 3232 to drive one end of the first connecting rod 3233, the plurality of scissors 3231 can be switched between the open position and the cutting position, which can realize the operation of cutting the tail yarn of the plurality of tube yarns 200 at the same time, simplifies the structure, and makes the structure more compact and occupies less space.

[0326] In some embodiments, the scissors assembly 323 further includes a mounting cover 3234 arranged in the collection box 3222, and the cover is arranged on the first connecting rod 3233, the connecting shaft 3231d and the second rotating shaft 3231c. In this way, after the tail yarn enters the collection box 3222 through the line outlet, the tail yarn can be prevented from winding on the first connecting rod 3233, the connecting shaft 3231d and the second rotating shaft 3231c, thereby causing the scissors assembly 323 to cut difficultly.

[0327] In some embodiments, the radial dimension of the line suction channel gradually increases from the line suction port 3222a to the line outlet. In this way, the negative pressure at the line suction port 3222a can be maximized to improve the ability to adsorb the tail yarn.

[0328] In some embodiments, the line suction port 3222a is in a strip shape, and the line suction port 3222a extends in the axial direction of the tube yarn 200. In this way, the line suction area can be increased to improve the line finding ability.

[0329] In some embodiments, the thread end acquisition device 32 further comprises a first pressing assembly 324, the first pressing assembly 324 comprising a first pressing mechanism 3241, a first rotating mechanism 3242 and a first pressing member 3243, the first pressing mechanism 3241 being arranged on the first support 321, the first rotating mechanism 3242 being arranged on the first pressing mechanism 3241, and the first pressing member 3243 being connected to the first rotating mechanism 3242, the first pressing mechanism 3241 being configured to provide a pressing force for driving the first rotating mechanism 3242 to press the tube yarn 200 in a direction perpendicular to the conveying device 31, and the first rotating mechanism 3242 being configured to provide a driving force for driving the first pressing member 3243 to rotate about an axis. Specifically, one end of the tube yarn 200 in the axial direction is positioned on the conveying device 31, and the first pressing member 3243 is pressed in the axial direction to the end of the tube yarn 200 away from the conveying device 31.

[0330] In the embodiments of the present application, the center of the first pressing member 3243 coincides with the central axis of the tube yarn 200, and the first pressing member 3243 is capable of rotating about its own axis under the driving force of the first rotating mechanism 3242, thereby driving the tube yarn 200 to rotate about its own axis.

[0331] In this way, the first pressing member 3243 is pressed against the tube yarn 200 by the pressing force provided by the first pressing mechanism 3241, and since the first pressing member 3243 is capable of rotating under the driving of the first rotating mechanism 3242, the tube yarn 200 can be driven to rotate by the first pressing member 3243. At this time, the surface of the rotating tube yarn 200 is adsorbed by the thread suction assembly 322, which can more easily find the thread end and suck the tail yarn into the thread suction channel.

[0332] Further, the first pressing mechanism 3241 comprises a first pressing driving member 3241a, a second hinged seat 3241b, a first connecting rod mechanism 3241c and a first fixed seat 3241d, the first pressing driving member 3241a and the second hinged seat 3241b are arranged on the first support 321, the first connecting rod mechanism 3241c is hinged with the second hinged seat 3241b, and two ends of the first connecting rod mechanism 3241c are connected with the first pressing driving member 3241a and the first fixed seat 3241d respectively, and the first rotating mechanism 3242 is arranged on the first fixed seat 3241d. In this way, when the cop 200 needs to be pressed, the first pressing driving member 3241a drives the first connecting rod mechanism 3241c to rotate around the second hinged seat 3241b, and the first fixed seat 3241d can swing with the first connecting rod mechanism 3241c to move in the direction towards the conveying device 31, and when the cop 200 does not need to be pressed, the first pressing driving member 3241a drives the first connecting rod mechanism 3241c to rotate around the second hinged seat 3241b, and the first fixed seat 3241d can swing with the first connecting rod mechanism 3241c to move in the direction away from the conveying device 31. The first fixed seat 3241d is swung by driving the first connecting rod mechanism 3241c by the first pressing driving member 3241a, which is simpler, and makes full use of the space in the vertical and horizontal directions, and the space utilization is better.

[0333] Further, the first connecting rod mechanism 3241c comprises two second connecting rods 3241e and a connecting rod, the two second connecting rods 3241e are arranged in parallel and spaced apart in the first direction, and the connecting rod is located between the two second connecting rods 3241e, two ends of the connecting rod are connected with one end of the two second connecting rods 3241e respectively, the first pressing driving member 3241a is connected with the connecting rod, the other end of the two second connecting rods 3241e is rotatably connected with two sides of the first fixed seat 3241d respectively, and the two second connecting rods 3241e are hinged with two sides of the second hinged seat 3241b respectively. In this way, by connecting the two second connecting rods 3241e with the second hinged seat 3241b and the first fixed seat 3241d, the movement of the first fixed seat 3241d is more stable, so that the pressing force of the first pressing member 3243 pressed on the cop 200 is more stable.

[0334] Further, the first linkage mechanism 3241c further comprises two third links 3241f, the two third links 3241f are spaced and parallel along a first direction, the two second links 3241e and the two third links 3241f are spaced and parallel along a second direction intersecting the first direction, one end of the two third links 3241f is rotatably connected with the two sides of the second hinge seat 3241b respectively, and the other end of the two third links 3241f is rotatably connected with the two sides of the first fixed seat 3241d respectively. In this way, the connection between the second hinge seat 3241b and the first fixed seat 3241d is more reliable, and the movement reliability and stability of the first fixed seat 3241d are further improved.

[0335] Specifically, in an embodiment, the second link 3241e comprises a first segment and a second segment, one end of the first segment is connected with one end of the second segment at the second hinge seat 3241b, the other end of the first segment is connected with the connecting rod, and the other end of the second segment is rotatably connected with the first fixed seat 3241d. In this way, the force exerted by the first pressing driving member 3241a on the second link 3241e through the connecting rod is better, and the pressing force of the first pressing member 3243 towards the cop 200 is more sufficient.

[0336] Specifically, in an embodiment, the first pressing driving member 3241a comprises a first pressing driving cylinder 3241f and a second telescopic rod 3241g, the end of the second telescopic rod 3241g is provided with a sleeve ring 3241h, the sleeve ring 3241h is sleeved on the connecting rod, the first pressing mechanism 3241 further comprises two limiting sleeves 3241i, the two limiting sleeves 3241i are both sleeved on the connecting rod and located on the two sides of the sleeve ring 3241h, and the two ends of each limiting sleeve 3241i are respectively abutted with the sleeve ring 3241h and the corresponding second link 3241e to limit the axial movement of the sleeve ring 3241h along the connecting rod. In this way, when the second telescopic rod 3241g extends or retracts, the second link 3241e can be rotated around the second hinge seat 3241b by pushing the connecting rod.

[0337] In some embodiments, the first rotating mechanism 3242 comprises a first rotating driving member 3242a and a first transmission mechanism 3242b provided on the first pressing mechanism 3241, the two ends of the first transmission mechanism 3242b are respectively connected with the first rotating driving member 3242a and the first pressing member 3243, and the first rotating driving member 3242a drives the first pressing member 3243 to rotate through the first transmission mechanism 3242b. Specifically, the first rotating driving member 3242a and the first transmission mechanism 3242b are both mounted on the first fixed seat 3241d.

[0338] Furthermore, the first clamping member 3243 includes multiple components, the first transmission mechanism 3242b includes multiple first pulleys and multiple belts, and the first rotary drive member 3242a is used to drive one of the first pulleys to rotate. Adjacent first pulleys are connected by at least one belt drive. Each first clamping member 3243 is connected to a corresponding first pulley, and each first clamping member 3243 can clamp a corresponding bobbin 200 located at the yarn end acquisition station. In this way, multiple bobbins 200 can be clamped simultaneously, and the multiple first clamping members 3243 can share the same first transmission mechanism 3242b and the first rotary drive member 3242a, making the structure of the first pressing assembly 324 more compact and occupying less space.

[0339] In other embodiments, the first transmission mechanism 3242b may also include a plurality of first sprockets and a plurality of chains, the first rotation drive 3242a is used to drive one of the sprockets to rotate, two adjacent first sprockets are connected by at least one chain drive, and each first clamping member 3243 is connected to a corresponding first sprocket.

[0340] In some embodiments, the first clamping member 3243 includes a friction disc. The friction disc can better clamp the yarn tube 200 while preventing relative slippage when the yarn tube 200 rotates with it, resulting in a better driving effect.

[0341] like Figure 33 and Figure 34 As shown, in some embodiments, the shaping module 30 further includes a scraping device 33, which is located upstream of the yarn end acquisition device 32 along the conveying direction of the yarn tube 200. The scraping device 33 is arranged around a track with a scraping station, and the scraping device 33 can scrape the surface of the yarn tube 200 when the yarn tube 200 is located at the scraping station.

[0342] Furthermore, the scraping device 33 includes a second bracket 331, a second pressing component 332 and a scraping component 333. The second pressing component 332 is disposed on the second bracket 331, and the scraping component 333 is disposed on one side of the second pressing component 332.

[0343] The second pressing assembly 332 comprises a second pressing mechanism 3321, a second rotating mechanism 3322 and a second pressing member 3323. The second pressing mechanism 3321 is installed on the second support 331, the second rotating mechanism 3322 is arranged on the second pressing mechanism 3321, and the second pressing member 3323 is connected with the second rotating mechanism 3322. The second pressing mechanism 3321 is configured to provide a pressing force for pressing the tube yarn 200 in a direction perpendicular to the conveying device 31, and the second rotating mechanism 3322 is configured to provide a driving force for rotating the second pressing member 3323 about an axis. Specifically, one end of the tube yarn 200 in the axial direction is positioned on the conveying device 31, and the second pressing member 3323 is pressed in the axial direction to the end of the tube yarn 200 away from the conveying device 31.

[0344] In the embodiment of the present application, the center of the second pressing member 3323 coincides with the central axis of the tube yarn 200, and the second pressing member 3323 can rotate about its own axis under the driving force of the second rotating mechanism 3322, thereby driving the tube yarn 200 to rotate about its own axis.

[0345] The scraping assembly 333 comprises a second fixing seat 3331 and a scraper 3332 arranged on the second fixing seat 3331. The second fixing seat 3331 is fixed to the conveying device 31, and the scraper 3332 can contact the surface of the tube yarn 200 when the tube yarn 200 is positioned on the scraping station to perform scraping. Specifically, the second fixing seat 3331 is fixed to the second guide 3122e.

[0346] In this way, the pressing force provided by the pressing mechanism 23 causes the second pressing member 3323 to press the tube yarn 200 on the conveying device 31, and since the second pressing member 3323 can rotate under the driving of the second rotating mechanism 3322, the tube yarn 200 can be rotated under the driving of the second pressing member 3323. At this time, the scraper 3332 is used to contact the surface of the rotating tube yarn 200, so that the thread ends on the surface of the tube yarn 200 can be quickly integrated into a position that is easy to find. The scraping device 33 of the present application, the pressing mechanism 23, the second rotating mechanism 3322 and the scraper 3332 have simple structure and compact structure, and occupy small space as a whole.

[0347] In some embodiments, the line scraping assembly 333 further comprises a first line scraping driving member 3333 disposed on the second fixing base 3331 and located at one side of the scraping knife 3332, the first line scraping driving member 3333 being configured to drive the scraping knife 3332 to move towards or away from the tube yarn 200. In this way, the first line scraping driving member 3333 can be used to drive the scraping knife 3332 to move towards the tube yarn 200 to perform the line scraping operation when the tube yarn 200 is located at the line scraping station, and the first line scraping driving member 3333 can be used to drive the scraping knife 3332 to move away from the tube yarn 200 to retreat to the initial position when the line scraping operation is completed, thereby avoiding the misoperation on the tube yarn 200 before and after the line scraping operation and affecting the line scraping quality.

[0348] In some embodiments, the line scraping assembly 333 further comprises a second line scraping driving member disposed on the second fixing base 3331 and located at one side of the scraping knife 3332, the second line scraping driving member being configured to drive the scraping knife 3332 to move along the axial direction of the tube yarn 200. In this way, the line scraping can be moved along the axial direction of the tube yarn 200 during the line scraping process, so that the thread end can be integrated into a position that is easy to find in the next station. In other embodiments, the position of the scraping knife 3332 can also be fixed, so that the line scraping position of the tube yarn 200 is fixed, which is the position that is easy to find in the next station.

[0349] In some embodiments, the line scraping assembly 333 further comprises a third rotating shaft 3334 fixed to the second fixing base 3331 and a second transmission mechanism 3335 rotationally connected with the third rotating shaft 3334, both ends of the second transmission mechanism 3335 being connected with the scraping knife 3332 and the first line scraping driving member 3333 respectively, the first line scraping driving member 3333 driving the scraping knife 3332 to swing around the third rotating shaft 3334 through the second transmission mechanism 3335. The way of driving the second transmission mechanism 3335 to swing the scraping knife 3332 through the first line scraping driving member 3333 is simpler and the structure is more compact, occupying less space.

[0350] Further, the second transmission mechanism 3335 comprises a second linkage mechanism, the second linkage mechanism comprising a fourth linkage 3335a and a fifth linkage 3335b, the fourth linkage 3335a extending along the length direction of the second fixing base 3331, the first scraping line driving member 3333 being configured to drive the fourth linkage 3335a to move along the length direction of the second fixing base 3331, one end of the fifth linkage 3335b being rotatably connected with the fourth linkage 3335a, the other end of the fifth linkage 3335b being connected with one end of the scraper 3332, the third rotating shaft 3334 being located at one side of the first linkage 352 along the width direction of the second fixing base 3331, the fifth linkage 3335b being rotatably connected with the third rotating shaft 3334. In this way, the transmission mode of the fourth linkage 3335a and the fifth linkage 3335b is simple, and the positional relationship among the fourth linkage 3335a, the fifth linkage 3335b and the third rotating shaft 3334 makes the structure of the second transmission mechanism 3335 compact.

[0351] Further, the scraper 3332 comprises a plurality of, and the fifth linkage 3335b comprises a plurality of, each scraper 3332 being connected with a corresponding fifth linkage 3335b, the plurality of fifth linkages 3335b being arranged at intervals along the length direction of the fourth linkage 3335a, wherein each scraper 3332 can be in contact with the surface of a corresponding tube yarn 200 located on the scraping line station to perform scraping line. In this way, a plurality of tube yarns 200 can be simultaneously subjected to scraping line treatment, and the plurality of scrapers 3332 can share the same fourth linkage 3335a and the same first scraping line driving member 3333, so that the structure of the scraping line assembly 333 is more compact and occupies less space.

[0352] Specifically, in an embodiment, the first scraping line driving member 3333 comprises a scraping line driving cylinder and a third telescopic rod, the first scraping line driving member 3333 being arranged along the length direction of the second fixing base 3331 and located at one side of the fourth linkage 3335a along the width direction of the second fixing base 3331, the fourth linkage 3335a comprising a linkage body and a first connecting portion protruding from the linkage body along the width direction of the second fixing base 3331, one end of the third telescopic rod being connected with the first connecting portion. In another embodiment, the first scraping line driving member 3333 can also be located at one side of the fourth linkage 3335a along the height direction of the second fixing base 3331, the fourth linkage 3335a comprising a linkage body and a second connecting portion protruding from the linkage body along the height direction of the second fixing base 3331, one end of the first telescopic rod being connected with the second connecting portion, which is not limited herein.

[0353] In some embodiments, the doctor blade 3332 comprises a doctor blade body 3332a and a doctor blade connecting piece 3332b, one end of the doctor blade connecting piece 3332b is connected with the doctor blade body 3332a, the other end of the doctor blade connecting piece 3332b is connected with the fifth connecting rod 3335b, and an included angle is formed between the doctor blade connecting piece 3332b and the fifth connecting rod 3335b. In this way, the swing angle of the doctor blade 3332 can be further reduced, the swing space can be saved, and the occupied space of the overall structure can be reduced.

[0354] In the embodiments of the present application, the second pressing assembly 332 is similar to the structures of the first pressing assembly 324, and will not be described again here. In some embodiments, the first support 321 and the second support 331 are the same support, and the second pressing assembly 332 and the first pressing assembly 324 are arranged side by side along the first direction.

[0355] As shown in Figures 35-37 In some embodiments, the feeding module 40 comprises a grabbing moving assembly 41 and a twisting assembly 42, the twisting assembly 42 is used for twisting the plurality of thread ends of the plurality of cop tubes 200 whose corresponding thread ends have been obtained, and the grabbing moving assembly 41 can grab the plurality of cop tubes 200 after the thread ends are twisted and feed them to a preset position.

[0356] The grabbing moving assembly 41 comprises a moving driving member 411 and a grabbing mechanism 412, the moving driving member 411 is connected with the grabbing mechanism 412, the grabbing mechanism 412 can grab or release the plurality of cop tubes 200, the moving driving member 411 is used for providing a driving force for moving the grabbing mechanism 412, and the grabbing mechanism 412 comprises a grabbing position for grabbing the plurality of cop tubes 200 and a feeding position for feeding the plurality of cop tubes 200 in the moving process. The feeding position corresponds to the preset position.

[0357] The twisting assembly 42 comprises a twisting driving member and a twisting mechanism 421 Figure 2 As shown, the twisting driving member is arranged on the grabbing mechanism 412, the twisting driving member is connected with the twisting mechanism 421, and the twisting driving member is used for providing a driving force for the twisting mechanism 421 to twist the thread ends of the plurality of cop tubes 200.

[0358] Thus, the plurality of tubes 200 are gripped by the gripping mechanism 412 at the gripping position, and the twisting driving member is started to drive the twisting mechanism 421 to twist the thread ends of the plurality of tubes 200, so that after the plurality of tubes 200 gripped are moved to the dropping position by starting the moving driving member 411 to drive the gripping mechanism 412, the gripping mechanism 412 releases the plurality of tubes 200 for dropping, and at this time, the twisting mechanism 421 has twisted the thread ends of the plurality of tubes 200 to be dropped, so that the plurality of thread ends can be easily fixed by the negative pressure holes in the center of the creel when dropped, so that the feeding module 40 of the application not only realizes the simultaneous dropping of the plurality of tubes 200 to the creel of the winding machine, but also meets the processing requirements of the creel for the thread ends of the plurality of tubes 200, that is, meets the feeding requirements, and improves the feeding efficiency.

[0359] In the embodiment of the application, the feeding module 40 can simultaneously feed three tubes 200, and in other embodiments, the number of tubes 200 gripped by the feeding module 40 is not limited.

[0360] In the embodiment of the application, the gripping and moving assembly 41 and the twisting assembly 42 are both arranged on the conveying device 31, and specifically, the gripping and moving assembly 41 and the twisting assembly 42 are both arranged on the track assembly 312. In some embodiments, the track has a gripping station, and when the gripping mechanism 412 is located at the gripping position, the plurality of tubes 200 located on the gripping station can be gripped.

[0361] In some embodiments, the gripping and moving assembly 41 further comprises a third support 413 fixed to the conveying device 31, and the moving driving member 411 is fixed to the third support 413.

[0362] In some embodiments, the gripping mechanism 412 comprises a rotating arm 4121 and a gripping part 4122, one end of the rotating arm 4121 is connected with the gripping part 4122, and the other end of the rotating arm 4121 is connected with the moving driving member 411, and the moving driving member 411 is used to drive the rotating arm 4121 to rotate between the gripping position and the dropping position. The rotating arm 4121 drives the gripping part 4122 to rotate in a simple and small space-occupying structure.

[0363] Further, the grabbing mechanism 412 further comprises a second transmission mechanism 4123 connected between the moving driving member 411 and the rotating arm 4121, and the moving driving member 411 drives the rotating arm 4121 to rotate through the second transmission mechanism 4123. In an embodiment, the moving driving member 411 comprises a moving driving motor, and the second transmission mechanism 4123 comprises two second belt pulleys and a belt connected between the two second belt pulleys, or the second transmission mechanism 4123 comprises two second chain wheels and a chain connected between the two second chain wheels, which are not limited herein. In some embodiments, the moving driving member 411, the second transmission mechanism 4123 and the rotating arm 4121 are arranged in sequence along the first direction.

[0364] In some embodiments, the grabbing mechanism 412 further comprises a second lifting mechanism 4124 installed at one end of the rotating arm 4121 and connected with the grabbing part 4122, and the second lifting mechanism 4124 can drive the grabbing part 4122 to move up and down along the vertical direction. Further, the twisting assembly 42 is arranged on the grabbing part 4122, so that the grabbing part 4122 can be lowered to be close to the cop 200 when the grabbing part 4122 is at the grabbing position to improve the grabbing effect and the twisting effect, and the grabbing part 4122 can be lifted up when the cop 200 is transferred to the delivery position to avoid interference with other parts. In addition, the grabbing part 4122 can be lowered to be close to the yarn library to improve the delivery accuracy.

[0365] In some embodiments, the grabbing part 4122 comprises a third fixed seat 4122a and a grabbing body 4122b, one side of the mounting seat 221 is connected with the moving driving member 411, and the other side of the mounting seat 221 is connected with the grabbing body 4122b, and the grabbing body 4122b can grab or release a plurality of cots 200. Specifically, one side of the third fixed seat 4122a is connected with the moving driving member 411 through the rotating arm 4121. In some embodiments, the grabbing body 4122b comprises a plurality of grippers 4122c, and each gripper 4122c can grab or release a cop 200. The structure of the gripper 4122c is simple and convenient to grab. In the embodiments of the present application, the plurality of grippers 4122c are arranged in a triangular shape, so that the grabbing space can be saved, and the arrangement requirements of the placement positions of the cots 200 in the yarn library can also be met. For example, when the placement positions of the plurality of cots 200 in the yarn library are arranged in a ring shape, in other embodiments, the plurality of grippers 4122c can also be arranged in a straight line, which are not limited herein.

[0366] In some embodiments, the twisting assembly 42 further comprises a fourth support 422 fixed to the grabbing mechanism 412, and a second driving member is arranged on the fourth support 422. In some embodiments, the fourth support 422 comprises a first horizontal rod and a first vertical rod, one end of the first horizontal rod is connected to the grabbing mechanism 412, the other end of the first horizontal rod is connected to one end of the first vertical rod, and the other end of the first vertical rod is connected to the first driving member. Specifically, the first vertical rod is arranged closer to the conveying device 31 than the first horizontal rod.

[0367] In some embodiments, the twisting mechanism 421 can twist the thread ends of the plurality of tubes 200 when the tubes 200 are located at the grabbing station. If the thread ends of the plurality of tubes 200 are twisted during the movement of the grabbing mechanism 412 grabbing the tubes 200, it is difficult to find the thread ends of the tubes 200, which makes it difficult to twist the thread ends. Therefore, the thread ends are twisted when the tubes 200 are located at the grabbing station, which makes it easier to find the thread ends, thereby making it easier to twist and improving the twisting efficiency.

[0368] In some embodiments, the twisting mechanism 421 comprises a blowing and sucking mechanism 4211, and the twisting driving member comprises a first twisting driving member. The blowing and sucking mechanism 4211 comprises a blowing and sucking port 4211a and a blowing and sucking channel communicating the blowing and sucking port 4211a with the first twisting driving member, and the first twisting driving member is configured to provide a suction force to the blowing and sucking channel for sucking the thread ends of the plurality of tubes 200. In this way, the first twisting driving member can be started to generate the suction force in the blowing and sucking channel, so that the plurality of thread ends can be sucked into the blowing and sucking channel from the blowing and sucking port 4211a, and the plurality of thread ends can twist a plurality of yarns together by their own twist for twisting. The blowing and sucking method is simple and reliable.

[0369] Further, the first twisting driving member is configured to provide a blowing force to the blowing and sucking channel for blowing the thread ends of the plurality of tubes 200 sucked in the blowing and sucking channel away from the blowing and sucking port 4211a. In this way, when the grabbing and moving assembly 41 moves the plurality of tubes 200 to the dropping mechanism for dropping, the first twisting driving member is also started to generate the blowing force in the blowing and sucking channel, so that the plurality of twisted yarns are blown into the negative pressure hole in the center of the yarn library, thereby completing the dropping. By using the first twisting driving member to simultaneously realize suction and blowing, the structure is simple and concentrated, and the dropping effect is good.

[0370] In some embodiments, the twisting mechanism 421 further comprises a thread clamping mechanism on one side of the blowing and sucking mechanism 4211, and the blowing and sucking port 4211a is arranged towards the thread clamping mechanism. The twisting driving member comprises a second twisting driving member 423 connected with the thread clamping mechanism, and the second twisting driving member 423 is configured to provide a driving force for clamping or releasing the thread ends of the plurality of tubes of yarn 200 by the thread clamping mechanism. In this way, the second twisting driving member 423 can be activated to drive the thread clamping mechanism to clamp the plurality of thread ends to concentrate them, so as to facilitate the blowing and sucking mechanism 4211 to suck the plurality of thread ends, and improve the accuracy and stability of the sucking. After the sucking of the blowing and sucking mechanism 4211 is completed, the second twisting driving member 423 can be activated to drive the thread clamping mechanism to release the plurality of thread ends, so as to avoid interference with subsequent actions.

[0371] Further, the thread clamping mechanism comprises two clamping arms 4212, and one end of at least one of the clamping arms 4212 is connected with the second twisting driving member 423. The second twisting driving member 423 is configured to drive the corresponding clamping arm 4212 to move, so that the two clamping arms 4212 are close to or away from each other to clamp or release the thread ends of the plurality of tubes of yarn 200. The clamping arms 4212 are arranged in a simple and reliable manner. In a specific embodiment, the second twisting driving member 423 is configured to drive the corresponding clamping arm 4212 to rotate, so that the two clamping arms 4212 are close to or away from each other. Specifically, the rotation axis of the clamping arm 4212 is arranged in parallel with the axial direction of the tube of yarn 200.

[0372] Further, one end of each of the clamping arms 4212 is connected with the second twisting driving member 423. By arranging the two clamping arms 4212 to move simultaneously, the accuracy of clamping and releasing the thread ends is higher, the efficiency is higher, the path of clamping the thread ends can be closer to the middle tube of yarn 200, and the stability of clamping the thread ends is improved, so as to avoid the thread ends from falling off during the clamping process.

[0373] In some embodiments, the two clamping arms 4212 have a symmetry plane, and the symmetry plane passes through the blowing and sucking port 4211a. In this way, after the two clamping arms 4212 clamp the thread ends, the thread ends can be quickly and accurately sucked into the blowing and sucking channel from the blowing and sucking port 4211a.

[0374] In some embodiments, the blowing and sucking port 4211a is arranged below the thread clamping mechanism in the vertical direction. When the thread clamping mechanism clamps the thread ends, the thread ends will fall under the action of gravity. Therefore, arranging the blowing and sucking port 4211a below the thread clamping mechanism can make the blowing and sucking port 4211a closer to the falling thread ends, and improve the reliability of sucking the thread ends.

[0375] In the embodiments of the present application, in order to facilitate the plurality of twisted together yarns to be blown into the negative pressure hole in the center of the yarn library from the blowing and sucking port 4211a, the blowing and sucking port 4211a is arranged towards the mounting seat 10 in the vertical direction. In this way, the plurality of yarns can be directly dropped into the negative pressure hole.

[0376] In some embodiments, the feeding module 40 further comprises a picking assembly 43, the picking assembly 43 comprising a picking driver 431 and a picking mechanism 432, the picking driver 431 being disposed on the mounting base 10, the picking driver 431 being connected with the picking mechanism 23, the picking driver 431 being configured to provide a driving force for the picking mechanism 432 to pick up or deploy the thread ends of the plurality of spools 200. Specifically, the picking driver 431 can be configured to cause the picking mechanism 432 to pick up or deploy the thread ends of the plurality of spools 200 when the plurality of spools 200 are located at the grabbing station. In this way, the picking driver 431 can be activated to drive the picking mechanism 432 to pick up the thread ends of the plurality of spools 200 located at the grabbing station to a position where the plurality of thread ends can be operated by the twisting assembly 20, so as to avoid the thread ends of the plurality of spools 200 adhering to the surface of the plurality of spools 200 and being difficult to twist. After the plurality of thread ends are twisted by the twisting assembly 20, the picking driver 431 can be activated to drive the picking mechanism 432 to deploy the thread ends of the plurality of spools 200 located at the grabbing station, so as to avoid interfering with subsequent operations.

[0377] In some embodiments, the picking assembly 43 further comprises a fifth support 433, the fifth support 433 comprising a second vertical rod 4331 and a first horizontal rod 4332, one end of the second vertical rod 4331 being fixed on the conveying device 31, the other end of the second vertical rod 4331 being connected with one end of the first horizontal rod 4332, the first horizontal rod 4332 being disposed towards the plurality of spools 200 at the grabbing station. Specifically, the plurality of spools 200 at the grabbing station are disposed side by side along a first direction, and the first horizontal rod 4332 extends along the first direction.

[0378] In some embodiments, the picking mechanism 432 comprises a picking arm 4321 and a picking member 4322, one end of the picking arm 4321 being connected with the picking driver 431, the other end of the picking arm 4321 being connected with the picking member 4322, the picking arm 4321 extending along a thirteenth direction, and the picking member 4322 extending along a fourteenth direction intersecting the thirteenth direction. The picking driver 431 is configured to drive the picking arm 4321 to rotate, so as to drive the picking member 4322 to move towards the plurality of spools 200 to pick up the thread ends of the plurality of spools 200, or to move away from the plurality of spools 200 to deploy the thread ends of the plurality of spools 200. In this way, the picking member 4322 picks up the thread ends in a simple manner driven by the picking arm 4321.

[0379] Further, the thread picking member 4322 includes two, one of which is connected with the thread picking arm 4321, and the thread picking driving member 431 is used to drive the thread picking arm 4321 to drive the corresponding thread picking member 4322 to move towards the other thread picking member 4322 to pick up the thread ends of the plurality of tubes of yarn 200 between the two thread picking members 4322, or to move away from the other thread picking member 4322 to unfold the thread ends of the plurality of tubes of yarn 200. By providing two thread picking members 4322, the subsequent thread clamping mechanism can be conveniently clamped or released at the position close to the thread picking member 4322. In the embodiment of the present application, the thread picking member 321 includes a wire, a copper wire or other wire body, which is not limited here. Preferably, the fourteenth direction is parallel to the axial direction of the tube of yarn 200, the thirteenth direction is perpendicular to the sixth direction, and the rotation axis of the thread picking arm 4321 is parallel to the axial direction of the tube of yarn 200.

[0380] It should also be noted that the thread picking driving member 431 is used to drive the thread picking arm 4321 to drive the corresponding thread picking member 4322 to move relative to the other thread picking member 4322 between the picking position and the unfolding position, when the two thread picking members 4322 are in the unfolding position, the projections of the two thread picking members 321 towards the tube of yarn 200 in the grabbing position have a plurality of tubes of yarn 200. In this way, during the picking process, the thread ends of the plurality of tubes of yarn 200 can be picked up.

[0381] Further, the thread picking arm 4321 includes two, one end of each thread picking arm 4321 is connected with one end of the corresponding thread picking member 4322, and the other end of each thread picking arm 4321 is connected with the thread picking driving member 431, and the thread picking driving member 431 is used to drive the two thread picking arms 4321 to move towards or away from each other. By providing two thread picking arms 4321 to drive one thread picking member 4322 respectively, the accuracy of picking up and unfolding the thread ends is higher, the efficiency is higher, the path of picking up the thread ends can be closer to the middle tube of yarn 200, the stability of picking the thread is improved, and the thread ends are prevented from falling off during the picking process.

[0382] The yarn feeding robot 100 and the yarn feeding robot provided by the embodiment of the present application have the following beneficial effects compared with the prior art:

[0383] The tail yarn of the tube of yarn 200 is sucked from the thread suction port 3222a by the negative pressure mechanism, discharged through the thread suction channel to the thread outlet, and then the thread cutting driving member 3232 is used to drive the scissors 3231 to switch from the open position to the cutting position to cut the tail yarn. The yarn feeding robot 100 and the yarn feeding robot of the present application have the advantages of simple structure, fast and effective tail yarn removal.

[0384] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, as long as there is no conflict, any combination of the technical features should be considered within the scope of the present disclosure.

[0385] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the present application patent should be subject to the appended claims.

Claims

1. A yarn feeding robot, characterized in that, The application relates to a yarn feeding device, which comprises the following components: a mounting seat; a sorting module arranged in the mounting seat, the sorting module being used for arranging a plurality of yarn packages in a preset mode; a shaping module connected with the sorting module, the shaping module being used for respectively obtaining thread ends from the plurality of yarn packages arranged in the preset mode; a feeding module connected with the shaping module, the feeding module comprising a grabbing and moving assembly and a twisting assembly, the twisting assembly being arranged in the grabbing and moving assembly; the twisting assembly is used for twisting the thread ends of the plurality of yarn packages, and the grabbing and moving assembly is used for grabbing the plurality of yarn packages and feeding the twisted thread ends of the plurality of yarn packages to a preset position; the twisting assembly comprises a twisting driving element and a twisting mechanism, the twisting driving element being arranged in the grabbing and moving assembly, and the twisting driving element being connected with the twisting mechanism; the twisting mechanism comprises a blowing and sucking mechanism, the twisting driving element comprises a first twisting driving element, the blowing and sucking mechanism comprises a blowing and sucking port and a blowing and sucking channel connected with the blowing and sucking port and the first twisting driving element, the first twisting driving element is used for providing a sucking force of the blowing and sucking channel for sucking the thread ends of the plurality of yarn packages, and the first twisting driving element is also used for providing a blowing force of the blowing and sucking channel for blowing the thread ends of the plurality of yarn packages sucked in the blowing and sucking channel away from the blowing and sucking port; the twisting mechanism further comprises a thread clamping mechanism arranged on one side of the blowing and sucking mechanism, the blowing and sucking port is arranged towards the thread clamping mechanism, the twisting driving element comprises a second twisting driving element, the second twisting driving element is connected with the thread clamping mechanism, and the second twisting driving element is used for providing a driving force for clamping or loosening the thread ends of the plurality of yarn packages by the thread clamping mechanism. The sorting module comprises a lifting device, an identification device, a distinguishing device and a material dropping device; 2. The yarn feeding robot according to claim 1, characterized in that, the lifting device is used for lifting the yarn packages one by one; the identification device is arranged in the lifting device, and the identification device is used for identifying a first feature of the yarn packages in the process of lifting the yarn packages, wherein the yarn packages further have a second feature different from the first feature, and the first feature and the second feature are both used for representing the end size of the yarn packages; the distinguishing device is connected with the lifting device, and the distinguishing device is used for allowing the yarn packages with the second feature to be preferentially dropped according to the first feature of the yarn packages identified by the identification device; the material dropping device is connected with the distinguishing device, and the material dropping device is used for receiving the plurality of yarn packages from the distinguishing device and arranging the plurality of yarn packages in the preset mode. The sorting module further comprises a feeding device, the feeding device being connected with the lifting device, and the feeding device comprising the following components:

3. The yarn feeding robot according to claim 2, characterized in that, a feeding shell having a feeding cavity; and a feeding mechanism arranged at the bottom of the feeding shell, the feeding mechanism comprising at least two feeding portions arranged in the feeding cavity in sequence along the conveying direction of the yarn packages; wherein the feeding portions can move up and down in the vertical direction. The lifting device comprises a primary lifting device, and the primary lifting device comprises the following components:

4. The yarn feeding robot according to claim 2, characterized in that, a first fixed frame; ​ A first lifting mechanism is installed on the first fixed frame, and the first lifting mechanism comprises a first lifting conveyor belt that moves in a loop and a first lifting unit installed on the first lifting conveyor belt, and the first lifting conveyor belt is used to drive the first lifting unit to lift the tube yarn upwards; and A first ejection mechanism is installed on the first fixed frame and located at the top end of the first lifting mechanism, and the first ejection mechanism protrudes from the plane of the first lifting conveyor belt; The first ejection mechanism protrudes from one side of the plane of the first lifting conveyor belt and has a first ejection surface, and the first ejection surface is inclined outward relative to the plane of the first lifting conveyor belt.

5. The yarn feeding robot according to claim 4, characterized in that, The lifting device further comprises a secondary lifting device, the primary lifting device is connected to the secondary lifting device, the primary lifting device is located on the upstream side of the secondary lifting device along the conveying direction of the tube yarn, the identification device is arranged on the secondary lifting device, and the distinguishing device is connected to the secondary lifting device. The lifting height of the primary lifting device is less than the lifting height of the secondary lifting device.

6. The yarn feeding robot according to claim 5, characterized in that, The secondary lifting device comprises a second fixed frame and a second lifting mechanism, the second lifting mechanism is installed on the second fixed frame, and the second lifting mechanism has a conveying surface used to convey the tube yarn. The identification device comprises an identification mechanism and two trigger units, the identification mechanism is installed on the second fixed frame, the identification mechanism comprises two identification units, the two identification units are respectively arranged on the two sides of the conveying surface along the conveying direction of the tube yarn, and the two trigger units are respectively installed on the identification mechanism.

7. The yarn feeding robot according to claim 5, characterized in that, The arrangement module further comprises an arrangement device, the arrangement device is located between the primary lifting device and the secondary lifting device, and the two ends of the arrangement device are respectively connected to the primary lifting device and the secondary lifting device. The arrangement device comprises: An arrangement housing that defines an arrangement channel, the arrangement channel has a second inlet and a second outlet arranged oppositely; and A rotating conveying assembly that comprises a rotating conveying member accommodated in the arrangement channel, and the rotating conveying member has a central axis extending along an eighth direction perpendicular to the extension direction of the arrangement channel. The rotating conveying member comprises a plurality of accommodating cavities arranged at intervals around the central axis, and the rotating conveying member can rotate around the central axis as the rotating shaft to make the accommodating cavities selectively align with and communicate with the second outlet in sequence.

8. The yarn feeding robot according to claim 7, characterized in that, The arrangement device further comprises a second shearing assembly, the second shearing assembly is arranged in the arrangement channel, and the second shearing assembly is used to shear the thread end of the tube yarn located in the arrangement channel.

9. The yarn feeding robot according to claim 2, characterized in that, The distinguishing device comprises: A distinguishing housing that defines a distinguishing channel having a first inlet and a first outlet; and A first distinguishing member and a second distinguishing member, both of which are installed on the distinguishing housing. The first distinguishing member and the second distinguishing member are arranged on the distinguishing housing. The first distinguishing member and the second distinguishing member are arranged in the distinguishing channel, and the first distinguishing member and the second distinguishing member define a dropping opening. The dropping opening is communicated between the first feeding opening and the first discharging opening, and only allows the part of the tube yarn with the second feature to drop preferentially.

10. The yarn feeding robot according to claim 9, characterized in that, The distinguishing device further comprises a second shearing assembly arranged in the distinguishing channel, and the second shearing assembly is used for shearing the thread end of the tube yarn in the distinguishing channel.

11. The yarn feeding robot according to claim 2, characterized in that, The dropping device comprises a receiving mechanism and a buffering mechanism. The receiving mechanism is connected with the distinguishing device, and the receiving mechanism comprises a plurality of first receiving barrels. The buffering mechanism is connected with the receiving mechanism, and the buffering mechanism comprises a plurality of second receiving barrels corresponding to the plurality of first receiving barrels.

12. The yarn feeding robot according to claim 1, characterized in that, The shaping module comprises a conveying device and a thread end obtaining device. The conveying device has a track, and the conveying device comprises a moving unit capable of positioning a plurality of tube yarns, and the moving unit is slidingly connected with the track. The thread end obtaining device is arranged around the track, and the track has a thread end obtaining station.

13. The yarn feeding robot according to claim 12, characterized in that, The moving unit has a receiving platform, and the moving unit comprises a positioning column arranged on the receiving platform and used for positioning the tube yarn. The moving unit further comprises an elastic limiting member connected with the positioning column.

14. The yarn feeding robot according to claim 12, characterized in that, The thread end obtaining device comprises a first support, a thread suction assembly, and a thread shearing assembly. The thread suction assembly is arranged on the first support. The thread shearing assembly is arranged on the thread suction assembly.

15. The yarn feeding robot according to claim 12, characterized in that, The shaping module further comprises a thread scraping device arranged around the track. The track has a thread scraping station.

16. The yarn feeding robot according to claim 1, characterized in that, The yarn feeding robot further comprises a walking module, the mounting seat, the arrangement module, the shaping module and the feeding module are supported on the walking module, and the walking module is used to drive the mounting seat, the arrangement module, the shaping module and the feeding module to move along a preset track.

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