Feeding Device and Yarn-feeding Robot

Abstract

The present invention relates to a feeding device and a yarn feeding robot. The feeding device includes a base on which a plurality of cheese yarns can be positioned; a grasping and moving assembly including a first driving member and a grasping mechanism. The first driving member is provided on the base and is connected to the grasping mechanism. The grasping mechanism can grasp or release the plurality of cheese yarns. The first driving member is used to provide the driving force for the movement of the grasping mechanism. During the movement, the grasping mechanism includes a grasping position for grasping the plurality of cheese yarns and a placing position for placing the plurality of cheese yarns; a twisting assembly including a second driving member and a twisting mechanism. The second driving member is provided on the grasping mechanism and is connected to the twisting mechanism. The second driving member is used to provide the driving force for twisting the ends of the plurality of cheese yarns by the twisting mechanism. The feeding device and the yarn feeding robot provided by the present invention not only realize the simultaneous feeding of a plurality of cheese yarns, but also meet the processing requirements of the yarn magazine for the ends of the plurality of cheese yarns, that is, meet the feeding requirements and improve the feeding efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of textile machinery, and in particular to a feeding device and a yarn feeding robot. Background Art

[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 for repetitive and boring work.

[0003] As one of the main labor-intensive industries, the textile industry has high labor costs. Especially in the winding process, which is an important part of the textile industry, a winding machine needs to be equipped with 3 - 5 yarn inserting workers to complete daily production. The yarn inserting workers repeat mechanical actions such as picking up cheese bobbins, extracting thread ends, and putting them into the yarn storage every day. Moreover, there are generally problems of large noise pollution and a large amount of short fibers in the air in the winding workshop, which threatens the physical health of workers. Therefore, it has become an urgent problem to carry out intelligent transformation of the winding workshop to reduce the labor pressure in textile mills, improve work efficiency, and improve the working environment of workers. Summary of the Invention

[0004] Based on this, it is necessary to provide a feeding device and a yarn feeding robot that can meet the feeding requirements of existing winding machines and have high feeding efficiency, which can solve the problems that the feeding device of the existing yarn feeding robot cannot meet the feeding requirements of the winding machine and has low feeding efficiency.

[0005] On the one hand of the present application, a feeding device is provided, including:

[0006] A base, on which a plurality of cheese bobbins can be positioned;

[0007] A grasping and moving assembly, including a first driving member and a grasping mechanism. The first driving member is arranged on the base, the first driving member is connected to the grasping mechanism, the grasping mechanism can grasp or release a plurality of the cheese bobbins, the first driving member is used to provide the driving force for the movement of the grasping mechanism, and the grasping mechanism includes a grasping position for grasping a plurality of the cheese bobbins and a placing position for placing a plurality of the cheese bobbins during the movement;

[0008] A twisting assembly, including a second driving member and a twisting mechanism. The second driving member is arranged on the grasping mechanism, the second driving member is connected to the twisting mechanism, and the second driving member is used to provide the driving force for twisting the thread ends of a plurality of the cheese bobbins by the twisting mechanism.

[0009] In one embodiment, the base has a grasping station for positioning the cheese bobbins. When the grasping mechanism is at the grasping position, it can grasp a plurality of the cheese bobbins located at the grasping station;

[0010] The twisting mechanism can twist the thread ends of multiple of the cheese bobbins when the multiple cheese bobbins are located at the grasping station.

[0011] In one embodiment, the twisting mechanism includes a blowing and sucking mechanism. The second driving member includes a first sub-driving member. The blowing and sucking mechanism includes a blowing and sucking port and a blowing and sucking channel communicating the blowing and sucking port with the first sub-driving member. The first sub-driving member is configured to provide a suction force for sucking the thread ends of multiple of the cheese bobbins into the blowing and sucking channel.

[0012] In one embodiment, the first sub-driving member is configured to provide a blowing force for blowing the thread ends of multiple of the cheese bobbins adsorbed in the blowing and sucking channel away from the blowing and sucking port when the feeding mechanism provides the blowing force to the blowing and sucking channel.

[0013] In one embodiment, the twisting mechanism further includes a wire clamping mechanism disposed on one side of the blowing and sucking mechanism. The blowing and sucking port is oriented towards the wire clamping mechanism. The second driving member includes a second sub-driving member. The second sub-driving member is connected to the wire clamping mechanism. The second sub-driving member is configured to provide a driving force for causing the wire clamping mechanism to clamp or release the thread ends of multiple of the cheese bobbins.

[0014] In one embodiment, the wire clamping mechanism includes two clamping arms. One end of at least one of the clamping arms is connected to the second sub-driving member. The second sub-driving member is configured to drive the corresponding clamping arm to move, so that the two clamping arms approach each other to clamp the thread ends of multiple of the tubes or move away from each other to release the thread ends of multiple of the tubes.

[0015] In one embodiment, the feeding device further includes a picking and collecting assembly located on one side of the grasping and moving assembly;

[0016] The picking and collecting assembly includes a third driving member and a thread picking mechanism. The third driving member is disposed on the base. The third driving member is connected to the thread picking mechanism. The third driving member is configured to provide a driving force for causing the thread picking mechanism to pick and collect the thread ends of multiple of the cheese bobbins located at the grasping position.

[0017] In one embodiment, the thread picking mechanism includes a thread picking arm and a thread picking member. One end of the thread picking arm is connected to the first driving member. The other end of the thread picking arm is connected to the thread picking member. The thread picking arm extends along a second direction. The thread picking member extends along a third direction intersecting the second direction;

[0018] The third driving member is configured to drive the thread picking arm to rotate, so as to drive the thread picking member to move towards the direction close to the cheese bobbins to pick and collect the thread ends of multiple of the cheese bobbins, or move towards the direction away from the cheese bobbins to unfold the thread ends of multiple of the cheese bobbins.

[0019] In one embodiment, there are two thread picking members. One of the thread picking members is connected to the thread picking arm. The third driving member is configured to drive the thread picking arm to drive the corresponding one of the thread picking members to move towards the other thread picking member to pick up the ends of a plurality of the cheese yarns between the two thread picking members, or to move away from the other thread picking member to unfold the ends of the plurality of the cheese yarns.

[0020] Preferably, there are two thread picking arms. One end of each thread picking arm is connected to one end of the corresponding thread picking member, and the other end of each thread picking arm is connected to the first driving member. The first driving member is configured to drive the two thread picking arms to approach or move away from each other.

[0021] In one embodiment, the grasping mechanism includes a rotating arm and a grasping portion. One end of the rotating arm is connected to the grasping portion, and the other end of the rotating arm is connected to the first driving member. The first driving member is configured to drive the rotating arm to rotate between the grasping position and the feeding mechanism.

[0022] On the other hand, the present application further provides a yarn feeding robot for feeding cheese yarns. The yarn feeding robot includes the above-mentioned feeding device.

[0023] For the above-mentioned feeding device and the yarn feeding robot, the grasping mechanism grasps a plurality of cheese yarns located at the grasping position, and the second driving member is started to drive the twisting mechanism to twist the ends of the plurality of cheese yarns. Therefore, after the first driving member is started to drive the grasping mechanism to move the grasped plurality of cheese yarns to the feeding mechanism, the grasping mechanism releases the plurality of cheese yarns for feeding. At this time, the twisting mechanism has twisted the ends of the plurality of cheese yarns to be fed, so that the plurality of ends can be easily fixed by the negative pressure holes in the center of the yarn storage when feeding. Therefore, the feeding device of the present application not only realizes the simultaneous feeding of a plurality of cheese yarns into the yarn storage of the winding machine, but also meets the processing requirements of the yarn storage for the ends of the plurality of cheese yarns, that is, it meets the feeding requirements and improves the feeding efficiency. Description of the Drawings

[0024] Figure 1 is a schematic structural diagram of the feeding device in an embodiment of the present invention;

[0025] Figure 2 is Figure 1 a schematic structural diagram of the grasping portion in the feeding device shown;

[0026] Figure 3 is Figure 1 a schematic structural diagram of the thread picking assembly in the yarn feeding device shown. Detailed Embodiments

[0027] To make the above objects, features, and advantages of the present invention more apparent and understandable, the following provides a detailed description of the specific embodiments of the present invention in conjunction with the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this invention belongs. The terms used in the description of the present invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0029] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by 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", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0031] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of 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 can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. 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.

[0034] In addition, the drawings are not drawn to a scale of 1:1, and the relative sizes of the components are only drawn by way of example in the drawings and not necessarily to the actual scale.

[0035] Figure 1 The structural schematic diagram of the feeding device in an embodiment of the present invention is shown. For ease of description, the drawings only show the structures related to the embodiments of the present invention.

[0036] Referring to the drawings, an embodiment of the present invention provides a feeding device 100, which includes a base 10, a grasping and moving assembly 20 and a twisting assembly 30. The feeding device 100 of the present application is applied to a yarn feeding robot. In other embodiments, it can also be applied to other devices suitable for the feeding device 100, which is not limited herein.

[0037] A plurality of cheese bobbins 200 can be positioned on the base 10. The grasping and moving assembly 20 includes a first driving member 21 and a grasping mechanism 22. The first driving member 21 is disposed on the base 10. The first driving member 21 is connected to the grasping mechanism 22. The grasping mechanism 22 can grasp or release a plurality of cheese bobbins 200. The first driving member 21 is used to provide a driving force for moving the grasping mechanism 22. The grasping mechanism 22 includes a grasping position for grasping a plurality of cheese bobbins 200 and a placing position for placing a plurality of cheese bobbins 200 during the moving process.

[0038] The twisting assembly 30 includes a second driving member and a twisting mechanism 31 ( Figure 2 shown), the second driving member is disposed on one side of the grasping mechanism 22, the second driving member is connected to the twisting mechanism 31, and the second driving member is used to provide a driving force for twisting the ends of a plurality of cheese bobbins 200 by the twisting mechanism 31.

[0039] In this way, the grasping mechanism 22 grasps a plurality of cheese cops 200 at the grasping position, and the second driving member is started to drive the twisting mechanism 31 to twist the ends of the plurality of cheese cops 200. Therefore, after the first driving member 21 is started to drive the grasping mechanism 22 to move the grasped plurality of cheese cops 200 to the placing position, the grasping mechanism 22 releases the plurality of cheese cops 200 for placing. At this time, the twisting mechanism 31 has twisted the ends of the plurality of cheese cops 200 to be placed, so that the plurality of ends can be easily fixed by the negative pressure holes in the center of the creel when placed. Therefore, the feeding device of the present application not only realizes the simultaneous feeding of a plurality of cheese cops 200 into the creel of the winding machine, but also meets the processing requirements of the creel for the ends of the plurality of cheese cops 200, that is, meets the feeding requirements, and improves the feeding efficiency.

[0040] In an embodiment of the present application, the feeding device 100 can feed three cheese cops 200 simultaneously. In other embodiments, the number of cheese cops 200 grasped by the feeding device 100 is not limited.

[0041] In some embodiments, the base 10 includes a support platform 11, a track assembly 12 and a moving unit 13. The track assembly 12 is arranged on the support platform 11. The track assembly 12 has tracks, and the moving unit 13 is slidably connected to the tracks. The cheese cop 200 is positioned on the moving unit 13. Specifically, the grasping and moving assembly 20 is arranged on the track assembly 12. In this way, the space on the track assembly 12 can be fully utilized, making the structure of the feeding device 100 more compact.

[0042] In some embodiments, the grasping and moving assembly 20 further includes a first bracket 23. The first bracket 23 is fixed to the base 10, and the first driving member 23 is fixed on the first bracket 23. Specifically, the first bracket 23 is fixed to the track assembly 12.

[0043] In some embodiments, the grasping mechanism 22 includes a rotating arm 221 and a grasping portion 222. One end of the rotating arm 221 is connected to the grasping portion 222, and the other end of the rotating arm 221 is connected to the first driving member 21. The first driving member 21 is used to drive the rotating arm 221 to rotate between the grasping position and the placing position. The method of setting the rotating arm 221 to drive the grasping portion 222 to rotate is simple and the structure occupies less space.

[0044] Further, the grasping mechanism 22 further includes a transmission assembly 223. The transmission assembly 223 is connected between the first driving member 21 and the rotating arm 221. The first driving member 21 drives the rotating arm 221 to rotate through the transmission assembly 223. Specifically, in an embodiment, the first driving member 21 includes a driving motor. The transmission assembly 223 includes two belt pulleys and a belt connecting the two belt pulleys, or the transmission assembly 223 includes two sprockets and a chain connecting the two sprockets, which is not limited herein. In some embodiments, the first driving member 21, the transmission assembly 223, and the rotating arm 221 are arranged in sequence along the first direction. Specifically, the first direction is Figure 2 shown as horizontally to the right.

[0045] In some embodiments, the grasping mechanism 22 further includes a lifting mechanism 224. The lifting mechanism 224 is installed at one end of the rotating arm 221 and is connected to the grasping portion 222. The lifting mechanism 224 can drive the grasping portion 222 to move up and down in the vertical direction. Further, the twisting assembly 30 is provided in the grasping portion 222. In this way, the grasping portion 222 can be lowered close to the pipeline 200 when grasping the pipeline 200 at the grasping position, improving the grasping effect and the twisting effect. During the process of transferring the pipeline 200 to the placing position, it is lifted to avoid interference with other parts. In addition, it can be lowered close to the sand bin at the grasping portion 222 to improve the placing accuracy.

[0046] As Figure 2 shown, in some embodiments, the grasping portion 222 includes a mounting base 2221 and a grasping body 2222. One side of the mounting base 221 is connected to the first driving member 21, and the other side of the mounting base 2221 is connected to the grasping body 2222. The grasping body 2222 can grasp or release a plurality of yarn cops 200. Specifically, one side of the mounting base 2221 is connected to the first driving member 21 through the rotating arm 221. In some embodiments, the grasping body 2222 includes a plurality of grippers 2223, and each gripper 2223 can grasp or release a yarn cop 200. The structure of the gripper 2223 is simple and convenient for grasping. In the embodiments of the present application, the plurality of grippers 2223 are arranged in a triangular shape. In this way, the grasping space can be saved, and the arrangement requirements of the placement positions of the yarn cops 200 in the sand bin are also met. For example, when the placement positions of the plurality of yarn cops 200 in the sand bin are arranged in a ring shape, in other embodiments, the plurality of grippers 2223 can also be arranged in a straight line, which is not limited herein.

[0047] In some embodiments, the twisting assembly 30 further includes a second bracket 32. The second bracket 32 is fixed to the grasping mechanism 22, and the second driving member is disposed on the second bracket 32. In some embodiments, the second bracket 32 includes a first cross bar and a first vertical bar. One end of the first cross bar is connected to the grasping mechanism 22, the other end of the first cross bar is connected to one end of the first vertical bar, and the other end of the first vertical bar is connected to the first driving member. Specifically, the first vertical bar is disposed closer to the base 10 than the first cross bar.

[0048] In some embodiments, the twisting mechanism 31 can twist the ends of multiple cheese yarns 200 at the grasping position. If the ends of multiple cheese yarns 200 are twisted during the process of the grasping mechanism 22 grasping and moving the cheese yarns 200, it will be difficult to find the ends of the cheese yarns 200, resulting in difficulty in twisting the ends. Therefore, when the cheese yarns 200 are at the grasping position, it is easier to find the ends, so that the twisting is easier and the twisting efficiency is improved.

[0049] In some embodiments, the twisting mechanism 31 includes a blowing and sucking mechanism 311. The second driving member includes a first sub-driving member. The blowing and sucking mechanism 311 includes a blowing and sucking port 3111 and a blowing and sucking channel connecting the blowing and sucking port 3111 and the first sub-driving member. The first sub-driving member is used to provide a suction force for sucking the ends of multiple cheese yarns 200 into the blowing and sucking channel. In this way, the first sub-driving member can be started to generate a suction force in the blowing and sucking channel, so that multiple ends can be sucked into the blowing and sucking channel from the blowing and sucking port 3111, and multiple ends twist multiple yarns together by their own twist to perform twisting. The blowing and sucking method is simple and reliable.

[0050] Further, the first sub-driving member is used to provide a blowing force for blowing the ends of multiple cheese yarns 200 adsorbed in the blowing and sucking channel away from the blowing and sucking port 3111. In this way, when the grasping and moving assembly 20 grasps and moves multiple cheese yarns 200 to the feeding position for feeding, the first sub-driving member is also started to generate a blowing force in the blowing and sucking channel to blow the twisted multiple yarns into the negative pressure hole in the center of the sand bin, thereby completing the feeding. By using the first sub-driving member to simultaneously achieve suction and blowing, the structure is simple and centralized, and the feeding effect is good.

[0051] In some embodiments, the twisting mechanism 31 further includes a wire clamping mechanism on one side of the blowing and sucking mechanism 311. The blowing and sucking port 3111 faces the wire clamping mechanism. The second driving member includes a second sub-driving member 33. The second sub-driving member 33 is connected to the wire clamping mechanism. The second sub-driving member 33 is used to provide a driving force for clamping or loosening the ends of multiple cheese yarns 200 by the wire clamping mechanism. In this way, the second sub-driving member 33 can be started to drive the wire clamping mechanism to clamp multiple ends to concentrate them, so as to facilitate the blowing and sucking mechanism 311 to suck multiple ends, improving the accuracy and stability of suction. After the blowing and sucking mechanism 311 completes the suction, the second sub-driving member 33 can be started to drive the wire clamping mechanism to loosen multiple ends to avoid interfering with subsequent operations.

[0052] Further, the wire clamping mechanism includes two clamping arms 312. One end of at least one clamping arm 312 is connected to the second sub-driving member 33. The second sub-driving member 33 is configured to drive the corresponding clamping arm 312 to move, so that the two clamping arms 312 approach each other to clamp the ends of multiple pipelines 200 or move away from each other to release the ends of multiple pipelines 200. The way of arranging the clamping arms 312 is simple and reliable. In a specific embodiment, the second sub-driving member 33 is configured to drive the corresponding clamping arm 312 to rotate, so that the two clamping arms 312 approach or move away from each other. Specifically, the rotation axis of the clamping arm 312 is arranged parallel to the axial direction of the tube yarn 200.

[0053] Further, one end of each clamping arm 312 is connected to the second sub-driving member 33. By arranging the two clamping arms 312 to move simultaneously, the accuracy and efficiency of clamping and releasing the ends of the wire are higher. The path of clamping the ends of the wire can be closer to the middle tube yarn 200, which also improves the stability of clamping the ends of the wire and avoids the ends of the wire from falling during the clamping process.

[0054] In some embodiments, the two clamping arms 312 have a symmetry plane, and the symmetry plane penetrates the air blowing and sucking port 3111. In this way, after the two clamping arms 312 clamp the ends of the wire, the wire can be quickly and accurately adsorbed into the air blowing and sucking channel from the air blowing and sucking port 3111.

[0055] In some embodiments, the air blowing and sucking port 3111 is located below the wire clamping mechanism in the vertical direction. When the wire clamping mechanism clamps the ends of the wire, the ends of the wire will droop under the action of gravity. Therefore, by arranging the air blowing and sucking port 3111 below the wire clamping mechanism, the air blowing and sucking port 3111 can be closer to the drooping ends of the wire, improving the reliability of adsorbing the ends of the wire.

[0056] In the embodiments of the present application, in order to facilitate blowing multiple twisted yarns from the air blowing and sucking port 3111 into the negative pressure hole in the center of the yarn storage, the air blowing and sucking port 3111 is arranged to face the base 10 in the vertical direction. In this way, multiple yarns can directly fall into the negative pressure hole.

[0057] Please refer to again Figure 1 and Figure 3, in some embodiments, the feeding device 100 further includes a picking component 40. The picking component 40 includes a third driving member 41 and a thread picking mechanism 42. The third driving member 41 is disposed on the base 10. The third driving member 41 is connected to the picking mechanism 23. The third driving member 41 is configured to provide a driving force for the thread picking mechanism 42 to pick up or unfold the thread ends of a plurality of yarn cops 200 located at the grasping position. Specifically, the picking driving member 40 can cause the thread picking mechanism 42 to pick up or unfold the thread ends of a plurality of yarn cops 200 when the plurality of yarn cops 200 are located at the grasping station. In this way, the third driving member 41 can be activated to drive the thread picking mechanism 42 to pick up the thread ends of the plurality of yarn cops 200 located at the grasping position to a position where they can be operated by the twisting component 20, thereby preventing the thread ends of the yarn cops 200 from adhering to the surface of the yarn cops 200 and being difficult to twist. After the twisting component 20 twists a plurality of thread ends together, the third driving member 41 can be activated to drive the thread picking mechanism 42 to unfold the thread ends of the plurality of yarn cops 200 located at the grasping position to avoid interfering with subsequent operations.

[0058] In some embodiments, the picking component 40 further includes a third support 43. The third support 43 includes a second vertical rod 431 and a first cross bar 432. One end of the second vertical rod 431 is fixed to the base 10. One end of the second vertical rod 431 is connected to one end of the first cross bar 432. The first cross bar 432 is arranged towards a plurality of yarn cops 200 at the grasping position. Specifically, a plurality of yarn cops 100 at the grasping position are arranged side by side in a first direction. The first cross bar 432 extends in the first direction.

[0059] In some embodiments, the thread picking mechanism 42 includes a thread picking arm 421 and a thread picking member 422. One end of the thread picking arm 421 is connected to the third driving member 41. The other end of the thread picking arm 421 is connected to the thread picking member 422. The thread picking arm 421 extends in a second direction. The thread picking member 422 extends in a third direction intersecting the second direction. The third driving member 41 is configured to drive the thread picking arm 421 to rotate, so as to drive the thread picking member 422 to move towards the direction close to the yarn cop 200 to pick up the thread ends of a plurality of yarn cops 200, or move towards the direction away from the yarn cop 200 to unfold the thread ends of a plurality of yarn cops 200. In this way, the method of driving the thread picking member 422 to pick up the thread ends by the thread picking arm 421 is simple.

[0060] Further, there are two thread picking members 422. One of the thread picking members 422 is connected to the thread picking arm 421. The third driving member 41 is used to drive the thread picking arm 421 to drive the corresponding one of the thread picking members 422 to move towards the other thread picking member 422 to pick up the thread ends of multiple cheese yarns 200 between the two thread picking members 422, or to move away from the other thread picking member 422 to unfold the thread ends of multiple cheese yarns 200. By providing two thread picking members 422, it is convenient for the subsequent wire clamping mechanism to clamp or release the thread ends at a position close to the thread picking members 422. In the embodiments of the present application, the thread picking member 321 includes iron wire, copper wire or other silk threads, which are not limited herein. Preferably, the third direction is arranged parallel to the axial direction of the cheese yarn 200, the second direction is perpendicular to the third direction, and the rotation axis of the thread picking arm 421 is arranged parallel to the axial direction of the cheese yarn 200.

[0061] It should also be noted that the third driving member 41 is used to drive the thread picking arm 421 to drive the corresponding one of the thread picking members 422 to move between the picking position and the unfolding position relative to the other thread picking member 422. When the two thread picking members 422 are in the unfolding position, there are multiple cheese yarns 200 between the projections of the two thread picking members 321 towards the cheese yarn 200 at the grasping position. Thus, during the picking process, the thread ends of multiple cheese yarns 200 can be picked up.

[0062] Further, there are two thread picking arms 421. One end of each thread picking arm 421 is connected to one end of the corresponding thread picking member 422, and the other end of each thread picking arm 421 is connected to the third driving member 41. The third driving member 41 is used to drive the two thread picking arms 421 to approach or move away from each other. By providing two thread picking arms 421 to drive one thread picking member 422 respectively, the accuracy of picking up and unfolding the thread ends is higher, and the efficiency is also higher. The path of picking up the thread ends can be closer to the middle cheese yarn 200, which also improves the stability of thread picking and avoids the thread ends falling during the picking process.

[0063] Based on the same inventive concept, the present application also provides a yarn feeding robot for feeding yarn to the cheese yarn 200. The yarn feeding robot includes the above-mentioned feeding device 100.

[0064] Specifically, the yarn feeding robot further includes a feeding device, a transfer and receiving device, a blanking guiding device, a wire scraping device and a thread end acquisition device.

[0065] More specifically, the feeding device is used to convey the cheese yarn 200, the transfer and receiving device is used to transfer the cheese yarn 200 from the feeding device, the blanking guiding device is used to guide the blanking of the cheese yarn 200 from the transfer and receiving device to the moving unit 14, the surface of the cheese yarn 200 is scraped by the wire scraping device to find the thread end of the cheese yarn 200, and then the thread end acquisition device acquires the thread end of the cheese yarn 200.

[0066] The feeding device 100 and the yarn feeding robot provided by the embodiments of the present invention have the following beneficial effects compared with the prior art:

[0067] The grasping mechanism 22 grasps a plurality of cops 200 located at the grasping position, and the second driving member is started to drive the twisting mechanism 31 to twist the ends of the plurality of cops 200. Therefore, after the first driving member 21 is started to drive the grasping mechanism 22 to move the grasped plurality of cops 200 to the feeding mechanism, the grasping mechanism 22 releases the plurality of cops 200 for feeding. At this time, the twisting mechanism 31 has twisted the ends of the plurality of cops 200 to be fed, so that the plurality of ends can be easily fixed by the negative pressure holes in the center of the yarn storage when feeding. Therefore, the feeding device and the yarn feeding robot of the present application not only realize the simultaneous feeding of a plurality of cops 200 into the yarn storage of the winding machine, but also meet the processing requirements of the yarn storage for the ends of the plurality of cops 200, that is, meet the feeding requirements, and improve the feeding efficiency.

[0068] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0069] The above embodiments only represent several implementation manners of the present invention, and the description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A feeding device, characterized in that, Comprising; A base on which a plurality of cops can be positioned; A grasping and moving assembly including a first driving member and a grasping mechanism. The first driving member is provided on the base, the first driving member is connected to the grasping mechanism, the grasping mechanism can grasp or release a plurality of the cops, the first driving member is used to provide a driving force for the movement of the grasping mechanism, and the grasping mechanism includes a grasping position for grasping a plurality of the cops and a placing position for placing a plurality of the cops during movement; A twisting assembly including a second driving member and a twisting mechanism. The second driving member is provided on the grasping mechanism, and the second driving member is connected to the twisting mechanism; the twisting mechanism includes a blowing and sucking mechanism, the second driving member includes a first sub-driving member, the blowing and sucking mechanism includes a blowing and sucking port and a blowing and sucking channel connecting the blowing and sucking port and the first sub-driving member, the first sub-driving member is used to provide a sucking force for sucking the thread ends of a plurality of the cops into the blowing and sucking channel, and the first sub-driving member is further used to provide a blowing force for blowing the thread ends of a plurality of the cops adsorbed in the blowing and sucking channel away from the blowing and sucking port; the twisting mechanism further includes a wire clamping mechanism on one side of the blowing and sucking mechanism, the blowing and sucking port is arranged facing the wire clamping mechanism, the second driving member includes a second sub-driving member, the second sub-driving member is connected to the wire clamping mechanism, and the second sub-driving member is used to provide a driving force for clamping or loosening the thread ends of a plurality of the cops by the wire clamping mechanism.

2. The feeding device according to claim 1, wherein The base has a grasping station for positioning the cops. When the grasping mechanism is at the grasping position, it can grasp a plurality of the cops located at the grasping station; The twisting mechanism can twist the thread ends of a plurality of the cops when the plurality of the cops are located at the grasping station.

3. The feeding device according to claim 1, characterized in that The wire clamping mechanism includes two clamping arms. At least one end of one of the clamping arms is connected to the second sub-driving member, and the second sub-driving member is used to drive the corresponding clamping arm to move, so that the two clamping arms approach each other to clamp the thread ends of a plurality of the cops or move away from each other to loosen the thread ends of a plurality of the cops.

4. The feeding device according to claim 1, wherein The feeding device further includes a picking and collecting assembly located on one side of the grasping and moving assembly; The picking and collecting assembly includes a third driving member and a thread picking mechanism. The third driving member is provided on the base, the third driving member is connected to the thread picking mechanism, and the third driving member is used to provide a driving force for the thread picking mechanism to pick and collect the thread ends of a plurality of the cops.

5. The feeding device according to claim 4, characterized in that, The thread picking mechanism includes a thread picking arm and a thread picking member. One end of the thread picking arm is connected to the first driving member, the other end of the thread picking arm is connected to the thread picking member, the thread picking arm extends along a second direction, and the thread picking member extends along a third direction intersecting the second direction; The third driving member is used to drive the thread picking arm to rotate, so as to drive the thread picking member to move towards the direction close to the cops to pick and collect the thread ends of a plurality of the cops, or move towards the direction away from the cops to unfold the thread ends of a plurality of the cops.

6. The feeding device according to claim 5, characterized in that, There are two thread picking members, one of the thread picking members is connected to the thread picking arm, and the third driving member is used to drive the thread picking arm to drive the corresponding thread picking member to move towards the other thread picking member to pick up the ends of multiple yarn cops between the two thread picking members, or move away from the other thread picking member to unfold the ends of multiple yarn cops.

7. The feeding device according to claim 6, characterized in that, There are two thread picking arms, one end of each thread picking arm is connected to one end of the corresponding thread picking member, and the other end of each thread picking arm is connected to the first driving member. The first driving member is used to drive the two thread picking arms to approach or move away from each other.

8. The feeding device according to claim 1, characterized in that, The grasping mechanism includes a rotating arm and a grasping part. One end of the rotating arm is connected to the grasping part, and the other end of the rotating arm is connected to the first driving member. The first driving member is used to drive the rotating arm to rotate between the grasping position and the placing position.

9. A yarn feeding robot for feeding cheese bobbins, characterized in that The yarn feeding robot includes the feeding device according to any one of claims 1 to 8.

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