Feeding interactive device and feeding robot

Abstract

The application relates to a feeding interactive device and a yarn feeding robot. The feeding interactive device comprises a twisting mechanism having a twisting channel, which can twist the thread ends of multiple tubes of yarn into the twisting channel and can make the thread ends of the multiple tubes of yarn twisted off the twisting channel; and an interactive mechanism having an interactive channel, the interactive mechanism can move relative to the twisting mechanism and has an interactive position during the movement; wherein when the interactive mechanism is in the interactive position, the two ends of the interactive mechanism are respectively connected to the twisting mechanism and a yarn library, so that the twisting channel is connected to the negative pressure hole of the yarn library through the interactive channel. During the yarn feeding process of the yarn feeding robot, the thread ends of the multiple tubes of yarn to be fed are twisted by the twisting mechanism, and then the interactive mechanism is connected to the twisting mechanism and the yarn library, so that the twisting channel can accurately dock the negative pressure hole of the yarn library through the interactive channel, and then the thread ends of the multiple tubes of yarn can smoothly enter the negative pressure hole after being twisted off the twisting channel, thereby improving the accuracy of thread end interaction.

Description

TECHNICAL FIELD

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

[0002] At present, the yarn library type winding equipment has a very high market share in China, and most textile mills adopt the yarn library type winding equipment for winding. The yarn library type winding equipment needs a feeding device to feed the cheese to the yarn library, and in the feeding process, the thread end needs to be interacted from the feeding device to the negative pressure hole of the yarn library and be adsorbed, but the accuracy of thread end interaction is low. SUMMARY

[0003] Therefore, it is necessary to provide a feeding interaction device and a yarn feeding robot capable of improving the accuracy of thread end interaction, so as to solve the problem of low accuracy of thread end interaction when the existing feeding device interacts with the thread end of the yarn library.

[0004] In one aspect of the present application, a feeding interaction device is provided, which comprises:

[0005] A twisting mechanism having a twisting channel, capable of twisting the thread ends of a plurality of cheeses into the twisting channel, and capable of separating the twisted thread ends of the plurality of cheeses from the twisting channel;

[0006] An interaction mechanism having an interaction channel, the interaction mechanism being capable of moving relative to the twisting mechanism and having an interaction position during the movement;

[0007] When the interaction mechanism is in the interaction position, the two ends of the interaction mechanism are respectively connected to the twisting mechanism and the yarn library, so that the twisting channel is connected to the negative pressure hole of the yarn library through the interaction channel.

[0008] In one embodiment, the interaction mechanism comprises an interaction piece, the interaction piece having the interaction channel, and the interaction piece being installed on the twisting mechanism.

[0009] In one embodiment, the twisting mechanism comprises a twisting piece, the twisting piece having the twisting channel, and the interaction piece being capable of moving relative to the twisting piece;

[0010] The interaction piece is sleeved on the outside of the twisting piece.

[0011] In one embodiment, the interaction mechanism further has a twisting position during the movement, and the interaction mechanism is capable of switching between the twisting position and the interaction position, when the interaction mechanism is in the twisting position, the interaction piece is retracted into the twisting mechanism.

[0012] In one embodiment, the twisting mechanism comprises a twisting piece and a twisting nozzle arranged on the outside of one end of the twisting piece, the twisting piece having the twisting channel, and a receiving space being formed between the twisting piece and the twisting nozzle, when the interaction mechanism is in the twisting position, the interaction piece is retracted into the receiving space.

[0013] In one embodiment, the interaction mechanism includes an interaction component having an interaction channel having a first mating interface. When the interaction mechanism is in the interaction position, the first mating interface engages with the negative pressure hole of the yarn magazine, and at least a portion of the radial dimension of the interaction channel gradually increases toward the first mating interface.

[0014] In one embodiment, the interaction mechanism includes an interaction element having an interaction channel, and the interaction element is a flexible interaction element.

[0015] In one embodiment, the twisting mechanism includes a twisting member and a twisting drive member. The twisting member has a twisting channel, and the twisting drive member is connected to the twisting member to provide an adsorption force to the twisting channel to attract the ends of multiple bobbins to achieve twisting, and to provide a blowing force to remove the ends of the multiple bobbins after twisting from the twisting channel.

[0016] In one embodiment, the feeding interaction device further includes a moving mechanism, which is connected to both the twisting mechanism and the interaction mechanism, and is used to drive the twisting mechanism and the interaction mechanism to move closer to or away from the yarn magazine.

[0017] In another aspect of this application, a yarn-feeding robot is also provided, including the feeding interaction device of any of the above embodiments.

[0018] The aforementioned feeding interaction device and yarn feeding robot, during the yarn feeding process, use a twisting mechanism to twist the ends of multiple yarn tubes to be fed together, and then use an interaction mechanism to connect the twisting mechanism and the yarn magazine, so that the twisting channel can accurately connect with the negative pressure hole of the yarn magazine through the interaction channel, thereby improving the accuracy of yarn end interaction after the ends of multiple yarn tubes leave the twisting channel. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the feeding interaction device in the twisting position according to an embodiment of this application;

[0020] Figure 2 for Figure 1 The diagram shows the structure of the feeding interaction device in the interaction position.

[0021] Figure 3 for Figure 1 The diagram shows an exploded view of the feeding interaction device.

[0022] Figure 4 This is a schematic diagram of a portion of the structure of the yarn-feeding robot in one embodiment of this application;

[0023] Figure 5 for Figure 4 A partially enlarged schematic diagram of a portion of the structure of the yarn-feeding robot shown.

[0024] Reference signs:

[0025] The feeding interactive device 100;

[0026] The twisting mechanism 10;

[0027] The twisting channel 11, the twisting member 12, the twisting nozzle 13, the accommodation space 14;

[0028] The interactive mechanism 20;

[0029] The interactive channel 21, the first matching interface 211, the interactive member 22, the interactive driving member 23;

[0030] The moving mechanism 30;

[0031] The grabbing mechanism 210;

[0032] The grabbing part 2101;

[0033] The clamping mechanism 220;

[0034] The clamping arm 221. DETAILED DESCRIPTION

[0035] In order to make the above objectives, features and advantages of the present application more apparent, more comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, a large number of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many different ways other than those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0037] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0038] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0039] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0041] It is to be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar expressions as used herein are for illustrative purposes only and are not intended to be limiting.

[0042] In addition, the drawings are not drawn to scale and the relative dimensions of the various elements in the drawings are only drawn by way of example and are not necessarily drawn to true scale.

[0043] Figure 1 A schematic structural view of the feeding interactive device in a twisting position according to an embodiment of the present application; Figure 2 A schematic structural view of the feeding interactive device in an interactive position according to an embodiment of the present application; Figure 1 A schematic structural view of the feeding interactive device in an interactive position according to an embodiment of the present application; Figure 3 A schematic structural view of the feeding interactive device in an interactive position according to an embodiment of the present application; Figure 1 A schematic structural view of the feeding interactive device in an interactive position according to an embodiment of the present application;

[0044] Referring to the drawings, an embodiment of the present application provides a feeding interactive device 100, which comprises a twisting mechanism 10 and an interactive mechanism 20. The feeding interactive device 100 of the present application is applied to a yarn feeding robot, and in other embodiments, can be applied to other devices suitable for the feeding interactive device 100, which is not limited herein.

[0045] The twisting mechanism 10 has a twisting channel 11, which is capable of twisting the thread ends of a plurality of tubes together into the twisting channel 11 and capable of making the twisted thread ends of the plurality of tubes leave the twisting channel 11.

[0046] Specifically, the plurality of tubes can be grabbed by a grabbing mechanism 210 of the yarn feeding robot before twisting, and the thread ends of the plurality of tubes can be grabbed by a thread clamping mechanism 220 so as to converge together, thereby facilitating the twisting of the twisting mechanism 10.

[0047] The interactive mechanism 20 has an interactive channel 21, and the interactive mechanism 20 is capable of moving relative to the twisting mechanism 10 and has an interactive position during the movement. When the interactive mechanism 20 is in the interactive position, the two ends of the interactive mechanism 20 are respectively connected to the twisting mechanism 10 and a yarn library, so that the twisting channel 11 is connected to the negative pressure hole of the yarn library through the interactive channel 21.

[0048] Thus, in the process of feeding the yarn robot, the ends of the multiple tubes of yarn to be fed are twisted by the twisting mechanism 10, and then the twisting mechanism 10 and the yarn library are matched by the interaction mechanism 20, so that the twisting channel 11 can be accurately docked with the negative pressure hole of the yarn library through the interaction channel 21, and then the ends of the multiple tubes of yarn can smoothly enter the negative pressure hole after being separated from the twisting channel, thereby improving the accuracy of the end interaction.

[0049] The multiple ends can be easily fixed in the negative pressure hole at the center of the yarn library during feeding, so that the feeding device of the present application not only realizes the simultaneous feeding of multiple tubes of yarn to the yarn library of the winding machine, but also meets the processing requirements of the yarn library for the ends of the multiple tubes of yarn, that is, meets the feeding requirements, and improves the feeding efficiency.

[0050] Specifically, in the embodiment of the present application, one end of the interaction mechanism 20 is attached to the yarn library when the interaction mechanism 20 is in the interaction position, specifically, one end of the interaction mechanism 20 is attached to the negative pressure hole of the yarn library, or is attached to the component forming the negative pressure hole of the yarn library. Similarly, the other end of the interaction mechanism 20 is attached to the twisting mechanism 10, specifically, one end of the interaction mechanism 20 is attached to the twisting channel 11, or is attached to the component forming the twisting channel 11 of the twisting mechanism 10.

[0051] In some embodiments, the twisting mechanism 10 includes a twisting member 12 having a twisting channel. Further, the twisting mechanism 10 also includes a twisting driving member connected to the twisting member 12 for providing a driving force for twisting the ends of the multiple tubes of yarn into the twisting channel 11 and for separating the twisted ends of the multiple tubes of yarn from the twisting channel.

[0052] Specifically, the twisting driving member includes a blowing and sucking driving member for providing a suction force to the twisting channel 11 to suck the ends of the multiple tubes of yarn to realize the twisting, and providing a blowing force to separate the twisted ends of the multiple tubes of yarn from the twisting channel 11.

[0053] The twisting and separation realized by the blowing and sucking driving member are simple in mode and reliable in sucking and blowing.

[0054] Specifically, the twisting member 12 is a twisting pipeline, so that the ends of the multiple tubes of yarn can be converged to improve the twisting efficiency.

[0055] In some embodiments, the interaction mechanism 20 includes an interaction member 22 having an interaction channel 21. Further, the interaction mechanism 20 also includes an interaction driving member 23 connected to the interaction member 22 for driving the interaction member 22 to move relative to the twisting mechanism 10.

[0056] Specifically, the interaction driving member 23 includes a pneumatic cylinder, and in other embodiments, it can also be a hydraulic cylinder, a motor, etc., which is not specifically limited.

[0057] In the embodiments of the present application, the interaction piece 22 is mounted on the twisting mechanism 10. By mounting the interaction piece 22 on the twisting mechanism 10, the interaction piece 22 can follow the position movement of the twisting mechanism 10, and thus the movement of the interaction piece 22 relative to the twisting mechanism 10 becomes simple and reliable. Moreover, the interaction piece 22 can always keep a certain matching relationship with the twisting mechanism 10, so that the interaction mechanism 20 only needs to mainly consider the matching relationship with the yarn library when moving to the interaction position, and the interaction process is simplified.

[0058] Further, the interaction piece 22 can move relative to the twisting piece 12, wherein the interaction piece 22 is sleeved on the outside of the twisting piece 12. By the sleeving manner, the movement of the interaction piece 22 relative to the twisting piece 12 can be guided, so that the interaction piece 22 moves more accurately to the interaction position, and the interaction accuracy is further improved.

[0059] Specifically, the interaction piece 22 is also tubular and is sleeved on the outside of the tubular twisting piece 12.

[0060] In other embodiments, the twisting piece 12 can also be sleeved on the outside of the twisting piece 12. However, the manner that the interaction piece 22 is sleeved on the outside of the twisting piece 12 can reduce the influence on the twisting channel 11.

[0061] In some embodiments, the interaction channel 21 has a first matching port 211, when the interaction mechanism 20 is in the interaction position, the first matching port 211 matches with the negative pressure hole of the yarn library, and the radial dimension of at least part of the interaction channel 21 gradually increases in the direction close to the first matching port 211.

[0062] In this way, the matching with the negative pressure hole of the yarn library can be facilitated, and when matching with the negative pressure hole, the interaction piece 22 can be covered on the position of the negative pressure hole or have a large enough space to match with the negative pressure hole, so as to avoid the negative pressure of the negative pressure hole leaking to the outside, and improve the reliability of the thread end interaction.

[0063] Specifically, one end of the interaction piece 22 is trumpet-shaped.

[0064] In the embodiments of the present application, the interaction mechanism 20 also has a twisting position in the movement process, and the interaction mechanism 20 can make switching movement between the twisting position and the interaction position, when the interaction mechanism 20 is in the twisting position, the interaction piece 22 is retracted in the twisting mechanism 10.

[0065] When the interaction mechanism 20 is in the twisting position, the twisting mechanism 10 can twist the thread ends of the plurality of cheese, and at this time, the interaction piece 22 is retracted in the twisting mechanism 10, which can reduce the influence of the process of the thread ends of the plurality of cheese entering the twisting mechanism 10 from the outside, and improve the reliability of the thread end twisting.

[0066] It should be noted that when the interaction mechanism 20 is in the interaction position, the interaction piece 22 at least partially extends outside the twisting mechanism 10.

[0067] Further, the twisting mechanism 10 further comprises a twisting nozzle 13 arranged outside one end of the twisting piece 12, and a receiving space 14 is formed between the twisting piece 12 and the twisting nozzle 13. When the interaction mechanism 20 is in the twisting position, the interaction piece 22 is retracted into the receiving space 14.

[0068] In this way, the receiving space 14 is formed in a simple manner through the cooperation of the twisting piece 12 and the twisting nozzle 13, and since the twisting nozzle 13 is arranged at the end of the twisting piece 12, that is, the receiving space 14 is arranged at the end of the twisting mechanism 10, the retraction and extension of the interaction piece 22 is more convenient, and the extension and retraction path is simple, and the twisting position and the interaction position can be quickly reached.

[0069] In some embodiments, the interaction piece 22 is an elastic interaction piece.

[0070] When the heights of the yarn libraries are not completely consistent, a certain height difference will be generated, which will cause the interaction mechanism 20 to collide with the yarn library during the interaction process. Therefore, the interaction piece 22 is arranged as an elastic interaction piece, which can avoid the position deviation of the interaction piece 22 caused by the collision, and can also improve the fitting degree of the interaction piece 22 with the yarn library, and further improve the success rate of the thread end interaction.

[0071] Preferably, the interaction piece 22 is a rubber interaction piece, and in other embodiments, it can also be a silica gel interaction piece or an interaction piece made of other elastic materials, and the specific type is not limited.

[0072] As shown in Figure 4 In some embodiments, the feeding and interaction device 100 further comprises a moving mechanism 30, which is connected with the twisting mechanism 10 and the interaction mechanism 20, and is used to drive the twisting mechanism 10 and the interaction mechanism 20 to move close to or away from the yarn library.

[0073] Specifically, the moving mechanism 30 can make switching motion between the feeding position and the grabbing position. When the moving mechanism 30 is in the feeding position, the interaction mechanism 20 can be in the interaction position, so that the two ends of the interaction mechanism 20 are respectively connected with the twisting mechanism 10 and the yarn library. When the moving mechanism 30 is in the grabbing position, the twisting mechanism 10 can twist the thread ends of the plurality of tubes of yarn into the twisting channel.

[0074] Through the arrangement of the moving mechanism 30, the twisting mechanism 10 can be separated from the yarn library when twisting the thread ends, so as to avoid the influence of the negative pressure of the negative pressure hole of the yarn library on the twisting. Moreover, under the driving of the moving mechanism 30, the interaction mechanism 20 can move close to the yarn library, so as to simplify the motion of the interaction mechanism 20 relative to the twisting mechanism 10, and improve the motion accuracy of the interaction mechanism 20.

[0075] Specifically, the moving mechanism 30 comprises a robot arm.

[0076] Please continue to refer to Figure 4 and Figure 5 Based on the same invention, the application also provides a yarn feeding robot comprising the yarn feeding interactive device 100 in any of the above embodiments.

[0077] Specifically, the yarn feeding robot further comprises a grabbing mechanism 210. The grabbing mechanism 210 is used to grab multiple tubes of yarn at the same time. In the embodiments of the application, the grabbing mechanism 210 can grab three tubes of yarn at the same time for feeding.

[0078] Further, the grabbing mechanism 210 is also connected to the moving mechanism 30.

[0079] In some embodiments, the grabbing mechanism 210 comprises a plurality of grabbing parts 2101, each of which is used to grab a tube of yarn.

[0080] In some embodiments, the yarn feeding robot further comprises a thread clamping mechanism 220, which is used to clamp or release the thread ends of the multiple tubes of yarn. In this way, the thread ends of the multiple tubes of yarn can be clamped by the thread clamping mechanism 220 before the twisting mechanism 10 twists the thread ends, so as to concentrate the multiple thread ends, thereby facilitating the subsequent twisting operation.

[0081] Further, the thread clamping mechanism 220 comprises two clamping arms 221, which can be close to each other to clamp the thread ends of the multiple tubes of yarn or far away from each other to release the thread ends of the multiple tubes of yarn. The clamping arms 221 are simple and reliable to set.

[0082] In the embodiments of the application, the thread clamping mechanism 220 is arranged on the twisting mechanism 10.

[0083] The yarn feeding interactive device 100 and the yarn feeding robot provided by the embodiments of the application have the following beneficial effects compared with the prior art:

[0084] During the yarn feeding process of the yarn feeding robot, the thread ends of the multiple tubes of yarn to be fed are twisted by the twisting mechanism 10, and then the interactive mechanism 20 is used to connect the twisting mechanism 10 and the yarn library, so that the twisting channel 11 can be accurately docked with the negative pressure hole of the yarn library through the interactive channel 21, and then the thread ends of the multiple tubes of yarn can smoothly enter the negative pressure hole after being separated from the twisting channel, thereby improving the accuracy of thread end interaction.

[0085] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0086] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific and detailed manner, but should not be construed as limiting the scope of the patent. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A feeding interaction device, characterized in that, include; A twisting mechanism includes a twisting element having a twisting channel. The twisting mechanism is capable of twisting the ends of multiple yarn tubes into the twisting channel and is capable of disengaging the twisted ends of the multiple yarn tubes from the twisting channel. An interactive mechanism includes an interactive component having an interactive channel. The interactive component is mounted on the twisting mechanism and sleeved on the outside of the twisting component. The interactive component is movable relative to the twisting component, and the interactive mechanism is movable relative to the twisting mechanism. During the movement, it has an interactive position and a twisting position, and the interactive mechanism is capable of switching between the twisting position and the interactive position. When the interaction mechanism is in the interaction position, its two ends are respectively connected to the twisting mechanism and the yarn magazine, so that the twisting channel is connected to the negative pressure hole of the yarn magazine through the interaction channel; when the interaction mechanism is in the twisting position, the interaction component retracts into the twisting mechanism.

2. The feeding interaction device according to claim 1, characterized in that, The twisting mechanism includes a twisting nozzle located on the outer side of one end of the twisting member, and a receiving space is formed between the twisting member and the twisting nozzle. When the interaction mechanism is in the twisting position, the interaction member retracts into the receiving space.

3. The feeding interaction device according to claim 1, characterized in that, The interaction channel has a first mating interface. When the interaction mechanism is in the interaction position, the first mating interface engages with the negative pressure hole of the yarn magazine, and at least a portion of the radial dimension of the interaction channel gradually increases toward the first mating interface.

4. The feeding interaction device according to claim 1, characterized in that, The interactive component is a flexible interactive component.

5. The feeding interaction device according to claim 1, characterized in that, The twisting mechanism includes a twisting drive member connected to the twisting member, which provides an adsorption force to the twisting channel to attract the ends of the multiple yarn tubes to achieve twisting, and provides a blowing force to remove the ends of the multiple yarn tubes after twisting from the twisting channel.

6. The feeding interaction device according to claim 1, characterized in that, The feeding interaction device also includes a moving mechanism, which is connected to both the twisting mechanism and the interaction mechanism, and is used to drive the twisting mechanism and the interaction mechanism to move closer to or away from the yarn magazine.

7. A yarn-feeding robot for feeding yarn tubes, characterized in that, The yarn feeding robot includes the material feeding interaction device as described in any one of claims 1 to 6.

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