A carrier displacement device and method for a braiding unit

Abstract

The application discloses a kind of knitting unit with yarn carrier displacement device and method.The device includes operation support, annular rotation device, linear feed device, pose adjustment device, end execution device and auxiliary support device;Wherein annular rotation device is set on operation support, linear feed device is set on annular rotation device, pose adjustment device is set on the end of linear feed device, end execution device is set on one end of pose adjustment device, and auxiliary support device is set between pose adjustment device and linear feed device.The method is: first, arrange yarn carrier displacement device, after receiving instruction, linear feed device cooperates pose adjustment device and moves to knitting hanging hook position;Then end execution device clamps and takes hanging hook;Finally, linear feed device carries hanging hook to knitting unit appointed position, and completes hanging hook placement.The application reduces labor intensity and error rate, and improves knitting efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of textile machinery, in particular to a yarn carrier shifting device and method for a weaving unit. BACKGROUND

[0002] Three-dimensional multi-directional woven fabric is a shaped or sheet fabric with three-dimensional structure, such as a curved pipe, a sphere, a box, a car seat cushion or a spacer fabric, which is woven on a weft knitting machine by adopting needle collecting and releasing, holding a horizontal row, wedge weaving or multi-layer weaving, etc. The three-dimensional multi-directional woven fabric can be used as a framework of industrial composite materials. The shaping of the three-dimensional multi-directional woven fabric adopts a four-step three-dimensional weaving process. The yarn carrier carries the yarn to interweave with each other in a three-dimensional space through the regular movement of the four-step process controlled by a longitudinal and transverse unit machine, and finally forms a three-dimensional multi-directional woven fabric.

[0003] The existing three-dimensional weaving preform is usually prepared by using a weaving unit to implement a three-dimensional weaving process. The yarn bundle movement is controlled by the weaving unit to interweave with each other in a three-dimensional space, thereby forming a three-dimensional woven preform. When weaving a complex rotary preform, a plurality of weaving units are arranged in a ring shape. The yarn bundle movement path is a spiral path through the thickness and length direction of the preform. Each yarn bundle movement needs to pass through all the weaving units. Therefore, the weaving units need to be shifted and exchanged between two adjacent weaving unit modules and inside the weaving unit. The existing yarn changing method is usually completed manually, which has high labor intensity, low efficiency, is prone to errors and has high labor cost. With the progress of society and the development of economy, manual yarn changing cannot meet the market demand. China Textile Science Research Institute Co., Ltd. has applied for a yarn carrier and a three-dimensional weaving machine (Patent No. 201710174215.9). The yarn carrier base is provided with a plurality of rolling bodies to change the occupation of the weaving position by the yarn carrier, but there are still problems of complex structure, multiple disassembly and assembly actions, large size and high cost.

[0004] Therefore, there is an urgent need for a yarn carrier and a yarn carrier shifting device to simplify the yarn changing action and improve the yarn changing efficiency. SUMMARY

[0005] The purpose of the present application is to provide a yarn carrier shifting device and method for a weaving unit, which has simple yarn changing action and can automatically complete the yarn changing action by using mechanical equipment.

[0006] The technical solution for achieving the purpose of the present application is as follows: a yarn carrier shifting device for a weaving unit, comprising an operation support, a ring-shaped rotating device, a linear feeding device, a pose adjusting device, an end execution device and an auxiliary supporting device.

[0007] The ring rotating device is arranged on the working support, the linear feeding device is arranged on the ring rotating device, the pose adjusting device is arranged at the end of the linear feeding device, and the end executing device is arranged at one end of the pose adjusting device.

[0008] Further, the working support comprises adjustable feet, foot fixing blocks, round steel pipes, first arc-shaped steel profiles, and second arc-shaped steel profiles.

[0009] The number of the round steel pipes is multiple, and the bottom of each round steel pipe is provided with an adjustable foot and a foot fixing block; the adjustable foot is connected with the foot fixing block through threads; the foot fixing block is made of steel and is welded to the bottom of the round steel pipe; the inner surface of the foot fixing block is provided with threads, and the adjustable foot is connected with the foot fixing block through the threads; the second arc-shaped steel profile is connected with the top of each round steel pipe through welding, thereby forming the working support; and the middle part of the round steel pipe is connected and fixed with the first arc-shaped steel profile which is parallel to the second arc-shaped steel profile.

[0010] Further, the ring rotating device comprises a ring track, a sliding seat, a tensioning wheel, a gear, a roller pin, a driving power source, a speed reducer, and a speed reducer support.

[0011] The sliding seat is arranged above the ring track, and the tensioning wheel is arranged on the sliding seat to ensure that the sliding seat is connected with the ring track and can move relatively; the sliding seat is fastened with the speed reducer support through screws; the speed reducer support is fastened with the speed reducer and the driving power source through screws; the output shaft of the speed reducer is connected with the gear; the roller pins are arranged at equal intervals in the circumferential direction of the ring track and are fastened with the ring track; the gear is connected with the roller pin; the driving power source drives the speed reducer and the gear to rotate, so that the sliding seat rotates relative to the ring track.

[0012] Further, the linear feeding device comprises a linear guide mechanism, a sliding block, a sword rod, a drag chain, a drag chain support plate, a wire slot, and a power source.

[0013] The power source is arranged at one end of the linear guide mechanism, and the sliding block is fixed above the linear guide mechanism; the sliding block is fastened with the sword rod through screws; the sword rod can move relative to the linear guide mechanism; the sword rod is provided with the drag chain and the wire slot; the wire slot is fastened on the corresponding position of the sword rod through screws; and the drag chain support plate is connected with the side surface of the linear module through screws to support the drag chain.

[0014] Further, the pose adjusting device comprises a swing arm rod, a joint bearing, a first driving mechanism, and a second driving mechanism.

[0015] The one end of the swing arm lever is connected with the linear feeding device through a joint bearing, the first driving mechanism is fastened on the upper end of the sword by a screw, and the swing arm lever is driven to adjust the position; the other end of the swing arm lever is connected with the end execution device through a joint bearing, the second driving mechanism is fastened on the upper end of the swing arm lever by a screw, and the end execution device is driven to adjust the position, so that the relative rotation between the swing arm lever and the end execution device is ensured; the swing arm lever drives the end execution device to complete the position adjustment, and the space moving area is ensured.

[0016] Further, the end execution device comprises a Z-direction lifting mechanism, a lifting mechanism fixing frame, a lifting power source, a pneumatic cylinder, a pneumatic cylinder fixing frame, a micro left clamping jaw and a micro right clamping jaw.

[0017] The Z-direction lifting mechanism is connected with the lifting mechanism fixing frame, and the lifting power source is arranged on the top of the lifting mechanism fixing frame; the lifting mechanism fixing frame is connected with the one end of the swing arm lever in the position adjustment device and connected with the second driving mechanism through a joint bearing, so that the relative movement between the swing arm lever and the lifting mechanism fixing frame is realized; the pneumatic cylinder is connected with the Z-direction lifting mechanism through the pneumatic cylinder fixing frame, and the micro left clamping jaw and the micro right clamping jaw are fastened with the pneumatic cylinder through a screw; the second driving mechanism drives the lifting power source to move the Z-direction lifting mechanism up and down on one hand, so that the plugging action is completed, and on the other hand, the pneumatic cylinder is driven to make the micro left clamping jaw and the micro right clamping jaw complete the clamping and releasing actions on the carrier, so that the carrier completes the displacement exchange under the condition of carrying the yarn.

[0018] Further, the auxiliary support device comprises an auxiliary support wheel, a wheel support rod, a spring limiting seat, a spring, a first bearing, a second bearing and a wheel limiting frame.

[0019] The auxiliary support wheel is two, which is connected with the two ends of the wheel support rod through bearing cooperation, and the wheel support rod is connected with the spring limiting seat through a spring and a screw; the spring limiting seat is fastened with the sword in the linear feeding device through a screw; the wheel limiting frame is fastened with the linear guide mechanism in the linear feeding device through a screw; the wheel limiting frame is connected with the bearing on the wheel support rod in motion, and the wheel is limited to move up and down; the spring is installed in the spring limiting seat, and the spring force is controlled by adjusting the length of the screw, so that the auxiliary support wheel can support the movement of the feeding sword and complete the lifting action of the auxiliary support wheel in the operation process.

[0020] Further, the ring rotating device, the linear feeding device and the end execution device are provided with sensors.

[0021] The sensor arranged on the annular track of the annular rotating device is used to detect whether the annular operation reaches the designated position, and the yarn carrier shifting mechanism is arranged at the line position of the two weaving units which need to exchange yarns to perform feeding and corresponding actions; the sensor arranged on the side of the linear module of the linear feeding device is used to detect the feeding amount and the limit position and the zero position, so as to ensure that the real-time position of the feeding device can be monitored; the sensor arranged on the end execution device is used to detect the clamping state of the clamping mechanism and the instruction issuing, and the next step instruction is issued when the sensor detects that the specified yarn carrier is clamped, so as to ensure the stability of the whole mechanism operation.

[0022] Further, the yarn carrier shifting device is used for shifting the combined yarn carrier, and the combined yarn carrier comprises a yarn hook, a tension ring and a base, the elastic clamping jaw is arranged on the yarn hook, and the limit mushroom head is arranged at the top end of the base.

[0023] The tension ring is arranged on the upper end of the yarn carrier base, and the yarn hook and the yarn carrier base are combined and separated by pressing, and the specific process is as follows.

[0024] The tension ring can only move between the limit mushroom head and the base boss; when the yarn hook is sleeved on the base, the elastic clamping jaw moves between the limit mushroom head and the tension ring, the yarn hook is combined with the base, and the two cannot be separated; when the yarn hook continues to move downward, the elastic clamping jaw is opened and sleeved on the tension ring; the yarn hook moves upward, the tension ring moves upward together with the elastic clamping jaw, and the limit mushroom head limits the tension ring from continuing to move upward; the opened elastic clamping jaw moves upward until the elastic clamping jaw is separated from the tension ring and is sleeved on the limit mushroom head; the elastic clamping jaw continues to move upward and is separated from the limit mushroom head, and the yarn hook is separated from the base.

[0025] A shifting method of a yarn carrier shifting device for a weaving unit, based on the yarn carrier shifting device for the weaving unit, and the method comprises the following steps.

[0026] Step 1, the yarn carrier shifting devices are arranged at the periphery of the weaving unit in a uniform manner, a certain number is arranged according to the working area, and tracks with different shapes are arranged according to different shapes of the woven products, and each yarn carrier shifting device can be responsible for the yarn carrier shifting work of one or more workstations.

[0027] Step 2, after the weaving unit completes weaving according to the set interlacing rule, the yarn carrier shifting device receives an instruction and moves from the starting point to the designated position.

[0028] Step 3, when reaching the designated workstation, the linear feeding device receives an instruction and moves to the yarn hook position set by the weaving unit in cooperation with the pose adjusting device.

[0029] Step 4, the end execution device clamps the yarn hook and performs the pulling and inserting action, so that the yarn hook completes the separation action from the base.

[0030] Step 5, the linear feeding device cooperates with the pose adjusting device to carry the hank hook to the appointed position of the weaving unit, and the hank hook is placed;

[0031] Step 6, the end execution device pulls and inserts the hank hook, so that the hank hook completes the placing action and releases the micro gripper;

[0032] Step 7, the steps 2-6 are recycled to complete the displacement action of all hank hooks.

[0033] Compared with the prior art, the present application has the following advantages:

[0034] (1) The combination and separation of the yarn carrier can be quickly completed by pressing, the yarn changing action is simplified, and the speed, convenience and reliability of the displacement of the yarn carrier are improved;

[0035] (2) The spindles between the three-dimensional weaving units and inside the weaving unit are exchanged according to the interweaving rule, and the product quality consistency is ensured;

[0036] (3) Different operation supports with different external contours can be spliced according to different weaving products and spindle arrangement modes, which is convenient and fast;

[0037] (4) According to different weaving products and spindle arrangement modes, the circular track can be quickly replaced by a straight track or a combination of a straight track and a circular track to adapt to different product working condition requirements. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a working condition schematic view of the yarn carrier displacement device for the weaving unit of the present application.

[0039] Figure 2a is a general structure schematic view of the yarn carrier displacement device for the weaving unit of the present application.

[0040] Figure 2b is a local enlarged view of the circumferential rotating device in the yarn carrier displacement device for the weaving unit of the present application.

[0041] Figure 2c is a local enlarged view of the end execution device and the auxiliary support device of the present application.

[0042] Figure 3a is a structure schematic view of the spliced track being circular in the embodiment of the present application.

[0043] Figure 3b is a structure schematic view of the spliced track being a circular rectangular in the embodiment of the present application.

[0044] Figure 3c is a structure schematic view of the spliced track being circular in the embodiment of the present application.

[0045] Figure 4a is the structural schematic diagram of the combined yarn carrier in the embodiment of the application.

[0046] Figure 4b is the structural schematic diagram of the yarn hook in the combined yarn carrier in the embodiment of the application.

[0047] Figure 4c is the structural schematic diagram of the base in the combined yarn carrier in the embodiment of the application.

[0048] Figure 5 is the schematic diagram of the movement principle of the yarn carrier shifting mechanism in the embodiment of the application.

[0049] Figure 6 is the schematic diagram of the principle of the yarn carrier shifting mechanism clamping the spindle in the embodiment of the application.

[0050] Figure 7 is the schematic diagram of the route of the yarn carrier shifting mechanism transferring the spindle in the embodiment of the application.

[0051] Figure 8 is the schematic diagram of the principle of the yarn carrier shifting mechanism releasing the spindle in the embodiment of the application. DETAILED DESCRIPTION

[0052] The yarn carrier shifting device for the weaving unit comprises an operation support 1, a circular rotating device 2, a linear feeding device 3, a pose adjusting device 4, an end execution device 5 and an auxiliary support device 6.

[0053] The circular rotating device 2 is arranged on the operation support 1, the linear feeding device 3 is arranged on the circular rotating device 2, the pose adjusting device 4 is arranged at the end of the linear feeding device 3, the end execution device 5 is arranged at one end of the pose adjusting device 4, and the auxiliary support device 6 is arranged between the pose adjusting device 4 and the linear feeding device 3.

[0054] Further, the operation support 1 comprises an adjustable foot 1.1, a foot fixing block 1.2, a round steel pipe 1.3, a first arc-shaped steel profile 1.4 and a second arc-shaped steel profile 1.5.

[0055] The number of the round steel pipes 1.3 is multiple, and the bottom of each round steel pipe 1.3 is provided with an adjustable foot 1.1 and a foot fixing block 1.2; the adjustable foot 1.1 is connected with the foot fixing block 1.2 through threads, the foot fixing block 1.2 is made of steel, and the outer surface is welded with one end of the bottom of the round steel pipe 1.3, and the inner surface is provided with threads and connected with the adjustable foot 1.1 through threads; the second arc-shaped steel profile 1.5 is connected with one end of the top of each round steel pipe 1.3 through welding, and the round steel pipe 1.3 is connected and fixed through the first arc-shaped steel profile 1.4 which is parallel to the second arc-shaped steel profile 1.5, to form the operation support 1.

[0056] Further, the ring rotating device 2 comprises a ring track 2.2, a sliding seat 2.7, a tension wheel 2.8, a gear 2.5, a needle roller 2.1, a driving power source 2.3, a speed reducer 2.4 and a speed reducer support 2.6;

[0057] The sliding seat 2.7 is provided above the ring track 2.2, and the tension wheel 2.8 is arranged on the sliding seat 2.7, so that the sliding seat 2.7 is connected with the ring track 2.2 and can move relatively through the tension wheel 2.8; the sliding seat 2.7 is connected with the speed reducer support 2.6 through screws, the speed reducer support 2.6 is connected with the speed reducer 2.4 and the driving power source 2.3 through screws, the output shaft of the speed reducer 2.4 is connected with the gear 2.5, and the needle rollers 2.1 are arranged at equal intervals in the circumferential direction of the ring track 2.2 and are connected with the ring track 2.2 tightly; the gear 2.5 is connected with the needle rollers 2.1, the speed reducer 2.4 and the gear 2.5 are driven to rotate by the driving power source 2.3, and the sliding seat 2.7 is rotated relative to the ring track 2.2.

[0058] Further, the linear feeding device 3 comprises a linear guide mechanism 3.3, a sliding block 3.8, a sword rod 3.4, a drag chain 3.2, a drag chain support plate 3.6, a wire slot and a power source 3.1;

[0059] The linear guide mechanism 3.3 is provided with the power source 3.1 at one end, and the sliding block 3.8 is fixed above the linear guide mechanism 3.3, the sliding block 3.8 is connected with the sword rod 3.4 tightly through screws, and the sword rod 3.4 can move relative to the linear guide mechanism 3.3; the sword rod 3.4 is provided with the drag chain 3.2 and the wire slot, the wire slot is fastened on the corresponding position of the sword rod 3.4 through screws, and the drag chain support plate 3.6 is connected with the side surface of the linear module through screws to support the drag chain 3.2.

[0060] Further, the pose adjusting device 4 comprises a swing arm 4.1, a joint bearing 4.2, a first driving mechanism 4.3 and a second driving mechanism 4.4;

[0061] The swing arm rod 4.1 is connected to the linear feed device 3 through the joint bearing 4.2 and the sword rod 3.4, the first driving mechanism 4.3 is fastened to the upper end of the sword rod 3.4 through a screw, and drives the swing arm rod 4.1 to adjust the pose; the other end of the swing arm rod 4.1 is connected to the end execution device 5 through the joint bearing 4.2, the second driving mechanism 4.4 is fastened to the upper end of the swing arm rod 4.1 through a screw, and drives the end execution device 5 to adjust the pose, ensuring the relative rotation between the swing arm rod 4.1 and the end execution device 5; the swing arm rod 4.1 drives the end execution device 5 to complete the position adjustment, ensuring the space movement area.

[0062] Further, the end execution device 5 includes a Z-direction lifting mechanism 5.3, a lifting mechanism fixing frame 5.1, a lifting power source 5.2, a pneumatic cylinder 5.4, a pneumatic cylinder fixing frame 5.7, a micro left clamping jaw 5.5, and a micro right clamping jaw 5.6.

[0063] The Z-direction lifting mechanism 5.3 is connected to the lifting mechanism fixing frame 5.1, and the lifting power source 5.2 is arranged on the top of the lifting mechanism fixing frame 5.1; the lifting mechanism fixing frame 5.1 is connected to the one end of the swing arm rod 4.1 in the pose adjustment device 4, and is connected to the second driving mechanism 4.4 through the joint bearing 4.2, realizing the relative movement between the swing arm rod 4.1 and the lifting mechanism fixing frame 5.1; the pneumatic cylinder 5.4 is connected to the Z-direction lifting mechanism 5.3 through the pneumatic cylinder fixing frame 5.7, and the micro left clamping jaw 5.5 and the micro right clamping jaw 5.6 are fastened to the pneumatic cylinder 5.4 through screws; the second driving mechanism 4.4 drives the lifting power source 5.2 to move the Z-direction lifting mechanism 5.3 up and down, completes the plugging action, and drives the pneumatic cylinder 5.4 to make the micro left clamping jaw 5.5 and the micro right clamping jaw 5.6 complete the clamping and releasing actions on the yarn carrier, realizing the displacement and exchange of the yarn carrier under the condition of carrying the yarn.

[0064] Further, the auxiliary support device 6 includes an auxiliary support wheel 6.1, a wheel support rod 6.7, a spring limiting seat 6.6, a spring 6.5, a first bearing 6.2, a second bearing 6.4, and a wheel limiting frame 6.3.

[0065] The auxiliary support wheel 6.1 is two, connected by bearing fit on both ends of the wheel support rod 6.7, which is connected between the spring limit seat 6.6 and the spring 6.5 and screw; the spring limit seat 6.6 is connected with the rapier 3.4 in the linear feed device 3 by screw fastening; the wheel limit frame 6.3 is connected with the linear guide mechanism 3.3 in the linear feed device 3 by screw fastening; the wheel limit frame 6.3 is connected with the bearing on the wheel support rod 6.7 in motion, limiting the up and down movement of the wheel; the spring 6.5 is installed in the spring limit seat 6.6, and the length of the screw is adjusted to control the spring force of the spring 6.5, so that the auxiliary support wheel 6.1 can support the movement of the feeding rapier 3.4 and complete the auxiliary support wheel 6.1 rising action through the wheel limit frame 6.3 during operation.

[0066] Further, the ring rotating device 2, the linear feed device 3, and the end execution device 5 are provided with sensors;

[0067] The sensor provided on the annular track 2.2 of the ring rotating device 2 is used to detect whether the ring rotating reaches the specified position, and the yarn carrier shifting mechanism is arranged at the line position of the two weaving units that need to exchange yarns to feed and perform corresponding actions; the sensor provided on the side of the linear module of the linear feed device 3 is used to detect the feeding amount, the limit position and the zero position, so as to ensure that the real-time position of the feeding device can be monitored; the sensor provided on the end execution device 5 is used to detect the clamping state of the clamping mechanism and the instruction issuing, and when the sensor detects that the specified yarn carrier is clamped, the next instruction is issued to ensure the stability of the whole mechanism operation.

[0068] Further, the yarn carrier shifting device is used for shifting the combined yarn carrier, which includes the yarn hook 9, the tension ring 10 and the base 11, the elastic clamping jaw 9.1 is arranged on the yarn hook 9, and the limit mushroom head 11.1 is arranged at the top end of the base 11;

[0069] The tension ring 10 is installed on the upper end of the yarn carrier base 11, and the yarn hook 9 and the yarn carrier base 11 are combined and separated by pressing, specifically as follows:

[0070] The tension ring 10 can only move between the limiting mushroom head 11.1 and the boss of the base 11; when the hanging hook 9 is sleeved on the base 11, the elastic clamping jaw 9.1 moves between the limiting mushroom head 11.1 and the tension ring 10, the hanging hook 9 is combined with the base 11, and the two cannot be separated; when the hanging hook 9 continues to move downward, the elastic clamping jaw 9.1 is opened and sleeved on the tension ring 10; the hanging hook 9 moves upward, and the tension ring 10 moves upward together with the elastic clamping jaw 9.1 until the limiting mushroom head 11.1 limits the tension ring 10 from continuing to move upward; the opened elastic clamping jaw 9.1 moves upward until the elastic clamping jaw 9.1 is separated from the tension ring 10 and is sleeved on the limiting mushroom head 11.1; the elastic clamping jaw 9.1 continues to move upward and is separated from the limiting mushroom head 11.1, and the hanging hook 9 is separated from the base 11.

[0071] The present application is a kind of knitting unit with yarn carrier displacement device displacement method, based on the knitting unit with yarn carrier displacement device, comprising the following steps:

[0072] Step 1, the yarn carrier displacement device is arranged uniformly around the knitting unit, a certain number is set according to the operation area; different profile tracks are set according to different shapes of the knitted product, and each yarn carrier displacement device can be responsible for the yarn carrier displacement work of one or more stations;

[0073] Step 2, after the knitting unit completes knitting according to the set interlacing rule, the yarn carrier displacement device receives instructions and moves from the starting point to the specified position;

[0074] Step 3, when reaching the specified station, the linear feed device 3 receives instructions, and the pose adjusting device 4 moves to the position of the hanging hook 9 set by the knitting unit;

[0075] Step 4, the end execution device 5 clamps the hanging hook 9 and completes plugging, so that the hanging hook 9 completes the separation action from the base 11;

[0076] Step 5, the linear feed device 3 cooperates with the pose adjusting device 4 to carry the hanging hook 9 to the appointed position of the knitting unit, and completes the placement of the hanging hook 9;

[0077] Step 6, the end execution device 5 plugs the hanging hook 9, so that the hanging hook 9 completes the placement action and releases the micro clamping jaw 5.5;

[0078] Step 7, repeat steps 2-6 to complete the displacement action of all hanging hooks 9.

[0079] The specific embodiments of the present application will be further described in detail below in combination with the drawings and specific embodiments.

[0080] As a specific embodiment, in combination with Figure 1 、 Figure 2a ,Figure 2b 、 Figure 2c The present application is a yarn carrier displacement device for a weaving unit, comprising a working support 1, a circular rotation device 2, a linear feed device 3, a pose adjustment device 4, an end execution device 5, and an auxiliary support device 6.

[0081] The circular rotation device 2 is arranged on the working support 1, the linear feed device 3 is arranged on the circular rotation device 2, the pose adjustment device 4 is arranged at the end of the linear feed device 3, the end execution device 5 is arranged at one end of the pose adjustment device 4, and the auxiliary support device 6 is arranged between the pose adjustment device 4 and the linear feed device 3.

[0082] As a specific embodiment, the working support 1 comprises an adjustable foot 1.1, a foot fixing block 1.2, a round steel pipe 1.3, a first arc-shaped steel profile 1.4, and a second arc-shaped steel profile 1.5.

[0083] The number of the round steel pipes 1.3 is multiple, and each round steel pipe 1.3 is provided with an adjustable foot 1.1 and a foot fixing block 1.2 at the bottom; the adjustable foot 1.1 is connected with the foot fixing block 1.2 through threads; the foot fixing block 1.2 is made of steel, and the outer surface is welded with one end of the bottom of the round steel pipe 1.3, and the inner surface is connected with the adjustable foot 1.1 through threads; the second arc-shaped steel profile 1.5 is connected with the other end of the round steel pipe 1.3 through welding, and the working support 1 is formed.

[0084] As a specific embodiment, the working support 1 can also directly draw a certain length of beam from the outer surface of the weaving unit as the working support 1, so that the relative distance between the working support 1 and the weaving unit is more stable. At the same time, according to the different weaving products and the arrangement of spindles, the working support 1 with different external contours can be spliced according to the above-mentioned mode.

[0085] As a specific embodiment, the circular rotation device 2 comprises a ring track 2.2, a sliding seat 2.7, a tensioning wheel 2.8, a gear 2.5, a roller pin 2.1, a driving power source 2.3, a speed reducer 2.4, and a speed reducer support 2.6.

[0086] The slide 2.7 is provided above the annular track 2.2, and the tension wheel 2.8 is provided on the slide 2.7, which ensures the connection and relative movement of the slide 2.7 and the annular track 2.2; the slide 2.7 is fastened and connected with the reducer support 2.6 through screws, the support 2.6 is fastened and connected with the driving power source 2.3 and the reducer 2.4 through screws, the output shaft of the reducer 2.4 is connected with the gear 2.5, the rollers 2.1 are arranged at equal intervals in the circumferential direction of the annular track 2.2 and are fastened and connected with the annular track, the gear 2.5 is connected with the rollers 2.1, and the rotation of the gear can drive the slide to rotate relative to the annular track.

[0087] As a specific embodiment, according to the different weaving products and the arrangement of spindles, the annular track 2.2 can be quickly replaced by a linear track or a combination of linear and annular tracks to adapt to different product working conditions, such as Figure 3a 、 Figure 3b 、 Figure 3c As shown in the figure, according to the shape of the woven product, the entire circular shape is spliced, wherein the annular track 8.3 is distributed at the outermost position of the entire working condition, used for carrying the yarn displacement mechanism and the execution mechanism, the first weaving unit 8.2 is arranged in a contour shape, and the circular woven product 8.1 is at the center position of the entire working condition; similarly, the track is spliced to form a rounded rectangular track 8.6 by using an annular arc segment and a linear segment, the second weaving unit 8.5 is arranged in a contour shape, and the rectangular woven product 8.4 is at the center position of the entire working condition; similarly, the track is spliced to form a special-shaped track 8.9 by using an annular arc segment and a linear segment, the third weaving unit 8.8 is arranged in a contour shape, and the special-shaped woven product 8.7 is at the center position of the entire working condition.

[0088] As a specific embodiment, the linear feeding device 3 includes a linear guide mechanism 3.3, a slide block 3.8, a rapier 3.4, a drag chain 3.2, a drag chain support plate 3.6, a wire slot, a power source 3.1 and power source accessories;

[0089] The linear guide mechanism 3.3 is provided with a power source 3.1 and power source accessories at one end, and is fixed with a slide block 3.8 on the top, the slide block 3.8 is fastened and connected with the rapier 3.4 through screws, and the rapier 3.4 can move relative to the linear guide mechanism 3.3; the rapier 3.4 is provided with a drag chain 3.2 and a wire slot, the drag chain 3.2 and the wire slot are fastened on the corresponding positions of the rapier 3.4 through screws, and the drag chain support plate 3.6 is connected with the linear guide mechanism 3.3 through screws, which supports the drag chain 3.2; the drag chain 3.2, the wire slot and the drag chain fixing plate 3.6 are all provided to ensure the wire arrangement of the end execution device 5 and the driving device. The linear feeding device 3 is not limited to the linear module guide mechanism, but can also use a gear synchronous belt guide mechanism.

[0090] As a specific embodiment, the pose adjusting device 4 includes a swing arm rod 4.1, a joint bearing 4.2, a first driving mechanism 4.3, a second driving mechanism 4.4, and its auxiliary parts;

[0091] One end of the swing arm rod 4.1 is connected with the rapier 3.4 through the joint bearing 4.2, the first driving mechanism 4.3 is fastened on the upper end of the rapier 3.4 by a screw, drives the swing arm rod 4.1 to adjust the pose, the other end of the swing arm rod 4.1 is connected with the end effector 5 through the joint bearing 4.2, the second driving mechanism 4.4 is fastened on the upper end of the swing arm rod 4.1 by a screw, drives the end effector 5 to adjust the pose, and ensures the relative rotation between the swing arm rod 4.1 and the end effector 5; the swing arm rod (4.1) drives the end effector (5) to complete the position adjustment, and ensures the space moving area.

[0092] As a specific embodiment, the end effector 5 includes a Z-direction lifting mechanism 5.3, a lifting mechanism fixing frame 5.1, a lifting power source 5.2, a pneumatic cylinder 5.4, a pneumatic cylinder fixing frame 5.7, a micro left clamping jaw 5.5, and a micro right clamping jaw 5.6;

[0093] The Z-direction lifting mechanism 5.3 is connected with the lifting mechanism fixing frame 5.1, and the lifting power source 5.2 is arranged on the top of the lifting mechanism fixing frame 5.1; the lifting mechanism fixing frame 5.1 is connected with one end of the swing arm rod 4.1 in the pose adjusting device 4, and is connected with the second driving mechanism 4.4 through a joint bearing, so that the swing arm rod 4.1 and the lifting mechanism fixing frame 5.1 can move relatively, the pneumatic cylinder 5.4 is connected with the Z-direction lifting mechanism 5.3 through the pneumatic cylinder fixing frame 5.7, and the micro left clamping jaw 5.5 and the micro right clamping jaw 5.6 are fastened with the pneumatic cylinder 5.4 through screws; the second driving mechanism 4.4 drives the lifting power source 5.2 to move the Z-direction lifting mechanism 5.3 up and down, completes the plugging action, drives the pneumatic cylinder 5.4 to make the micro left clamping jaw 5.5 and the micro right clamping jaw 5.6 complete the clamping and releasing actions on the yarn carrier, and realizes the displacement and exchange of the yarn carrier under the condition of carrying the yarn.

[0094] As a specific embodiment, the auxiliary support device 6 includes an auxiliary support wheel 6.1, a wheel support rod 6.7, a spring limiting seat 6.6, a spring 6.5, a first bearing 6.2, a second bearing 6.4, and a wheel limiting frame 6.3;

[0095] The auxiliary support wheel 6.1 is two, which is connected at both ends of the wheel support rod 6.7 through bearings 6.2, and is connected between the wheel support rod 6.7 and the spring limit seat 6.6 through a spring 6.5 and a screw, and is fastened between the spring limit seat 6.6 and the rapier 3.4 in the linear feeding device 3 through a screw, and is fastened between the linear guide mechanism 3.3 in the linear feeding device 3 and the wheel limit frame 6.3 through a screw, and is connected with the first bearing 6.2 and the second bearing 6.4 on the wheel support rod in motion through a screw, and moves up and down to limit the wheel, and the spring 6.5 is installed in the spring limit seat 6.6, and the length of the screw is adjusted to control the spring force, so that the wheel can support the movement of the feeding rapier and smoothly pass through the wheel limit frame 6.3 to complete the lifting action of the auxiliary support wheel 6.1 during operation.

[0096] As a specific embodiment, the annular track 2.2 of the annular rotating device 2 is connected with the operation support 1 through a screw, the linear feeding device is fixed on the slide 2.7 of the annular rotating device 2 through a base, one end of the swing arm rod 4.1 of the pose adjusting device 4 is connected with the end of the rapier 3.4 of the linear feeding device 3 through a joint bearing 4.2 and a screw, and the end executing device 5 is connected with the other end of the swing arm rod 4.1 through a joint bearing 4.2, a screw and a power source 3.1 of the linear feeding device 3. The linear feeding device 3, the pose adjusting device 4 and the end executing device 5 rotate relative to the operation support 1 and the annular track 2.2.

[0097] As a specific embodiment, in order to ensure the yarn carrying displacement function and automatic control, sensors are arranged on the annular rotating device 2, the linear feeding device 3 and the end executing device 5.

[0098] The sensors arranged on the annular track 2.2 of the annular rotating device 2 are used to detect whether the annular operation reaches the specified position, and the yarn carrying displacement mechanism is arranged at the line position of the two weaving units which need to exchange yarns to feed and perform corresponding actions; the sensors arranged on the side of the linear module of the linear feeding device 3 are used to detect the feeding amount, the limit position and the zero position, so that the real-time position of the feeding device can be monitored; the sensors arranged on the end executing device 5 are used to detect the clamping state of the clamping mechanism and the instruction issuing; when the sensors detect that the specified yarn carrier is clamped, the next instruction is issued to ensure the stability of the operation of the whole mechanism.

[0099] As a specific embodiment, the yarn carrier displacement device is used for the displacement of the combined yarn carrier, which includes a yarn hook 9, a tension ring 10 and a base 11, the yarn hook 9 is provided with elastic clamping jaws 9.1, and the top end of the base 11 is provided with a limit mushroom head 11.1.

[0100] The tension ring 10 is installed on the upper end of the carrier base 11, and the yarn hook 9 is combined and separated from the carrier base 11 by pressing Figure 4a 、 Figure 4b 、 Figure 4c , specifically as follows:

[0101] The tension ring 10 can only move between the limiting mushroom head 11.1 and the boss of the carrier base 11; when the yarn hook 9 is sleeved on the carrier base 11, the elastic clamping jaw 9.1 moves between the limiting mushroom head 11.1 and the tension ring 10, the yarn hook 9 is combined with the carrier base 11, and the two cannot be separated; when the yarn hook 9 continues to move downward, the elastic clamping jaw 9.1 is opened and sleeved on the tension ring 10; the yarn hook 9 moves upward, and the tension ring 10 moves upward together with the elastic clamping jaw 9.1 until the limiting mushroom head 11.1 limits the tension ring 10 from continuing to move upward; the opened elastic clamping jaw 9.1 moves upward until the elastic clamping jaw 9.1 is separated from the tension ring 10 and is sleeved on the limiting mushroom head 11.1; the elastic clamping jaw 9.1 continues to move upward and is separated from the limiting mushroom head 11.1, and the yarn hook 9 is separated from the carrier base 11.

[0102] As a specific embodiment, the displacement method of the yarn carrier displacement device of the knitting unit is as follows:

[0103] Step 1: The yarn carrier displacement devices are arranged uniformly on the periphery of the knitting unit, and a certain number is set according to the working area; different track profiles are set according to different shapes of the knitted products, and each yarn carrier displacement device can be responsible for the yarn carrier displacement work of one or more stations;

[0104] Step 2: After the knitting unit completes knitting according to the set interlacing rule, the yarn carrier displacement device receives an instruction and moves from the starting point to the specified position, as shown in Figure 5 ;

[0105] Step 3: When reaching the specified station, the linear feed device 3 receives an instruction and moves to the position of the yarn hook 9 set by the knitting unit in cooperation with the pose adjustment device 4;

[0106] Step 4: The end execution device 5 clamps the yarn hook 9 and completes plugging, so that the yarn hook 9 completes the separation action from the carrier base 11, as shown in Figure 6 ;

[0107] Step 5: The linear feed device 3 cooperates with the pose adjustment device 4 to carry the yarn hook 9 to the appointed position of the knitting unit, and completes the placement of the yarn hook 9, as shown in Figure 7 ;

[0108] Step 6: The end execution device 5 plugs the yarn hook 9, so that the yarn hook 9 completes the placement action and releases the micro clamping jaw 5.5, as shown inFigure 8 shown;

[0109] Step 7, repeat steps 2-6 to complete the displacement of all heddle hooks 9.

[0110] In summary, the present application knits unit with carrier displacement device and method, press can quickly complete the combination and separation of the carrier, simplifying the yarn change action, improve the speed, convenience and reliability of the carrier displacement; realize the three-dimensional weaving unit, weaving unit internal spindle according to the interlacing rule for exchange, ensure product quality consistency; can be according to the different arrangement of the weaving product and spindle, splicing into different shape contour operation support, convenient and fast; according to the different arrangement of the weaving product and spindle, the circular track can be quickly replaced into a straight line track or a combination of straight line and circular track, to adapt to different product working condition demand.

Claims

1. A yarn carrier shifting device for a knitting unit, characterized in that, It includes a working support (1), a circumferential rotation device (2), a linear feed device (3), a position adjustment device (4), an end effector (5), and an auxiliary support device (6). The circumferential rotation device (2) is mounted on the working support (1), the linear feed device (3) is mounted on the circumferential rotation device (2), the pose adjustment device (4) is mounted at the end of the linear feed device (3), and the end effector (5) is mounted at one end of the pose adjustment device (4); the auxiliary support device (6) is mounted between the pose adjustment device (4) and the linear feed device (3). The posture adjustment device (4) includes a swing arm (4.1), a joint bearing (4.2), a first drive mechanism (4.3) and a second drive mechanism (4.4). The end effector (5) includes a Z-axis lifting mechanism (5.3), a lifting mechanism mounting bracket (5.1), a lifting power source (5.2), a pneumatic cylinder (5.4), a pneumatic cylinder mounting bracket (5.7), a miniature left gripper (5.5), and a miniature right gripper (5.6). The Z-axis lifting mechanism (5.3) is connected to the lifting mechanism fixing frame (5.1), and the lifting power source (5.2) is located on the top of the lifting mechanism fixing frame (5.1). The lifting mechanism fixing frame (5.1) is connected to one end of the swing arm (4.1) in the posture adjustment device (4), and is connected to the second drive mechanism (4.4) through a joint bearing (4.2) to realize the relative movement of the swing arm (4.1) and the lifting mechanism fixing frame (5.1). The pneumatic cylinder (5.4) is connected to the pneumatic cylinder fixing frame (5.7). Connected to the Z-axis lifting mechanism (5.3), the miniature left gripper (5.5) and miniature right gripper (5.6) are fastened to the pneumatic cylinder (5.4) by screws; the second drive mechanism (4.4) drives the lifting power source (5.2) on the one hand, so that the Z-axis lifting mechanism (5.3) moves up and down to complete the insertion and removal action, and drives the pneumatic cylinder (5.4) on the other hand, so that the miniature left gripper (5.5) and miniature right gripper (5.6) complete the clamping and releasing action of the yarn carrier, so that the yarn carrier can complete the displacement and exchange under the condition of carrying the yarn; The yarn carrier shifting device is used for shifting the combined yarn carrier. The combined yarn carrier includes a yarn hook (9), a tension ring (10), and a base (11). The yarn hook (9) is provided with an elastic gripper (9.1), and the top of the base (11) is provided with a limiting mushroom head (11.1). The tension ring (10) is installed on the upper end of the yarn carrier base (11). The yarn hook (9) and the yarn carrier base (11) are combined and separated by pressing, as follows: The tension ring (10) can only move between the limiting mushroom head (11.1) and the boss of the base (11); when the yarn hook (9) is on the base (11), the elastic gripper (9.1) moves between the limiting mushroom head (11.1) and the tension ring (10), and the yarn hook (9) and the base (11) are combined and cannot be separated; when the yarn hook (9) continues to move downward, the elastic gripper (9.1) opens and is on the tension ring (10); the yarn hook (9) moves towards As the tension ring (10) moves upward, it moves upward along with the elastic gripper (9.1) until the limiting mushroom head (11.1) restricts the tension ring (10) from moving upward further; the open elastic gripper (9.1) moves upward until the elastic gripper (9.1) separates from the tension ring (10) and is placed on the limiting mushroom head (11.1); the elastic gripper (9.1) continues to move upward, disengages from the limiting mushroom head (11.1), and the yarn hook (9) separates from the base (11).

2. The yarn carrier shifting device for a knitting unit according to claim 1, characterized in that, The working support (1) includes adjustable feet (1.1), foot fixing blocks (1.2), round steel pipes (1.3), first arc-shaped steel profiles (1.4), and second arc-shaped steel profiles (1.5). The number of the round steel pipes (1.3) is multiple, and each round steel pipe (1.3) is equipped with an adjustable foot (1.1) and a foot fixing block (1.2) at its bottom. The adjustable foot (1.1) is connected to the foot fixing block (1.2) by threads. The foot fixing block (1.2) is made of steel, and its outer surface is welded to one end of the bottom of the round steel pipe (1.3). The inner surface is threaded and connected to the adjustable foot (1.1) by threads. The second arc-shaped steel profile (1.5) is connected to the top end of each round steel pipe (1.3) by welding to form the working support (1). The middle part of the round steel pipe (1.3) is connected and fixed by a first arc-shaped steel profile (1.4) that is parallel to the second arc-shaped steel profile (1.5).

3. The yarn carrier shifting device for a knitting unit according to claim 1, characterized in that, The circumferential rotating device (2) includes a ring track (2.2), a slide (2.7), a tensioning wheel (2.8), a gear (2.5), a needle roller (2.1), a drive power source (2.3), a reducer (2.4), and a reducer bracket (2.6). A slide block (2.7) is provided above the annular track (2.2), and a tensioning wheel (2.8) is provided on the slide block (2.7). The tensioning wheel (2.8) ensures that the slide block (2.7) is connected to the annular track (2.2) and can move relative to it. The slide block (2.7) is fastened to the reducer bracket (2.6) by screws. The reducer bracket (2.6) is fastened to the reducer (2.4) and the drive power source (2.3) by screws. The output shaft of the reducer (2.4) is connected to the gear (2.5). The needle rollers (2.1) are arranged at equal intervals around the annular track (2.2) and are fastened to the annular track (2.2). The gear (2.5) is connected to the needle rollers (2.1). The drive power source (2.3) drives the reducer (2.4) and the gear (2.5) to rotate, so that the slide block (2.7) rotates in annular relative to the annular track (2.2).

4. The yarn carrier shifting device for a knitting unit according to claim 1, characterized in that, The linear feed device (3) includes a linear guide mechanism (3.3), a slider (3.8), a rapier (3.4), a drag chain (3.2), a drag chain support plate (3.6), a cable tray, and a power source (3.1). The linear guide mechanism (3.3) has a power source (3.1) at one end and a slider (3.8) fixed above it. The slider (3.8) is fastened to the scissor (3.4) by screws. The scissor (3.4) can move relative to the linear guide mechanism (3.3). The scissor (3.4) is provided with a drag chain (3.2) and a cable tray. The cable tray is fastened to the corresponding position of the scissor (3.4) by screws. The drag chain support plate (3.6) is connected to the side of the linear module by screws and provides support for the drag chain (3.2).

5. The yarn carrier shifting device for a knitting unit according to claim 1, characterized in that, One end of the swing arm (4.1) is connected to the sword rod (3.4) in the linear feed device (3) via a joint bearing (4.2). The first drive mechanism (4.3) is fastened to the upper end of the sword rod (3.4) with screws, driving the swing arm (4.1) to adjust its position. The other end of the swing arm (4.1) is connected to the end effector (5) via a joint bearing (4.2). The second drive mechanism (4.4) is fastened to the upper end of the swing arm (4.1) with screws, driving the end effector (5) to adjust its position, ensuring the relative rotation between the swing arm (4.1) and the end effector (5). The swing arm (4.1) drives the end effector (5) to complete the position adjustment, ensuring the spatial movement area.

6. The yarn carrier shifting device for a knitting unit according to claim 4, characterized in that, The auxiliary support device (6) includes an auxiliary support wheel (6.1), a wheel support rod (6.7), a spring limiting seat (6.6), a spring (6.5), a first bearing (6.2), a second bearing (6.4), and a wheel limiting frame (6.3). Two auxiliary support wheels (6.1) are connected to both ends of the wheel support rod (6.7) via bearings. The wheel support rod (6.7) and the spring limiting seat (6.6) are connected via a spring (6.5) and screws. The spring limiting seat (6.6) is fastened to the scimitar (3.4) in the linear feed device (3) via screws. The wheel limiting frame (6.3) is fastened to the linear guide mechanism (3.3) in the linear feed device (3) via screws. The wheel limit bracket (6.3) is connected to the bearing on the moving wheel support rod (6.7) to limit the wheel's up and down movement; the spring (6.5) is installed in the spring limit seat (6.6), and the spring force of the spring (6.5) is controlled by adjusting the length of the screw screw, so that during operation, the auxiliary support wheel (6.1) can not only provide moving support for the feed scissor (3.4), but also complete the upward movement of the auxiliary support wheel (6.1) through the wheel limit bracket (6.3).

7. The yarn carrier shifting device for a knitting unit according to claim 1, characterized in that, The circumferential rotation device (2), the linear feed device (3), and the end effector (5) are equipped with sensors; The sensor installed on the annular track (2.2) of the circumferential rotation device (2) is used to detect whether the circumferential operation has reached the designated position. The yarn-carrying and shifting mechanism is set at the center line position of the two knitting units that need to exchange yarns to perform feeding and corresponding actions. The sensor installed on the side of the linear module of the linear feed device (3) is used to detect the feed amount, limit position and zero position to ensure that the real-time position of the feed device can be monitored. The sensor installed on the end effector (5) is used to detect the clamping status judgment and command issuance of the clamping mechanism. When the sensor detects that the specified yarn carrier has been clamped, the next command is issued to ensure the stability of the entire mechanism operation.

8. A method for shifting a yarn carrier shifting device for a knitting unit, characterized in that, The yarn carrier shifting device for knitting units according to any one of claims 1 to 7 includes the following steps: Step 1: The yarn carrier shifting devices are evenly distributed around the periphery of the knitting unit. A certain number are set according to the working area. Different tracks with different shapes are set according to the different shapes and contours of the knitted products. Each yarn carrier shifting device can be responsible for the shifting of yarn carriers at one or more workstations. Step 2: After the weaving unit completes the weaving according to the set interlacing pattern, the yarn carrier shifting device receives the instruction and moves from the starting point to the designated position; Step 3: When the designated work station is reached, the linear feed device (3) receives the instruction and moves to the position of the yarn hook (9) set by the posture adjustment device (4) in coordination with the device. Step 4: The end effector (5) performs a clamping action on the yarn hook (9) and completes the insertion and removal, so that the yarn hook (9) completes the separation action from the base (11); Step 5: The linear feed device (3) and the position adjustment device (4) move the yarn hook (9) to the designated position of the knitting unit to complete the placement of the yarn hook (9); Step 6: The end effector (5) inserts and removes the yarn hook (9) so that the yarn hook (9) completes the placement action and releases the miniature left gripper (5.5) and miniature right gripper (5.6). Step 7: Repeat steps 2 to 6 to complete the shifting action of all yarn hooks (9).

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