Transfer receiving device and yarn feeding robot

Abstract

This invention relates to a transfer receiving device and a yarn feeding robot. The transfer receiving device includes: a mounting frame; a receiving mechanism including a receiving seat and multiple receiving cylinders mounted on the receiving seat, the receiving seat being movably mounted on the mounting frame, and the discharge end of each receiving cylinder being configured to open or close in a controllable manner; and a drive mechanism mounted on the mounting frame and drivenly connected to the receiving seat; wherein, during the movement of the receiving seat relative to the mounting frame, it can drive the multiple receiving cylinders to sequentially pass through the receiving station and move to the unloading station. The transfer receiving device of this invention utilizes multiple receiving cylinders to receive and buffer the yarn in groups, thereby coordinating the pace of the feeding device and its downstream devices, which is beneficial for meeting the feeding requirements of existing winding machines and has high feeding efficiency.

Description

Technical Field

[0001] This invention relates to the field of textile machinery and equipment technology, and in particular to a transfer and receiving device and a yarn feeding robot. Background Technology

[0002] With socio-economic development and industrial upgrading, automating existing equipment in labor-intensive industries and replacing repetitive and tedious tasks with intelligent robots is of great significance. The textile industry, as one of the major labor-intensive industries, has high labor costs, especially in the winding process, a crucial link in the textile industry. A single winding machine requires 3-5 yarn inserters to complete daily production, with these workers performing repetitive mechanical actions such as picking up yarn tubes, extracting thread ends, and placing them into the yarn storage. Furthermore, winding workshops generally suffer from high noise pollution and a large amount of short fibers floating in the air, threatening workers' health. Therefore, intelligent transformation of winding workshops to improve production efficiency, improve the working environment, and reduce labor pressure has become an urgent problem to be solved. Summary of the Invention

[0003] Therefore, it is necessary to provide a transfer receiving device and yarn feeding robot that can meet the feeding requirements of existing winding machines and have high feeding efficiency, so as to solve the problem that existing yarn feeding robots cannot meet the feeding requirements of winding machines and have low feeding efficiency.

[0004] A transfer receiving device has a receiving station and a dropping station, the transfer receiving device comprising:

[0005] Mounting rack;

[0006] A receiving mechanism includes a receiving base and a plurality of receiving cylinders mounted on the receiving base. The receiving base is movably mounted on a mounting frame, and the discharge end of each receiving cylinder is configured to open or close in a controllable manner.

[0007] A drive mechanism is disposed on the mounting frame and is drivenly connected to the receiving seat;

[0008] During the movement of the receiving seat relative to the mounting frame, it can drive multiple receiving cylinders to pass through the receiving station in sequence and move to the unloading station.

[0009] In one embodiment, the receiving mechanism further includes a material discharge opening and closing plate and a material discharge driving component;

[0010] The material discharge opening and closing plate is movably connected to the material receiving seat, and multiple material discharge holes are provided along the arrangement direction of the multiple material receiving cylinders;

[0011] The material discharge drive is installed on the receiving seat and is controlled to drive the material discharge opening and closing plate to move until each of the material discharge holes is aligned with the discharge end of the corresponding receiving cylinder.

[0012] In one embodiment, the receiving mechanism further includes a guide shaft and a guide block, wherein the guide shaft is fixedly connected to one of the material discharge opening and closing plate and the material receiving seat, and the guide block is fixedly connected to the other of the material discharge opening and closing plate and the material receiving seat;

[0013] The guide block is slidably connected to the guide shaft.

[0014] In one embodiment, each of the receiving cylinders is equipped with a sensor for sensing whether material is present in the corresponding receiving cylinder.

[0015] In one embodiment, the sensor includes a through-beam photoelectric sensor.

[0016] In one embodiment, the transfer receiving device further includes a position sensor and a sensing plate, the position sensor being installed on one of the mounting frame and the receiving base, and the sensing plate being installed on the other of the mounting frame and the receiving base;

[0017] The position sensor is used to detect the position of the sensing element.

[0018] In one embodiment, the position sensor includes a photoelectric limit switch.

[0019] In one embodiment, a plurality of the receiving cylinders are arranged at intervals along the moving direction of the receiving seat;

[0020] When the position sensor detects the sensing element, one of the multiple receiving cylinders located at the end is positioned at the receiving station.

[0021] In one embodiment, the drive mechanism includes a receiving drive component, a drive wheel, a driven wheel, and a transmission belt;

[0022] The receiving drive component is mounted on the mounting frame, the driving wheel is mounted on the driving end of the receiving drive component, the driven wheel is mounted on the mounting frame and is spaced apart from the driving wheel along the moving direction of the receiving seat, and the transmission belt is sleeved between the driving wheel and the driven wheel to move sequentially under the drive of the driving wheel;

[0023] The receiving seat is connected to the transmission belt.

[0024] A yarn-feeding robot includes a transfer and receiving device as described in any of the above embodiments.

[0025] In actual operation, the aforementioned transfer receiving device and yarn feeding robot have their discharge ends closed at each receiving cylinder. The drive mechanism moves the receiving seat, causing multiple receiving cylinders to sequentially pass through the receiving station and receive material until each cylinder has completed receiving. After each receiving cylinder has completed receiving, the drive mechanism moves the receiving seat to the unloading station to await unloading. When downstream material is needed, the discharge end of each receiving cylinder opens, and the material falls from the discharge end, completing the unloading process. The transfer receiving device of this invention utilizes multiple receiving cylinders to receive and buffer the yarn, thereby coordinating the pace of the feeding device and its downstream devices. This is beneficial for meeting the feeding requirements of existing winding machines and provides high feeding efficiency. Attached Figure Description

[0026] Figure 1 This is a front view of the transfer and receiving device in one embodiment of the present invention;

[0027] Figure 2 for Figure 1 The diagram shows a three-dimensional structure of the transfer and receiving device. Detailed Implementation

[0028] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0031] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0032] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0033] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0034] It should also be noted that the yarn feeding robot needs to complete actions such as feeding the yarn bobbins, distinguishing between large and small ends of the yarn bobbins, and feeding the yarn bobbins to the winding machine. In the prior art, after the step of distinguishing between large and small ends of the yarn bobbins is completed, the yarn bobbins are output one by one continuously. However, in order to meet the feeding requirements of the winding machine, the yarn feeding robot needs to feed a group of yarn bobbins (such as two, three, four, or five yarn bobbins, etc., which are not limited here) to the winding machine at one time. This causes the yarn bobbin distinguishing step to be out of sync with its subsequent steps, affecting the feeding efficiency.

[0035] Therefore, it is necessary to provide a yarn feeding robot that can meet the feeding requirements of existing winding machines and has high feeding efficiency.

[0036] Please continue reading Figure 1 and Figure 2As shown, an embodiment of the present invention provides a yarn feeding robot, including a feeding device (not shown), a transfer receiving device (not labeled), and a yarn feeding device (not shown). The feeding device is used for feeding bobbins and separating the large and small ends of the bobbins. The transfer receiving device is used to receive the bobbins separated by the feeding device and group them (for example, each group includes two, three, four, or five bobbins), and then output the entire group of bobbins downstream (i.e., unloading) so that the downstream yarn feeding device can receive the entire group of bobbins and feed them to the winding machine. In this way, the transfer receiving device plays the role of receiving and grouping the bobbins, and coordinates the pace of the feeding device and its downstream devices, which is beneficial to meeting the feeding requirements of existing winding machines and has high feeding efficiency.

[0037] In a specific embodiment, the yarn feeding robot also includes a material feeding guide device 10, a wire scraping device (not shown), and a yarn end acquisition device (not shown) located downstream of the transfer and receiving device. The material feeding guide device 10, the wire scraping device, the yarn end acquisition device, and the feeding device are arranged around a closed circular track. More specifically, the material feeding guide device is used to guide the yarn tube to the wire scraping device, the wire scraping device is used to scrape the surface of the yarn tube to find the yarn end, the yarn end acquisition device is used to acquire the yarn end, and the feeding device is used to grab the yarn tube and feed it, for example, into the yarn magazine of the winding machine.

[0038] Please continue reading Figure 1 and Figure 2 As shown in the embodiment of the present invention, the transfer receiving device has a receiving station for receiving material a (i.e., yarn tube) output from upstream and a dropping station for outputting material a downstream.

[0039] The transfer receiving device includes a mounting frame 20, a receiving mechanism 30, and a drive mechanism 40. The receiving mechanism 30 includes a receiving seat 31 and multiple receiving cylinders 32 (i.e., two or more) mounted on the receiving seat 31, each receiving cylinder 32 receiving one material a. The receiving seat 31 is movably mounted on the mounting frame 20, and the discharge end of each receiving cylinder 32 is configured to open or close in a controlled manner. The drive mechanism 40 is mounted on the mounting frame 20 and is drivenly connected to the receiving seat 31 to drive the receiving seat 31 to move relative to the mounting frame 20.

[0040] During its movement relative to the mounting frame 20, the receiving seat 31 can drive multiple receiving cylinders 32 to pass through the receiving station in sequence and move them to the unloading station. Optionally, a guide rail 21 is fixedly installed on the mounting frame 20, and the receiving seat 31 is slidably connected to the guide rail 21 along the guide rail 21, thereby enabling the receiving seat 31 to move relative to the mounting frame 20.

[0041] Thus, in actual operation, the discharge end of each receiving cylinder 32 is closed, and the drive mechanism 40 drives the receiving seat 31 to move, thereby causing multiple receiving cylinders 32 to sequentially pass through the receiving station and receive material until each receiving cylinder 32 has completed receiving. After each receiving cylinder 32 has completed receiving, the drive mechanism 40 drives the receiving seat 31 to move to the unloading station to wait for unloading. When downstream, material a is needed, the discharge end of each receiving cylinder 32 opens, and material a falls from the discharge end of the receiving cylinder 32, thus completing the unloading. The transfer receiving device of the present invention utilizes multiple receiving cylinders 32 to receive and buffer the yarn in groups, thereby coordinating the pace of the feeding device and its downstream devices, which is beneficial to meeting the feeding requirements of existing winding machines and has high feeding efficiency.

[0042] In an embodiment of the present invention, the receiving mechanism 30 further includes a discharge opening and closing plate 33 and a discharge driving member 34. The discharge opening and closing plate 33 is movably connected to the receiving seat 31 and has multiple discharge holes (not shown) along the arrangement direction of the multiple receiving cylinders 32. The multiple discharge holes correspond one-to-one with the discharge ends of the multiple receiving cylinders 32. The discharge driving member 34 is installed on the receiving seat 31 and is drivenly connected to the discharge opening and closing plate 33 to drive the discharge opening and closing plate 33 to move relative to the receiving seat 31. During the controlled movement of the discharge opening and closing plate 33 relative to the receiving seat 31 by the discharge driving member (34), there is an open position. When the discharge opening and closing plate 33 moves to the open position, each discharge hole is aligned with the discharge end of each corresponding receiving cylinder 32, so that the material a in the receiving cylinder 32 falls from the discharge end of the receiving cylinder 32 and the corresponding discharge hole, thus completing the discharge. Optionally, the discharge driving member 34 can be a cylinder.

[0043] Thus, during material receiving, the discharge plate 33 blocks the discharge end of the receiving cylinder 32, preventing material a from falling from the discharge end of the receiving cylinder 32. When discharging, the discharge drive 34 drives the discharge plate 33 to the open position, aligning the discharge end of each receiving cylinder 32 with a corresponding discharge hole. At this time, material a inside the receiving cylinder 32 can fall from both the discharge end and the discharge hole, completing the discharging process. After discharging is complete, the discharge drive 34 drives the discharge plate 33 to reset, causing the discharge plate 33 to block the discharge ends of each receiving cylinder 32 again, preparing for the next material receiving operation. (Specific details to be added...) Figure 1 In the embodiment shown, the feed end of the receiving cylinder 32 is the top end of the receiving cylinder 32, and the discharge end of the receiving cylinder 32 is the bottom end of the receiving cylinder 32.

[0044] In a specific embodiment, the receiving mechanism 30 further includes a guide shaft 35 and a guide block 36. The guide shaft 35 is fixedly connected to one of the discharge opening and closing plate 33 and the receiving seat 31, and the guide block 36 is fixedly connected to the other of the discharge opening and closing plate 33 and the receiving seat 31. The guide block 36 is slidably connected to the guide shaft 35, thereby enabling the discharge opening and closing plate 33 to move relative to the receiving seat 31 through the sliding connection between the guide shaft 35 and the guide block 36, making the opening and closing of the discharge end of the receiving cylinder 32 by the discharge opening and closing plate 33 more stable and reliable. In the embodiment shown in the accompanying drawings, the guide shaft 35 is fixedly connected to the receiving seat 31, and the guide block 36 is fixedly connected to the discharge opening and closing plate 33.

[0045] Furthermore, the guide block 36 has a guide hole, through which the guide shaft 35 passes and slides in cooperation with the guide hole, thereby realizing the sliding connection between the guide block 36 and the guide shaft 35.

[0046] It should be noted that in some embodiments, the guide shaft 35 may include multiple (i.e., two or more), the multiple guide shafts 35 are arranged in parallel with each other, and each guide shaft 35 is slidably connected to at least one guide block 36.

[0047] It should also be noted that in some embodiments, the moving direction of the material discharge opening and closing plate 33 relative to the material receiving seat 31 is parallel to the moving direction of the material receiving seat 31 relative to the mounting frame 20, which helps to reduce the space required by the transfer receiving device and facilitates the layout of the transfer receiving device. Of course, in other embodiments, the moving direction of the material discharge opening and closing plate 33 relative to the material receiving seat 31 and the moving direction of the material receiving seat 31 relative to the mounting frame 20 may not be parallel, as long as the opening and closing of the discharge end of each material receiving cylinder 32 can be realized, and no limitation is made here.

[0048] In an embodiment of the present invention, each receiving cylinder 32 is equipped with a sensor 321 (see Figure 2 The sensor 321 is used to sense whether material a is present in the corresponding receiving cylinder 32. Thus, during material receiving, when the sensor 321 on a receiving cylinder 32 senses the presence of material a, the receiving cylinder 32 has completed receiving, and the drive mechanism 40 can drive the mounting frame 20 to continue moving, causing the next receiving cylinder 32 to move to the receiving station to receive material. Optionally, the sensor 321 can be a through-beam photoelectric sensor.

[0049] Furthermore, the receiving cylinder 32 has a through-hole that extends into the interior of the receiving cylinder 32, and the sensor 321 is installed in the through-hole, thereby facilitating the installation of the sensor 321.

[0050] In embodiments of the present invention, the transfer receiving device further includes a position sensor 37 and a sensing plate 38. The position sensor 37 is mounted on one of the mounting frame 20 and the receiving base 31, and the sensing plate 38 is mounted on the other of the mounting frame 20 and the receiving base 31. The position sensor 37 is used to detect the position of the sensing plate 38. Thus, by detecting the position of the sensing plate 38, the position sensor 37 can determine the position of the receiving cylinder 32, which facilitates the drive mechanism 40 to drive the receiving base 31 to move, so that each receiving cylinder 32 sequentially passes through the receiving station to receive materials. Optionally, the position sensor 37 can be a photoelectric limit switch.

[0051] In a specific embodiment, multiple receiving cylinders 32 are spaced apart along the moving direction of the receiving base 31. When the position sensor 37 senses the sensing plate 38, one of the receiving cylinders 32 located at one end is positioned at the receiving station. Thus, during material receiving, when the position sensor 37 senses the sensing plate 38, the drive mechanism 40 stops driving the receiving base 31 to move, so that the receiving cylinder 32 located at one end of the multiple receiving cylinders 32 is positioned at the receiving station and begins receiving material. When the sensor 321 on the receiving cylinder 32 senses the presence of material a, the drive mechanism 40 continues to drive the receiving base 31 to move to the next receiving cylinder 32 to the receiving station and begin receiving material. This cycle continues until each receiving cylinder 32 has completed receiving material.

[0052] Furthermore, both sensor 321 and position sensor 37 are electrically connected to drive mechanism 40, so that drive mechanism 40 drives receiving seat 31 to move according to the sensing signals of sensor 321 and position sensor 37. Specifically, both sensor 321 and position sensor 37 are electrically connected to receiving drive member 41 of drive mechanism 40 described below.

[0053] Specifically, in the embodiment shown in the attached drawings, three receiving cylinders 32 are installed on the receiving base 31. When the position sensor 37 detects the sensing plate 38, the leftmost receiving cylinder 32 is in the receiving position. At this time, the drive mechanism 40 stops driving the receiving base 31 to move, so that the leftmost receiving cylinder 32 receives material. When the sensor 321 on the leftmost receiving cylinder 32 detects the presence of material a, the drive mechanism 40 drives the receiving base 31 to continue moving to the left until the middle receiving cylinder 32 reaches the receiving position, so that the middle receiving cylinder 32 receives material. When the sensor 321 on the middle receiving cylinder 32 detects the presence of material a, the drive mechanism 40 drives the receiving base 31 to continue moving to the left until the rightmost receiving cylinder 32 reaches the receiving position, so that the rightmost receiving cylinder 32 receives material. When the sensor 321 on the rightmost receiving cylinder 32 detects the presence of material a, the drive mechanism 40 drives the receiving seat 31 to move to the unloading station to facilitate unloading.

[0054] It should be noted that a travel limit switch for limiting the movement of the receiving seat 31 can also be installed on the mounting bracket 20. The travel limit switch can be used to limit the movement of the receiving seat 31 within the range between the receiving station and the unloading station.

[0055] In an embodiment of the present invention, the drive mechanism 40 includes a receiving drive component 41, a driving wheel 42, a driven wheel 43, and a transmission belt 44. The receiving drive component 41 is mounted on the mounting frame 20, and the driving wheel 42 is mounted on the driving end of the receiving drive component 41 so as to be driven to rotate by the receiving drive component 41. The driven wheel 43 is mounted on the mounting frame 20 and is spaced apart from the driving wheel 42 along the moving direction of the receiving seat 31. The transmission belt 44 is sleeved between the driving wheel 42 and the driven wheel 43 so as to move sequentially under the drive of the driving wheel 42. The receiving seat 31 is connected to the transmission belt 44 so as to move with the transmission belt 44. Thus, when it is necessary to move the receiving seat 31, the receiving drive component 41 drives the driving wheel 42 to rotate, thereby driving the transmission belt 44 to move sequentially between the driving wheel 42 and the driven wheel 43, and thus driving the receiving seat 31 to move. Optionally, the receiving drive component 41 may be a stepper motor.

[0056] Optionally, the driving pulley 42 and the driven pulley 43 can be synchronous pulleys, and the transmission belt 44 can be a synchronous belt. In this way, the synchronous belt drive has the advantages of accurate transmission ratio, no slippage, constant speed ratio, smooth transmission, vibration absorption, and low noise, which makes it easy to ensure the stable and reliable movement of the receiving seat 31, and has high precision.

[0057] It should be noted that the drive mechanism 40 is not limited to using belt drive to drive the material receiving seat 31 to move. In other embodiments, the drive mechanism 40 may also use a lead screw module or a gear and rack transmission structure, etc., which are not limited here.

[0058] In embodiments of the present invention, the transfer receiving device further includes a support member 50 mounted on the mounting frame 20. The support member 50 has a cable chain groove 51 extending longitudinally along the moving direction of the receiving seat 31. The air inlet pipe of the dropping drive member 34 is supported in the cable chain groove 51 by the cable chain to prevent the air inlet pipe of the dropping drive member 34 from getting tangled or interfering with the movement of the receiving seat 31 during its movement. Of course, in other embodiments, other wiring of the receiving mechanism 30 can also be supported in the cable chain groove 51 by the cable chain, such as the wiring of the sensor, the wiring of the dropping drive member 34, etc.

[0059] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A transfer receiving device, characterized in that, The transfer receiving device includes a receiving station and a dropping station. Mounting bracket (20); The receiving mechanism (30) includes a receiving seat (31) and a plurality of receiving cylinders (32) mounted on the receiving seat (31). The receiving seat (31) is movably mounted on the mounting frame (20). The discharge end of each receiving cylinder (32) is configured to open or close in a controlled manner. The receiving mechanism (30) also includes a discharge opening and closing plate (33) and a discharge driving component (34). The discharge opening and closing plate (33) is movably connected to the receiving seat (31). The plurality of receiving cylinders (32) are provided with a plurality of discharge holes along their arrangement direction; the discharge drive (34) is mounted on the receiving base (31) and is controlled to drive the discharge opening and closing plate (33) to move so that each discharge hole is aligned with the discharge end of the corresponding receiving cylinder (32); each receiving cylinder (32) is equipped with a sensor, which is used to sense whether there is material (a) in the corresponding receiving cylinder (32); and A drive mechanism (40) is disposed on the mounting bracket (20) and is drivenly connected to the receiving seat (31); During the movement of the receiving seat (31) relative to the mounting frame (20), it can drive multiple receiving cylinders (32) to pass through the receiving station in sequence and move to the unloading station; the feeding end of the receiving cylinder (32) is the top end of the receiving cylinder (32), and the discharging end of the receiving cylinder (32) is the bottom end of the receiving cylinder (32).

2. The transfer receiving device according to claim 1, characterized in that, The receiving mechanism (30) further includes a guide shaft (35) and a guide block (36). The guide shaft (35) is fixedly connected to one of the material discharge opening and closing plate (33) and the material receiving seat (31), and the guide block (36) is fixedly connected to the other of the material discharge opening and closing plate (33) and the material receiving seat (31). The guide block (36) is slidably connected to the guide shaft (35).

3. The transfer receiving device according to claim 2, characterized in that, The guide block has a guide hole, and the guide shaft passes through the guide hole and slides in cooperation with the guide hole.

4. The transfer receiving device according to claim 1, characterized in that, The sensor includes a through-beam photoelectric sensor.

5. The transfer receiving device according to claim 1, characterized in that, The transfer receiving device also includes a position sensor (37) and a sensing plate (38). The position sensor (37) is installed on one of the mounting frame (20) and the receiving base (31), and the sensing plate (38) is installed on the other of the mounting frame (20) and the receiving base (31). The position sensor (37) is used to detect the position of the sensing plate (38).

6. The transfer receiving device according to claim 5, characterized in that, The position sensor (37) includes a photoelectric limit switch.

7. The transfer receiving device according to claim 5, characterized in that, Multiple receiving cylinders (32) are arranged at intervals along the moving direction of the receiving seat (31); When the position sensor (37) senses the sensing plate (38), one of the multiple receiving cylinders (32) located at the end is located at the receiving station.

8. The transfer receiving device according to claim 1, characterized in that, The drive mechanism (40) includes a receiving drive component (41), a drive wheel (42), a driven wheel (43), and a transmission belt (44); The receiving drive component (41) is mounted on the mounting frame (20), the drive wheel (42) is mounted on the drive end of the receiving drive component (41), the driven wheel (43) is mounted on the mounting frame (20) and is spaced apart from the drive wheel (42) along the moving direction of the receiving seat (31), and the transmission belt (44) is sleeved between the drive wheel (42) and the driven wheel (43) to move sequentially under the drive of the drive wheel (42); The receiving seat (31) is connected to the transmission belt (44).

9. The transfer receiving device according to claim 1, characterized in that, The mounting bracket is fixedly mounted with a guide rail, and the receiving seat is slidably connected to the guide rail along the guide rail.

10. A yarn-feeding robot, characterized in that, Includes the transfer receiving device as described in any one of claims 1 to 9.

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