Inner yarn and upper yarn system and method

Abstract

The present invention provides an inner yarn feeding system and method, which includes an avoidance mechanism for avoiding the robotic arm, a bobbin can, and a yarn feeding robot; the swing seat of the avoidance mechanism is fixedly connected to the frame of the twisting machine, the swing seat is rotatably connected to the swing arm, and a yarn equalizing device is provided at the free end of the swing arm. The avoidance mechanism enables the yarn equalizing device to switch between two states: being aligned with the axis of the bobbin can and leaving the outer edge of the bobbin can; the bobbin can is connected to the frame of the twisting machine, the bobbin can is located below one extreme position of the yarn equalizing device, and the top of the bobbin can is open to facilitate the placement of the inner yarn package; the yarn feeding robot is provided with an AGV cart, and a robotic arm is provided on the top of the AGV cart. The robotic arm is used to grasp the inner yarn package and place the inner yarn package into the bobbin can when the avoidance mechanism makes the yarn equalizing device leave the outer edge of the bobbin can. By providing the avoidance mechanism, the technical problems brought by the installation of the yarn equalizing device and the inner yarn tensioner on the top of the bobbin can in the prior art to the inner yarn feeding are overcome.

Description

Technical Field

[0001] The present invention relates to the field of twisting machines, and in particular to an inner yarn feeding system and method. Background Art

[0002] In the prior art, the twisting operation of automotive tire cord, carpet yarn, industrial cord, etc. is usually completed by a direct twisting machine. However, the feeding raw silk package is very large, usually about 10 kg, which makes the work intensity of feeding the outer yarn, i.e., the yarn on the yarn rack, and the inner yarn, i.e., the spindle yarn, of the existing direct twisting equipment very high. It is intended to improve the existing twisting equipment so that it is suitable for replacing manual labor with robots for high-intensity and repetitive labor such as feeding and discharging yarn, which has become an important task in the current design improvement of direct twisting machines.

[0003] Chinese Patent Document CN212223191U discloses an outer yarn (yarn on the yarn rack) feeding system for a direct twisting machine, which can realize intelligent yarn feeding operation, greatly improve the operation efficiency, reduce the labor intensity, and reduce manual operation. However, the structure of this direct twisting machine still requires manual operation for the feeding of the inner yarn (spindle yarn). For example, in the existing direct twisting machine disclosed in CN102212905A, the spindle yarn is located in the spindle can, and the spindle can is usually composed of upper, middle, and lower parts, and the inner yarn tensioner is fixed in the upper can cover. When feeding the spindle yarn, it is necessary to manually remove the spindle can and then place the raw silk package on the spindle. Obviously, the work of feeding the inner yarn is very cumbersome, and because the installation position of the spindle of the direct twisting machine is very low, it is necessary for the operator to bend down to carry the yarn to complete the feeding work, which is quite labor-intensive for the operators of multi-station twisting equipment. There is no automatic yarn feeding scheme for the inner yarn in the prior art. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an inner yarn feeding system and method, which can realize automatic feeding of the inner yarn, reduce the labor intensity, and improve the intelligent level.

[0005] To solve the above technical problem, the technical solution adopted by the present invention is: an inner yarn feeding system, which includes an avoidance mechanism for avoiding the robotic arm, a spindle can, and a yarn feeding robot;

[0006] The swing seat of the avoidance mechanism is fixedly connected to the frame of the twisting machine, the swing seat is rotatably connected to the swing arm, and a yarn evenness regulator is provided at the free end of the swing arm. The avoidance mechanism enables the yarn evenness regulator to switch between two states: being aligned with the axis of the spindle can and leaving the outer edge of the spindle can;

[0007] The spindle can is connected to the frame of the twisting machine, the spindle can is located below one extreme position of the yarn evenness regulator, and the top of the spindle can is open to facilitate the placement of the inner yarn package;

[0008] The upper yarn robot described above is provided with an AGV cart. A robotic arm is provided on the top of the AGV cart. The robotic arm is used to grasp the inner yarn package and place the inner yarn package into the spindle can when the yarn equalizing device moves away from the outer edge of the spindle can by means of the avoidance mechanism.

[0009] In a preferred embodiment, the structure of the yarn equalizing device is as follows: The first twisting base is fixedly connected to the swing arm. The first twisting frame is rotatably connected to the first twisting base. A first twisting disc is provided on the first twisting base. A first outer yarn porcelain eye for threading the outer yarn is provided at the outer edge position of the first twisting disc. A first inner yarn porcelain eye for threading the inner yarn is provided at the center position of the first twisting disc. A yarn guiding tube for combined twisting is provided at the top position of the first twisting frame.

[0010] The inner yarn tension base is rotatably connected to the first twisting disc. The inner yarn tensioner is fixedly connected to the inner yarn tension base. A second magnetic block is provided on the inner yarn tension base.

[0011] A first magnetic block is provided on the swing arm through a fixing frame. The first magnetic block and the second magnetic block form a magnetic attraction fixing structure with a gap.

[0012] In a preferred embodiment, the structure of the yarn equalizing device is as follows: The second twisting base is fixedly connected to the swing arm. The second twisting frame is rotatably connected to the second twisting base. A second twisting disc is provided at the bottom of the second twisting frame. A second outer yarn porcelain eye for threading the outer yarn is provided at the outer edge position of the second twisting disc. A second inner yarn porcelain eye for threading the inner yarn is provided at the center position of the second twisting disc.

[0013] A second twisting upright column is provided above the second twisting disc. A yarn guiding tube is provided above the second twisting upright column.

[0014] A rotatable inner yarn winding wheel and a rotatable outer yarn winding wheel are provided on the second twisting upright column.

[0015] In a preferred embodiment, a damping structure is provided inside the inner yarn winding wheel. The damping structure includes a felt bushing structure, a sliding bushing structure or a magnetic damping structure.

[0016] Or the second inner yarn porcelain eye is a one-way valve type inner yarn tensioner.

[0017] In a preferred embodiment, a damping structure is provided inside the inner yarn winding wheel. The pin is connected to the second twisting upright column. A first bushing is provided on the pin. A second bushing is provided inside the inner yarn winding wheel. The second bushing is sleeved on the first bushing and has a gap. A magnetic attraction group is provided on the second bushing. A magnetic attraction layer is provided on the first bushing. A magnetic damping structure is formed between the magnetic attraction group and the magnetic attraction layer.

[0018] In a preferred embodiment, an electromagnetic escapement mechanism is provided on the twisting machine frame near the extreme position of the swing arm rotation. The electromagnetic escapement mechanism is used to temporarily adsorb the swing arm or the yarn equalizing device and release the swing arm or the yarn equalizing device after a period of time.

[0019] The swing arm is connected to the swing seat through a rotating shaft, and a return spring is provided on the rotating shaft to reset the yarn evenizer at the free end of the swing arm above the spindle can.

[0020] A proximity sensor is also provided, which is used to detect the rotational position of the swing arm.

[0021] In a preferred solution, a limit block is further provided on the swing seat, and the limit block is used to limit the swing position of the yarn evenizer above the spindle can.

[0022] A buffer air spring is also provided on the swing seat to buffer the rotational impact of the swing arm.

[0023] In a preferred solution, the swing arm is fixedly connected to the rotating shaft, the rotating shaft is rotatably connected to the swing seat, and a motor is provided on the swing seat or the frame of the twister. The motor is connected to the rotating shaft through a transmission mechanism to drive the swing arm to rotate.

[0024] A proximity sensor is also provided, which is used to detect the approach of the yarn feeding robot, the robotic arm or the inner yarn package.

[0025] Or a weighing sensor is also provided, which is used to detect the weight of the inner yarn package. When the weight is lower than a preset value, the motor is used to be started to drive the swing arm to rotate.

[0026] A yarn feeding method using the above inner yarn feeding system includes the following steps:

[0027] S1. The yarn feeding robot obtains a yarn feeding instruction and moves to the corresponding station of the twister.

[0028] S2. The robotic arm grabs the inner yarn package and moves it above the spindle can at the station.

[0029] S3. The robotic arm pushes the swing arm to rotate until the swing arm is adsorbed by the electromagnetic escapement mechanism.

[0030] S4. The robotic arm puts the inner yarn package into the spindle can.

[0031] S5. The yarn feeding robot leaves the current station, and the electromagnetic escapement mechanism releases the swing arm until the yarn evenizer resets above the spindle can.

[0032] Automatic yarn feeding of the inner yarn package is achieved through the above steps.

[0033] A yarn feeding method using the above inner yarn feeding system includes the following steps:

[0034] S01. The yarn feeding robot obtains a yarn feeding instruction and moves to the corresponding station of the twister.

[0035] S02. The robotic arm grabs the inner yarn package and moves it above the spindle can at the station.

[0036] S031. When the proximity sensor detects the approach of the upper yarn robot, the robotic arm or the inner yarn package, the motor drives the swing arm to rotate, and the twist regulator avoids the space position above the spindle can.

[0037] S032. Alternatively, in parallel with S31, the weighing sensor detects the weight of the inner yarn package. When the weight is lower than the preset value, the motor drives the swing arm to rotate, and the twist regulator avoids the space position above the spindle can.

[0038] S04. The robotic arm places the inner yarn package into the spindle can.

[0039] S05. The upper yarn robot leaves the current station, and the motor drives the swing arm to rotate until the twist regulator resets directly above the spindle can.

[0040] The automatic upper yarn of the inner yarn package is realized through the above steps.

[0041] The present invention provides an inner yarn upper yarn system and method. By adopting the above solution, it can realize the automatic upper yarn using the upper yarn robot. The provided avoidance mechanism overcomes the technical problems brought by the installation of the twist regulator and the inner yarn tensioner above the spindle can in the prior art. The provided electromagnetic escapement mechanism has a simple and convenient structure, greatly reducing the control difficulty. The provided motor drive device can realize the automatic driving of the swing arm to swing. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The following will be further described in conjunction with the drawings and embodiments.

[0043] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0044] Figure 2 It is a schematic diagram of the structure of the twisting machine of the present invention.

[0045] Figure 3 It is a schematic diagram of the structure of the avoidance mechanism of the present invention.

[0046] Figure 4 It is another preferred schematic diagram of the structure of the avoidance mechanism of the present invention.

[0047] Figure 5 It is Figure 4 a side view of the twist regulator in

[0048] Figure 6 It is another preferred schematic diagram of the structure of the avoidance mechanism of the present invention.

[0049] Figure 7 It is Figure 5 the A-A sectional view schematic diagram of

[0050] Figure 8 It is a cross-sectional schematic diagram of the inner yarn winding wheel of the present invention.

[0051] Figure 9 This is the top view of the avoidance mechanism of the present invention.

[0052] Figure 10 This is the top view of another preferred structure of the avoidance mechanism of the present invention.

[0053] In the figure: twisting machine frame 1, avoidance mechanism 2, swing seat 201, swing arm 202, fixed frame 203, first magnetic attraction block 204, return spring 205, limit block 206, buffer air spring 207, rotating shaft 208, first gear 209, synchronous belt 210, second gear 211, Hall motor 212, yarn evenness regulator 3, inner yarn tensioner 301, first doubling seat 302, yarn guide tube 303, first doubling upright post 304, first doubling disc 305, inner yarn tension seat 306, second magnetic attraction block 307, second doubling seat 308, second doubling disc 309, inner yarn winding wheel 310, outer yarn winding wheel 311, second doubling upright post 312, first outer yarn porcelain eye 313, first inner yarn porcelain eye 314, second outer yarn porcelain eye 315, second inner yarn porcelain eye 316, first shaft sleeve 317, second shaft sleeve 318, magnetic attraction group 319, magnetic attraction layer 320, pin 321, one-way valve type inner yarn tensioner 322, compression spring 323, compression ball 324, threaded end cap 325, first doubling frame 31, second doubling frame 32, spindle can 4, twisting spindle mechanism 5, inner yarn 6, outer yarn 7, robotic arm 8, inner yarn package 9, AVG cart 10, outer yarn tensioner 11, overfeed device 12, outer yarn package 13, electromagnetic escapement mechanism 14, proximity sensor 15, twisting machine 16, upper yarn robot 17. Detailed implementation manners

[0054] Embodiment 1:

[0055] As shown in Figures 1 to 4 , 6, 8 - 9, an inner yarn feeding system, which includes an avoidance mechanism 2 for avoiding the robotic arm 8, a spindle can 4 and an upper yarn robot 17;

[0056] The swing seat 201 of the avoidance mechanism 2 is fixedly connected to the twisting machine frame 1, the swing seat 201 is rotatably connected to the swing arm 202, and a yarn evenness regulator 3 is provided at the free end of the swing arm 202. The avoidance mechanism 2 switches the yarn evenness regulator 3 between two states: being aligned with the axis of the spindle can 4 and leaving the outer edge of the spindle can 4;

[0057] The spindle can 4 is connected to the twisting machine frame 1, the spindle can 4 is located below one extreme position of the yarn evenness regulator 3, and the top of the spindle can 4 is open to facilitate the placement of the inner yarn package 9;

[0058] The above-mentioned yarn feeding robot 17 is provided with an AVG cart 10. A robotic arm 8 is arranged on the top of the AVG cart 10. The robotic arm 8 is used to grab the inner yarn package 9 and place the inner yarn package 9 into the spindle can 4 when the yarn aligner 3 is moved away from the outer edge of the spindle can 4 by the avoidance mechanism 2. With this structure, the automatic yarn feeding of the spindle can 4 by the yarn feeding robot 17 is realized, the labor intensity is reduced, and the degree of intelligence is improved. During use, the yarn feeding robot 17 runs near the working station of the twisting machine. The avoidance mechanism 2 swings to move the yarn aligner 3 away from the top of the spindle can 4. The yarn feeding robot 17 first takes out the reel from the spindle can 4, and then places the inner yarn package 9 into the spindle can 4.

[0059] Embodiment 2:

[0060] On the basis of Embodiment 1, the preferred solution is as Figure 3 shown. The structure of the yarn aligner 3 is: the first twisting seat 302 is fixedly connected to the swing arm 202. The first twisting frame 31 is rotatably connected to the first twisting seat 302. A first twisting disc 305 is arranged on the first twisting seat 302. A first outer yarn porcelain eye 313 for threading the outer yarn 7 is arranged at the outer edge position of the first twisting disc 305. A first inner yarn porcelain eye 314 for threading the inner yarn 6 is arranged at the central position of the first twisting disc 305. A yarn guiding tube 303 for combined twisting is arranged at the top position of the first twisting frame 31;

[0061] The inner yarn tension seat 306 is rotatably connected to the first twisting disc 305. The inner yarn tensioner 301 is fixedly connected to the inner yarn tension seat 306. A second magnetic attraction block 307 is arranged on the inner yarn tension seat 306;

[0062] A first magnetic attraction block 204 is arranged on the swing arm 202 through a fixing frame 203. The first magnetic attraction block 204 and the second magnetic attraction block 307 form a magnetic attraction fixing structure with a gap. The first magnetic attraction block 204 and the second magnetic attraction block 307 are a group of annular or strip-shaped magnets. At the mutually attracting ends, the magnetic properties of the first magnetic attraction block 204 and the second magnetic attraction block 307 are opposite to each other. With this structure, the yarn aligner 3 can move together with the swing arm 202, thus avoiding interference with the inner yarn feeding. Moreover, the tension of the inner yarn 6 can be applied and the combined twisting of the inner yarn 6 and the outer yarn 7 can be completed on the yarn aligner 3, as Figures 1 to 3As shown in [figure]. When twisting the yarn, the outer yarn 7 passes through the first outer yarn porcelain eye 313, and the inner yarn 6 passes through the first inner yarn porcelain eye 314 after passing around the inner yarn tensioner 301 and being tensioned. The two are twisted together at the position of the first twisting and combining post 304. The outer yarn 7 rotates at a speed of 3000 - 10000 revolutions per minute driven by the twisting spindle mechanism 5, driving the first twisting and combining frame 31 to rotate. The first magnetic attraction block 204 and the second magnetic attraction block 307 attract each other, fixing the inner yarn tension seat 306 without rotation. The inner yarn tensioner 301 is a prior art, for example, the structure described in the Chinese patent document CN20883208U, a component of an inner yarn tensioner and a spindle. Since the inner yarn tensioners 301 are all integrated on the yarn evenizer 3, the movement of the avoidance mechanism 2 can be realized.

[0063] Embodiment 3:

[0064] Based on Embodiment 1, the preferred solution is as Figure 4 , 5 In [figure], the structure of the yarn evenizer 3 is as follows: The second twisting and combining seat 308 is fixedly connected to the swing arm 202, the second twisting and combining frame 32 is rotatably connected to the second twisting and combining seat 308. At the bottom of the second twisting and combining frame 32, there is a second twisting and combining disc 309. At the outer edge position of the second twisting and combining disc 309, there is a second outer yarn porcelain eye 315 for passing through the outer yarn 7, and at the center position of the second twisting and combining disc 309, there is a second inner yarn porcelain eye 316 for passing through the inner yarn 6.

[0065] Above the second twisting and combining disc 309, there is a second twisting and combining post 312, and above the second twisting and combining post 312, there is a yarn guiding tube 303.

[0066] On the second twisting and combining post 312, there are a rotatable inner yarn winding wheel 310 and a rotatable outer yarn winding wheel 311. With this structure, compared with the structure of Embodiment 2, there is no need to additionally set up the inner yarn tension seat 306, the first magnetic attraction block 204, and the second magnetic attraction block 307, simplifying the structure.

[0067] In the preferred solution, a damping structure is provided inside the inner yarn winding wheel 310. The damping structure includes a felt bushing structure, a sliding bushing structure, or a magnetic damping structure. The provided damping structure is used to apply tension to the inner yarn 6.

[0068] Or the second inner yarn porcelain eye 316 is a one-way valve type inner yarn tensioner 322. The one-way valve type inner yarn tensioner 322 is an oval or circular pressure ball 324 arranged inside the second inner yarn porcelain eye 316. There is a compression spring 323 behind the pressure ball, and a threaded end cap 325 is also provided for adjusting the pressure of the compression spring. After the inner yarn 6 passes through the porcelain eye of the one-way valve type inner yarn tensioner 322, the pressure ball presses on the inner yarn 6 and applies tension to the inner yarn 6. The advantage of this solution is that the structure is simpler and the tension is adjustable.

[0069] The preferred solutions are as follows Figure 7 , 8 In the preferred solutions, a damping structure is provided inside the inner yarn winding wheel 310. The pin 321 is connected to the second doubling and twisting upright post 312. A first shaft sleeve 317 is provided on the pin 321. A second shaft sleeve 318 is provided inside the inner yarn winding wheel 310. The second shaft sleeve 318 is sleeved on the first shaft sleeve 317 with a gap therebetween. A magnetic attraction group 319 is provided on the second shaft sleeve 318. A magnetic attraction layer 320 is provided on the first shaft sleeve 317. A magnetic damping structure is formed between the magnetic attraction group 319 and the magnetic attraction layer 320. With this structure, a relatively smooth damping can be obtained.

[0070] Example 4:

[0071] Based on Examples 1 to 3, the preferred solutions are as follows Figure 1 , 2 , 9. An electromagnetic escapement mechanism 14 is provided on the twisting machine frame 1 near the rotation limit position of the swing arm 202. The electromagnetic escapement mechanism 14 in this example is an electromagnet. A structure coupled with the swing arm 202 or the yarn evenness regulator 3 is provided on the housing of the electromagnetic escapement mechanism 14. The electromagnetic escapement mechanism 14 is used to temporarily adsorb the swing arm 202 or the yarn evenness regulator 3 and release the swing arm 202 or the yarn evenness regulator 3 after a period of time; the said period of time is sufficient for the yarn taking robot 17 to complete the operation of taking out the bobbin and putting it into the inner yarn package 9.

[0072] The swing arm 202 is connected to the swing seat 201 through a rotating shaft 208. A return spring 205 is provided on the rotating shaft 208 for resetting the yarn evenness regulator 3 at the free end of the swing arm 202 to directly above the spindle can 4;

[0073] A proximity sensor 15 is further provided. The proximity sensor 15 is used to detect the rotation position of the swing arm 202. The proximity sensor 15 can optionally adopt an optoelectronic sensor, a magnetic sensor or a contact switch, and is used to enable the electromagnetic escapement mechanism 14 according to the signal of the proximity sensor 15.

[0074] In the preferred solution, a limit block 206 is further provided on the swing seat 201. The limit block 206 is used to accurately limit the swing position of the yarn evenness regulator 3 directly above the spindle can 4;

[0075] A buffer air spring 207 is further provided on the swing seat 201 for buffering the rotational impact of the swing arm 202. The advantage of this solution is that the control is relatively simple. The control signal of the electromagnetic escapement mechanism 14 is a switch signal. By cooperating with the setting of delayed power-off, the avoidance operation of the avoidance mechanism 2 can be completed. For the specific operation method, see Example 6.

[0076] Example 5:

[0077] Based on Examples 1 to 3, the preferred solutions are as follows Figure 1 , 2、10, the swing arm 202 is fixedly connected to the rotating shaft 208, the rotating shaft 208 is rotatably connected to the swing seat 201, a motor is provided on the swing seat 201 or the frame 1 of the twisting machine, and the motor is connected to the rotating shaft 208 through a transmission mechanism to drive the swing arm 202 to rotate; preferably, the motor adopts a Hall motor 212, and the rotation angle of the motor is fed back through the Hall sensor built in the motor, so as to control the rotation angle of the swing arm 202. The transmission mechanism includes a first gear 209 fixedly installed on the rotating shaft 208, a second gear 211 installed on the motor, and the first gear 209 and the second gear 211 are connected by a synchronous belt 210.

[0078] A proximity sensor 15 is also provided, and the proximity sensor 15 is used to detect the approach of the yarn feeding robot 17, the robotic arm 8 or the inner yarn package 9; the proximity sensor 15 preferably adopts an optoelectronic sensor or a magnetic sensor.

[0079] Or a weighing sensor is also provided, and the weighing sensor is used to detect the weight of the inner yarn package 9. When the weight is lower than a preset value, it is used to start the motor to drive the swing arm 202 to rotate.

[0080] In a preferred solution, a limit block 206 is further provided on the swing seat 201, and the limit block 206 is used to limit the swing position of the yarn equalizing device 3 directly above the spindle can 4;

[0081] A buffer gas spring 207 is also provided on the swing seat 201 for buffering the rotational impact of the swing arm 202.

[0082] Embodiment 6:

[0083] On the basis of Embodiment 4, as Figure 9 shown, a yarn feeding method using the above-mentioned inner yarn feeding system includes the following steps:

[0084] S1. The yarn feeding robot 17 obtains a yarn feeding instruction, which can be issued by the twisting machine or the on-site general control server. The yarn feeding robot 17 moves to the corresponding working position of the twisting machine 16 where the inner yarn package 9 needs to be fed.

[0085] S2. Preferably, the robotic arm 8 first takes out the previous inner yarn tube. At this step, the swing arm 202 can be pushed to rotate until the swing arm 202 is adsorbed by the electromagnetic escapement mechanism 14;

[0086] The robotic arm 8 grabs the inner yarn package 9 and moves it above the spindle can 4 at the working position;

[0087] S3. The robotic arm 8 pushes the swing arm 202 to rotate until the swing arm 202 is adsorbed by the electromagnetic escapement mechanism 14; in another alternative solution, at the front end of the robotic arm 8, there are two robotic claws respectively used for grasping the inner yarn tube and grasping the inner yarn package 9. With this solution, only one action is required to simultaneously complete the operations of pushing the swing arm 202 to rotate, taking the inner yarn tube, and placing it into the inner yarn package 9.

[0088] S4. The robotic arm 8 places the inner yarn package 9 into the spindle can 4;

[0089] S5. The upper yarn robot 17 leaves the current work station. After a preset time period, the electromagnetic escapement mechanism 14 releases the swing arm 202 until the twist regulator 3 resets directly above the spindle can 4; in another alternative solution, the proximity sensor 15 can also be used to detect the approach or departure of the swing arm 202 to control the energization and adsorption, and power-off and release of the electromagnetic escapement mechanism 14.

[0090] The automatic upper yarn of the inner yarn package 9 is realized through the above steps.

[0091] Embodiment 7:

[0092] Based on Embodiment 5, as Figure 10 shown, a method for upper yarn using the above-mentioned inner yarn upper yarn system includes the following steps:

[0093] S01. The upper yarn robot 17 obtains an upper yarn instruction and moves to the corresponding work station of the twisting machine 16;

[0094] The robotic arm 8 first takes out the previous inner yarn tube. In another alternative solution, at the front end of the robotic arm 8, there are two robotic claws respectively used for grasping the inner yarn tube and grasping the inner yarn package 9.

[0095] S02. The robotic arm 8 grasps the inner yarn package 9 and moves to above the spindle can 4 at the work station;

[0096] S031. When the proximity sensor 15 detects the approach of the upper yarn robot 17, the robotic arm 8 or the inner yarn package 9, the motor drives the swing arm 202 to rotate, and the twist regulator 3 avoids the space position at the top of the spindle can 4;

[0097] S032. Or, in parallel with S031, the weighing sensor detects the weight of the inner yarn package 9. When the weight is lower than the preset value, the motor drives the swing arm 202 to rotate, and the twist regulator 3 avoids the space position at the top of the spindle can 4; preferably, the motor is the Hall motor 212, which can control the swing arm 202 to rotate a preset angle. By using the weighing method, it can reduce the false triggering of the proximity sensor 15 caused by the movement of personnel, thus affecting production.

[0098] S04. The robotic arm 8 places the inner yarn package 9 into the spindle can 4;

[0099] S05. The upper yarn robot 17 leaves the current working station, and the motor drives the swing arm 202 to rotate until the yarn equalizer 3 is reset directly above the spindle can 4;

[0100] The automatic yarn feeding of the inner yarn package 9 is realized through the above steps.

[0101] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations on the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, the equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An inner yarn feeding system, characterized in that: It includes an avoidance mechanism (2), a bobbin can (4) and an upper yarn robot (17) for avoiding the robotic arm (8); The swing seat (201) of the avoidance mechanism (2) is fixedly connected to the frame (1) of the twisting machine. The swing seat (201) is rotatably connected to the swing arm (202). A yarn evenness regulator (3) is provided at the free end of the swing arm (202). The avoidance mechanism (2) enables the yarn evenness regulator (3) to switch between two states: being aligned with the axis of the bobbin can (4) and leaving the outer edge of the bobbin can (4); The bobbin can (4) is connected to the frame (1) of the twisting machine. The bobbin can (4) is located below one extreme position of the yarn evenness regulator (3). The top of the bobbin can (4) is open to facilitate the insertion of the inner yarn package (9); The upper yarn robot (17) is provided with an AGV cart (10). A robotic arm (8) is provided on the top of the AGV cart (10). The robotic arm (8) is used to grasp the inner yarn package (9). When the avoidance mechanism (2) enables the yarn evenness regulator (3) to leave the outer edge of the bobbin can (4), the inner yarn package (9) is placed into the bobbin can (4); The structure of the yarn evenness regulator (3) is as follows: The first twisting seat (302) is fixedly connected to the swing arm (202). The first twisting frame (31) is rotatably connected to the first twisting seat (302). A first twisting disc (305) is provided on the first twisting seat (302). A first outer yarn porcelain eye (313) for threading the outer yarn (7) is provided at the outer edge position of the first twisting disc (305). A first inner yarn porcelain eye (314) for threading the inner yarn (6) is provided at the central position of the first twisting disc (305). A guide yarn tube (303) for combined twisting is provided at the top position of the first twisting frame (31). The inner yarn tension seat (306) is rotatably connected to the first twisting disc (305). The inner yarn tensioner (301) is fixedly connected to the inner yarn tension seat (306). A second magnetic block (307) is provided on the inner yarn tension seat (306). A first magnetic block (204) is provided on the swing arm (202) through a fixing frame (203). The first magnetic block (204) and the second magnetic block (307) form a magnetic attraction fixing structure with a gap; Alternatively, the structure of the yarn evenness regulator (3) is as follows: The second twisting seat (308) is fixedly connected to the swing arm (202). The second twisting frame (32) is rotatably connected to the second twisting seat (308). A second twisting disc (309) is provided at the bottom of the second twisting frame (32). A second outer yarn porcelain eye (315) for threading the outer yarn (7) is provided at the outer edge position of the second twisting disc (309). A second inner yarn porcelain eye (316) for threading the inner yarn (6) is provided at the central position of the second twisting disc (309). A second twisting upright post (312) is provided above the second twisting disc (309). A guide yarn tube (303) is provided above the second twisting upright post (312). A rotatable inner yarn winding wheel (310) and a rotatable outer yarn winding wheel (311) are provided on the second twisting upright post (312); A damping structure is provided inside the inner yarn winding wheel (310).

2. The inner yarn and upper yarn system according to claim 1, characterized in that: The damping structure includes a felt bushing structure, a sliding bushing structure or a magnetic damping structure; Or the second inner yarn porcelain eye (316) is a one-way valve type inner yarn tensioner (322).

3. The inner yarn and upper yarn system according to claim 1, characterized in that: The pin (321) is connected to the second doubling and twisting upright post (312). A first shaft sleeve (317) is provided on the pin (321). A second shaft sleeve (318) is provided inside the inner yarn winding wheel (310). The second shaft sleeve (318) is sleeved with the first shaft sleeve (317) and has a gap. A magnetic attraction group (319) is provided on the second shaft sleeve (318), and a magnetic attraction layer (320) is provided on the first shaft sleeve (317). A magnetic damping structure is formed between the magnetic attraction group (319) and the magnetic attraction layer (320).

4. The inner yarn and outer yarn system according to any one of claims 1 to 3, characterized in that: at An electromagnetic escapement mechanism (14) is provided on the twisting machine frame (1) near the rotation limit position of the swing arm (202). The electromagnetic escapement mechanism (14) is used to temporarily adsorb the swing arm (202) or the yarn evenness regulator (3), and release the swing arm (202) or the yarn evenness regulator (3) after a period of time. The swing arm (202) is connected to the swing seat (201) through a rotating shaft (208). A return spring (205) is provided on the rotating shaft (208) to reset the yarn evenness regulator (3) at the free end of the swing arm (202) directly above the spindle can (4). A proximity sensor (15) is also provided. The proximity sensor (15) is used to detect the rotation position of the swing arm (202).

5. The inner yarn and outer yarn system according to claim 4, characterized in that: at A limit block (206) is further provided on the swing seat (201). The limit block (206) is used to limit the swing position of the yarn evenness regulator (3) directly above the spindle can (4). A buffer gas spring (207) is also provided on the swing seat (201) to buffer the rotational impact of the swing arm (202).

6. The inner yarn and upper yarn system according to any one of claims 1 to 3, characterized in that: The swing arm (202) is fixedly connected to the rotating shaft (208). The rotating shaft (208) is rotatably connected to the swing seat (201). A motor is provided on the swing seat (201) or the twisting machine frame (1). The motor is connected to the rotating shaft (208) through a transmission mechanism to drive the swing arm (202) to rotate. A proximity sensor (15) is also provided. The proximity sensor (15) is used to detect the approach of the upper yarn robot (17), the robotic arm (8) or the inner yarn package (9). Or a weighing sensor is also provided. The weighing sensor is used to detect the weight of the inner yarn package (9). When the weight is lower than a preset value, it is used to start the motor to drive the swing arm (202) to rotate.

7. A yarn feeding method using the inner yarn and outer yarn system according to any one of claims 4 to 5, characterized in that It includes the following steps: S1. The upper yarn robot (17) obtains an upper yarn instruction and moves to the corresponding station of the twisting machine (16). S2. The robotic arm (8) grabs the inner yarn package (9) and moves above the spindle can (4) at the station. S3. The robotic arm (8) pushes the swing arm (202) to rotate until the swing arm (202) is adsorbed by the electromagnetic escapement mechanism (14). S4. The robotic arm (8) puts the inner yarn package (9) into the spindle can (4). S5. The upper yarn robot (17) leaves the current station, and the electromagnetic escapement mechanism (14) releases the swing arm (202) until the yarn evenness regulator (3) resets directly above the spindle can (4). The automatic upper yarn of the inner yarn package (9) is realized through the above steps.

8. A yarn feeding method using the inner yarn and outer yarn system according to claim 6, characterized in that It includes the following steps: S01. The upper yarn robot (17) obtains an upper yarn instruction and moves to the corresponding station of the twisting machine (16). S02. The robotic arm (8) grasps the inner yarn package (9) and moves it above the spindle can (4) at the work station; S031. When the proximity sensor (15) detects the approach of the upper yarn robot (17), the robotic arm (8) or the inner yarn package (9), the motor drives the swing arm (202) to rotate, and the yarn conditioner (3) avoids the space position above the spindle can (4); S032. Alternatively, in parallel with S31, the weighing sensor detects the weight of the inner yarn package (9). When the weight is lower than the preset value, the motor drives the swing arm (202) to rotate, and the yarn conditioner (3) avoids the space position above the spindle can (4); S04. The robotic arm (8) places the inner yarn package (9) into the spindle can (4); S05. The upper yarn robot (17) leaves the current work station, and the motor drives the swing arm (202) to rotate until the yarn conditioner (3) resets directly above the spindle can (4); The automatic yarn feeding of the inner yarn package (9) is achieved through the above steps.

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