Circular transportation device and yarn feeding robot

Abstract

The present application relates to a circulating transport device and a yarn-feeding robot. The circulating transport device includes a feed belt, which is controlled to transport a bobbin carrier along a first direction, the feed belt having at least one bobbin working station; a return belt, located on one side of the feed belt along a second direction, which is controlled to transport the bobbin carrier back along a third direction; a first transfer mechanism, located on the same side of the feed belt and the return belt along the third direction, which is controlled to transport the bobbin carrier from the return belt to the feed belt; and a second transfer mechanism, located on the same side of the feed belt and the return belt away from the first transfer mechanism along the first direction, which is controlled to transport the bobbin carrier from the feed belt to the return belt. The first direction is opposite to the third direction, and the first, second, and third directions are perpendicular to each other. The circulating transport device and the yarn-feeding robot of the present application have a compact structure and high bobbin processing efficiency.

Description

Technical Field

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

[0002] In the existing winding process, a winding machine usually needs to be equipped with 3-5 yarn inserting workers to complete daily production. The yarn inserting workers repeat the mechanical actions of taking the yarn bobbin, extracting the thread end, and putting it into the yarn storage every day, which leads to low efficiency.

[0003] In order to improve production efficiency, automated winding workshops have emerged. Since the bobbins to be processed need to be processed at multiple workstations, automated transportation devices are indispensable.

[0004] However, existing transportation devices have the problems of occupying a large space and having low working efficiency. Summary of the Invention

[0005] Based on this, it is necessary to provide a circulating transport device and a yarn throwing robot that can reduce the occupied space and have high work efficiency to address the problem that the existing automated transport device occupies a large space and has low work efficiency.

[0006] The present application provides a circulating transport device for circulating a bobbin carrier, the circulating transport device comprising:

[0007] A feeding belt is controlled to transport the bobbin carrier along a first direction, and the feeding belt has at least one bobbin working station;

[0008] a return belt, located on one side of the feed belt along the second direction, and controlled to transport the bobbin carrier back along the third direction;

[0009] The first transfer mechanism is located on the same side of the feed belt and the return belt along the third direction, and is controlled to transfer the bobbin carrier from the return belt to the feed belt;

[0010] A second transfer mechanism is located on the same side of the feed belt and the return belt away from the first transfer mechanism along the first direction, and is controlled to transfer the bobbin carrier from the feed belt to the return belt;

[0011] The first direction is opposite to the third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

[0012] In one embodiment, the feeding belt further has a waiting station, which is located upstream of the bobbin working station along the first direction.

[0013] In one embodiment, the return belt does not have a bobbin working station.

[0014] In one embodiment, the circulating transport device further comprises a first pushing device, the first pushing device being used to push the bobbin carrier on the bobbin working station at the end of the feeding belt to the second transfer mechanism;

[0015] The first pushing device is capable of pushing at least two bobbin carriers simultaneously.

[0016] In one embodiment, the first pushing device is located between the feed belt and the return belt along the second direction.

[0017] In one embodiment, the return belt is formed with a first avoidance gap for avoiding the first pushing device.

[0018] In one embodiment, the first transfer mechanism has a splicing station at one end close to the return belt, and the splicing station can receive the bobbin from an external device.

[0019] In one embodiment, the return belt is formed with a second avoidance gap for avoiding external devices.

[0020] In one embodiment, the splicing station can only accommodate one bobbin carrier.

[0021] In one embodiment, the return belt comprises at least two sections of return belts and at least one guide mechanism, wherein the at least two sections of return belts are arranged in sequence along a third direction, and each guide mechanism is connected between two adjacent sections of the return belts to guide the bobbin carrier from one section of the return belts to the other section of the return belts;

[0022] Any sub-return material belt is located on one side of an adjacent sub-return material belt along the second direction, so as to form an avoidance gap on the side of at least one sub-return material belt close to the other sub-return material belt along the second direction.

[0023] In one embodiment, the guide mechanism includes two guide members arranged opposite to each other, a guide channel is formed between the two guide members, and the guide channel is arranged obliquely relative to the sub-return belt.

[0024] In one embodiment, the second transfer mechanism has at least one bobbin working station.

[0025] In one embodiment, the bobbin working station of the second transfer mechanism is arranged close to the feeding belt; and / or

[0026] The bobbin working station of the second transfer mechanism is arranged close to the return belt.

[0027] In one embodiment, the second transfer mechanism includes a first turnover circulation mechanism and a first supporting member, wherein the first turnover circulation mechanism has a first transfer station at one end close to the feed belt and a first pushing station at one end close to the return belt;

[0028] The first supporting member is arranged on the first turnover circulation mechanism and is used to support at least two bobbin carriers. The first turnover circulation mechanism is controlled to drive the first supporting member to perform a turnover action to circulate between the first transfer station and the first pushing station.

[0029] In one embodiment, the first transfer mechanism includes a second turnover circulation mechanism and a second supporting member, the second turnover circulation mechanism has a second transfer station at one end close to the return belt, and has a second pushing station at one end close to the feed belt;

[0030] The second supporting member is arranged on the second turnover circulation mechanism for supporting at least one bobbin carrier. The second turnover circulation mechanism is controlled to drive the second supporting member to perform a turnover action to circulate between the second transfer station and the second pushing station.

[0031] Another aspect of the present application provides a yarn throwing robot comprising the above-mentioned circulating transport device.

[0032] The above-mentioned circulating transport device and yarn throwing robot can perform corresponding work on the bobbin during feeding by setting a feeding belt, and can quickly return the empty bobbin carrier through the return belt, and the first transfer mechanism and the second transfer mechanism can transfer the bobbin carrier at the end of the feeding belt and the end of the return belt to control the transportation speed of the feeding belt and the return belt. Therefore, the circulating transport device and yarn throwing robot of the present application have a compact structure and have high efficiency in processing the bobbin. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Schematic diagram of the three-dimensional structure of a yarn throwing robot in one embodiment of the present application;

[0034] Figure 2 for Figure 1 The schematic structural diagram of the circulating transport device in the yarn throwing robot shown;

[0035] Figure 3 for Figure 2 A schematic structural diagram of the circulating transport device from another perspective is shown;

[0036] Figure 4 for Figure 2 A schematic diagram of the top view of the circulating transport device shown;

[0037] Figure 5 Schematic diagram of the three-dimensional structure of the first supporting member in one embodiment of the present application. DETAILED DESCRIPTION

[0038] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the relevant listed items.

[0040] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and 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 specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0042] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0043] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0044] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0045] In addition, the drawings are not drawn to a 1:1 scale, and the relative sizes of the elements in the drawings are drawn only as examples and not necessarily according to the true scale.

[0046] Figure 1 A schematic diagram of the three-dimensional structure of a yarn throwing robot in one embodiment of the present application is shown; Figure 1 For ease of description, the accompanying drawings only show structures related to the embodiments of the present invention.

[0047] See attached Figure 1 In one embodiment of the present application, a circulating transport device 100 is provided for circulating a bobbin carrier 200. The circulating transport device 100 includes a feed belt 10, a return belt 20, a first transfer mechanism 30, and a second transfer mechanism 40. The circulating transport device 100 of the present application is applied to a yarn throwing robot 400.

[0048] The feed belt 10 is controlled to transport the bobbin carrier 200 along the first direction, the return belt 20 is located on one side of the feed belt along the second direction, and is controlled to transport the bobbin carrier 200 back along the third direction. The first transfer mechanism 30 is located on one side of the feed belt 10 and the return belt 20 along the third direction, and is controlled to transport the bobbin carrier from the return belt 20 to the feed belt 10. The second transfer mechanism 40 is located on the same side of the feed belt 10 and the return belt 20 away from the first rotating mechanism 30 along the first direction, and is controlled to transport the bobbin carrier from the feed belt 10 to the return belt 20. The first direction is opposite to the third direction, and the first direction and the third direction are perpendicular to the second direction. Specifically, the first direction is Figure 4 The horizontal right direction shown, the third direction is Figure 4 The horizontal left direction shown, the second direction is Figure 4 Vertical orientation shown.

[0049] In the embodiment of the present application, the feed belt 10 has at least one bobbin working station. It can be understood that the bobbin working station refers to a station that performs specific work on the bobbin 300. Specifically, in the embodiment of the present application, the feed belt 10 has at least a scraping station 101, which is used to scrape the surface of the bobbin 300 to find the thread ends of the bobbin 300. Furthermore, the feed belt 10 also has an air blowing station 102, which is used to blow air on the surface of the bobbin 300 to remove stray threads on the surface of the bobbin 300 and blow away the thread ends. The air blowing station 102 is located upstream of the scraping station 101 along the first direction.

[0050] In this way, by setting up the feeding belt 10, corresponding work can be performed on the cop yarn 300 during feeding, and the empty cop yarn carrier 200 can be quickly returned through the return belt 20, and the first transfer mechanism 30 and the second transfer mechanism 40 can transfer the cop yarn carrier 200 at the end of the feeding belt 10 and the end of the return belt 20 to control the transportation speed of the feeding belt 10 and the return belt 20. Therefore, the circulating transport device 100 of the present application has a compact structure and has high efficiency in processing the cop yarn 300.

[0051] In some embodiments, the feeder belt 10 further includes a waiting station 103, located upstream of the bobbin working station along the first direction. The provision of the waiting station 103 increases the carrying capacity of the feeder belt 10, accelerating the bobbin 300 processing process and improving work efficiency. Specifically, in the embodiments of the present application, the waiting station 103 of the feeder belt 10 can accommodate at least two bobbin carriers 200, and more specifically, five bobbin carriers 200.

[0052] In some embodiments, the return belt 30 does not have a bobbin working station, so that the return speed of the return belt 30 can be accelerated, thereby improving work efficiency.

[0053] In some embodiments, the endless transport device 100 further includes a first pushing device 50, which is used to push the bobbin carrier 200 located at the bobbin working station at the end of the feed belt 10 onto the second transfer mechanism 40. The first pushing device 50 can simultaneously push at least two bobbin carriers 200. Thus, the provision of the first pushing device 50 further increases the conveying speed and improves work efficiency in addition to the belt conveyor.

[0054] Specifically, the first pushing device 50 can push all the bobbin carriers 200 on at least two bobbin working stations. For example, the first pushing device 50 can push all the bobbin carriers 200 on the blowing station 102 and the thread scraping station 101, so as to push all the bobbin carriers 200 on the blowing station 102 to the thread hanging station 101, and push all the bobbin carriers 200 on the thread scraping station 101 to the second transfer mechanism 40. In the embodiment of the present application, the number of bobbin carriers 200 on each bobbin working station is the same, specifically at least two, preferably three.

[0055] In practical applications, the first pushing device 50 can only push the frontmost bobbin carrier 200, so that all the rear bobbin carriers 200 can be pushed. Specifically, the first pushing device 50 can only push the bobbin carrier 200 located most upstream of the blowing station 102 along the first direction.

[0056] like Figure 3 As shown, in the embodiment of the present application, the first pushing device 50 includes a first pushing drive member 51, a first telescopic drive member 52 and a first connecting member 53. The telescopic end of the first telescopic drive member 52 is connected to the first connecting member 53, and is used to provide the first connecting member 53 with a driving force to extend or retract along the second direction. The first connecting member 53 can be connected to the tube yarn carrier 200 when extended, and can be separated from the tube yarn carrier 200 when retracted. The first pushing drive member 51 is used to push the first telescopic drive member 52 and the first connecting member 53 to push along the first direction or reset along the third direction.

[0057] Specifically, the first connecting member 53 includes a fork portion 531 having a fork groove capable of accommodating at least one bobbin carrier 200. Specifically in the embodiment of the present application, the fork portion 531 has a plurality of fork grooves, each fork groove correspondingly accommodating one bobbin carrier 200.

[0058] In some embodiments, the first pushing device 50 further includes a first base 54 , and the first base 54 is used to support the first pushing driving member 51 , the first telescopic driving member 52 and the first connecting member 53 .

[0059] In some embodiments, the first pushing device 50 is located between the feed belt 10 and the return belt 20 along the second direction. Because the feed belt 10 includes a bobbin workstation and the associated equipment is typically complex, it is located on the side of the feed belt 10 away from the return belt 20 along the second direction. To avoid positional interference with the associated equipment, the first pushing device 50 is positioned between the feed belt 10 and the return belt 20. Furthermore, the first pushing device 50 occupies a small space, thus maintaining the compactness of the structure between the feed belt 10 and the return belt 20.

[0060] like Figure 4 As shown, the return belt 20 is further formed with a first avoidance gap 21 for avoiding the first pushing device 50. The main function of the first pushing device 50 is to push the multiple bobbin carriers 200 on the feed belt 20 to the second transfer mechanism 40. Therefore, it should be arranged close to the end of the feed belt 20. Therefore, in order to further make the feed belt 10 and the return belt 20 compact, the first avoidance gap 21 is provided. This allows the feed belt 10 and the return belt 20 to be arranged as close to the first pushing device 50 as possible without affecting the placement of the first pushing device 50.

[0061] Please refer again Figure 2 and Figure 4 In some embodiments, the return belt 20 includes at least two sections of return belts 22 and at least one guide mechanism 23. The at least two sections of return belts 22 are arranged sequentially along the third direction. Each guide mechanism 23 is connected between two adjacent sections of the return belts 22 to guide the bobbin carrier 200 from one section of the return belt 22 to the other section of the return belt 22. Any sub-return belt 22 is located on one side of an adjacent sub-return belt 22 along the second direction, so that an escape gap 21 is formed on the side of at least one sub-return belt 22 that is adjacent to the other sub-return belt along the second direction. Dividing the return belt 20 into multiple sub-return belts 22 and connecting two adjacent sub-return belts 22 using the guide mechanism 23 to form the escape gap 21 is simple and has a simple structure.

[0062] Specifically, the guide mechanism 23 includes two opposing guide members 231, forming a guide channel 232 between the two guide members 231. The guide channel 232 is tilted relative to the sub-return belt 22. More specifically, each guide member 231 has a guide surface forming the guide channel 232. The guide surface is tilted relative to the sub-return belt 22, specifically, at a 45-degree angle. The tilted guide channel can reduce the distance between adjacent sub-return belts 22, making the overall structure of the return belt 20 more compact.

[0063] It should also be noted that the guide mechanism 23 has an overlapping portion in the vertical direction with the corresponding two adjacent sub-return belts 22. In this way, the bobbin carrier 200 can be automatically guided by the guide mechanism 23 under the driving force of the sub-return belts 22 without the need for an additional guide drive.

[0064] In the embodiment of the present application, not only a first avoidance gap 21 for avoiding the first pushing device 50 is formed between two adjacent sub-return belts 22, but also a second avoidance gap 24 independently set from the first avoidance gap 21 is formed. The second avoidance gap 24 is used to avoid the lifting device, which will be described in detail later.

[0065] In some embodiments, the second transfer mechanism 40 has at least one bobbin working station. This allows the second transfer mechanism 40 to not simply transfer the bobbin carrier 200 from the feed belt 10 to the return belt 20, thereby fully utilizing the space of the second transfer mechanism 40 and making the structure of the endless transport device 100 more compact.

[0066] Specifically, the second transfer mechanism 40 has a bobbin working station at one end close to the feed belt 10. Specifically, the second transfer mechanism 40 has a thread end acquisition station 401 at one end close to the feed belt 10. The thread end acquisition station 401 is used to acquire the thread end of the bobbin 300 and remove the tail yarn. Specifically, the thread end of the bobbin 300 can be sucked by suction.

[0067] Specifically, the second transfer mechanism 40 has a bobbin working station at one end close to the return belt 20. Specifically, the second transfer mechanism 40 has a delivery station 402 at one end close to the return belt 20, which is used to grab the bobbin 300 for delivery, for example, into the yarn storage of the winding machine.

[0068] In other embodiments, the second transfer mechanism 40 may have bobbin working stations at both the end close to the feed belt 10 and the end close to the return belt 20 .

[0069] In an embodiment of the present application, the second transfer mechanism 40 includes a first flipping circulation mechanism 41 and a first supporting member 42. The first flipping circulation mechanism 41 has a first transfer station at one end close to the feed belt 10, and has a first pushing station at one end close to the return belt 20. The first supporting member 42 is arranged on the first flipping circulation mechanism 41 and is used to support at least two tube yarn carriers 200. The first flipping circulation mechanism 41 is controlled to drive the first supporting member 42 to perform a flipping action to circulate between the first transfer station and the first pushing station.

[0070] It should be noted that the first transfer station is used to transfer the bobbin carrier 200 on the feed belt 10 to the second transfer mechanism 40, and the first pushing station is used to push the bobbin carrier 200 on the second transfer mechanism 40 to the return belt 20. Specifically, the first transfer station overlaps with the thread end acquisition station 401, and the first pushing station overlaps with the delivery station 402.

[0071] By arranging the second transfer mechanism 40 to move in a flipping manner, the space of the second transfer mechanism 40 can be further saved, and the use of the first supporting member 42 can support more bobbin carriers 20, thereby improving the transfer efficiency.

[0072] In some embodiments, the second transfer mechanism 40 further includes a second pushing device 43, which is used to push the bobbin carrier 200 on the first pushing station onto the return belt 20. Specifically, the second pushing device 43 includes a second pushing cylinder.

[0073] In some embodiments, the first transfer mechanism 30 has a splicing station 301 at one end near the return conveyor 20. This splicing station 301 is capable of receiving bobbins 300 from an external device. Specifically, the external device is a lifting device. Placing the splicing station 301 on the first transfer mechanism 30, rather than on the return conveyor 20 or feed conveyor 10, allows for smoother transport of the return conveyor 20 and feed conveyor 10, eliminating the need to wait for material to arrive from an external device.

[0074] Specifically, the receiving station 301 can only accommodate one bobbin carrier 200. With only one bobbin carrier 200, the first transfer mechanism 30 can transfer a bobbin 300 immediately after receiving it, without having to wait for multiple bobbins 300 to arrive. This speeds up the transfer process and helps the feed belt 10 to handle multiple bobbins 300 simultaneously.

[0075] More specifically, the first transfer mechanism 30 includes a second flipping circulation mechanism 31 and a second supporting member 32. The second flipping circulation mechanism 31 has a second transfer station at one end close to the return belt 20, and has a second pushing station at one end close to the feed belt 10. The second supporting member 32 is arranged on the second flipping circulation mechanism 31 and is used to support at least one tube yarn carrier 200. The second flipping circulation mechanism 31 is controlled to drive the second supporting member 32 to flip so as to circulate between the second transfer station and the second pushing station.

[0076] It should be noted that the second transfer station is used to transfer the bobbin carrier 200 on the return belt 20 to the first transfer mechanism 30, and the second pushing station is used to push the bobbin carrier 200 on the first transfer mechanism 30 to the feed belt 10. Specifically, the second transfer station overlaps with 301.

[0077] In some embodiments, the first transfer mechanism 30 further includes a third pushing device 33, which is used to push the bobbin carrier 200 on the second pushing station onto the feeding belt 10. Specifically, the third pushing device 33 includes a third pushing cylinder.

[0078] like Figure 5 As shown, in some embodiments, the first supporting member 42 and the second supporting member 32 both have a supporting platform 411 and a first limiting protrusion 422 arranged on both sides of the supporting platform 421 relatively along the second direction, the supporting platform 421 has a supporting surface capable of supporting the tube yarn carrier 200, and the first limiting protrusion 422 is protruded from the supporting surface to enclose the supporting surface to form a first limiting space for limiting the tube yarn carrier 200.

[0079] Please refer again Figure 2 In some embodiments, the bobbin carrier 200 includes a truncated cone base 210 and a positioning member 220. One side of the truncated cone base 210 has a supporting surface, and the positioning member 220 is protruded from the supporting surface to position the bobbin 300. Specifically, the positioning member 220 can extend into the core of the bobbin 300.

[0080] Please refer again Figure 3 In some embodiments, in order to prevent the tube yarn carrier 200 from falling during the transportation of the feeding belt 10, a second limiting protrusion 60 is further provided on both sides of the feeding belt 10 along the second direction. The second limiting protrusion 60 is protruded from the feeding surface of the feeding belt 10 to form a second feeding limiting space between the feeding surface.

[0081] Furthermore, because the feed belt 10 has a bobbin working station, to prevent the bobbin carrier 200 from lifting off the feed surface during operation on the bobbin 300, at least one of the second limiting protrusions 60 is provided with a third limiting protrusion 70 projecting toward the other second limiting protrusion 60. The third limiting protrusion 70 is positioned opposite the feed surface to enclose a third feeding limiting space with the feed surface. Specifically, each second limiting protrusion 60 has a third limiting protrusion 70.

[0082] Please refer again Figure 2 Similarly, in some embodiments, a fourth limiting protrusion 80 is provided on both sides of the return belt 20 along the second direction. The fourth limiting protrusion 80 is protruded from the return material surface of the return belt 20 to form a fourth limiting space for feeding between the fourth limiting protrusion and the return material surface.

[0083] Please refer again Figure 1 Based on the same inventive concept, the present application also provides a yarn throwing robot 400, including the above-mentioned circulating transport device 100.

[0084] Specifically, the yarn-feeding robot further includes a lifting device, an air blowing device 410, a thread scraping device, a thread end obtaining device 420, and a feeding device. The air blowing device 410, the thread scraping device, the thread end obtaining device 420, and the feeding device correspond to the air blowing station 102, the thread scraping station 101, the thread end obtaining station 401, and the feeding station 402, respectively.

[0085] Compared with the prior art, the circulating transport device 100 and the yarn throwing robot 400 provided in the embodiment of the present application have the following beneficial effects:

[0086] By setting up the feeding belt 10, corresponding work can be performed on the cop yarn 300 during feeding, and the empty cop yarn carrier 200 can be quickly returned through the return belt 20, and the first transfer mechanism 30 and the second transfer mechanism 40 can transfer the cop yarn carrier 200 at the end of the feeding belt 10 and the end of the return belt 20 to control the transportation speed of the feeding belt 10 and the return belt 20. Therefore, the circulating transport device 100 of the present application has a compact structure and high efficiency in processing the cop yarn 300.

[0087] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0088] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the scope of the present invention, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A circulating transport device for circulating a bobbin carrier, characterized in that: The circulating transport device comprises: A feeding belt, controlled to transport the bobbin carrier along a first direction, wherein the feeding belt has at least one bobbin working station; a return belt, located at one side of the feed belt along the second direction, and controlled to transport the bobbin carrier back along the third direction; a first transfer mechanism, located on the same side of the feed belt and the return belt along the third direction, and controlled to transfer the bobbin carrier from the return belt to the feed belt; the first transfer mechanism has a splicing station at one end close to the return belt, the splicing station being capable of receiving the bobbin from an external device; a second transfer mechanism, located along the first direction on the same side of the feed belt and the return belt away from the first transfer mechanism, and controlled to transfer the bobbin carrier from the feed belt to the return belt; a first pushing device, located between the feed belt and the return belt along the second direction, for pushing the bobbin carrier on the bobbin working station at the end of the feed belt to the second transfer mechanism; wherein the first pushing device is capable of pushing at least two bobbin carriers simultaneously; the return belt is formed with a first avoidance gap for avoiding the first pushing device; and the return belt is formed with a second avoidance gap for avoiding the external device; The first direction is opposite to the third direction, and both the first direction and the third direction are perpendicular to the second direction.

2. The circulating transport device according to claim 1, characterized in that: The feeding belt further has a waiting station, which is located upstream of the bobbin working station along the first direction.

3. The circulating transport device according to claim 1, characterized in that: The return material belt does not have the bobbin working station.

4. The circulating transport device according to claim 1, characterized in that: The splicing station can only hold one bobbin carrier.

5. The circulating transport device according to claim 1, characterized in that: The return belt comprises at least two sections of sub-return belts and at least one guide mechanism, wherein the at least two sections of the sub-return belts are sequentially arranged along the third direction, and each guide mechanism is connected between two adjacent sections of the sub-return belts to guide the bobbin carrier from one of the sub-return belts to the other sub-return belt; Any of the sub-return material belts is located on one side of an adjacent sub-return material belt along the second direction, so as to form an avoidance gap on the side of at least one of the sub-return material belts close to the other sub-return material belt along the second direction.

6. The circulating transport device according to claim 5, characterized in that: The guide mechanism includes two guide members arranged opposite to each other, a guide channel is formed between the two guide members, and the guide channel is arranged obliquely relative to the sub-return belt.

7. The circulating transport device according to claim 1, characterized in that: The second transfer mechanism has at least one bobbin working station.

8. The circulating transport device according to claim 7, characterized in that: The bobbin working station of the second transfer mechanism is arranged close to the feeding belt; and / or The bobbin working station of the second transfer mechanism is arranged close to the return belt.

9. The circulating transport device according to claim 1, characterized in that: The second transfer mechanism includes a first turnover circulation mechanism and a first supporting member. The first turnover circulation mechanism has a first transfer station at one end close to the feeding belt and a first pushing station at one end close to the returning belt. The first supporting member is provided on the first turnover circulation mechanism and is used to support at least two of the bobbin carriers. The first turnover circulation mechanism is controlled to drive the first supporting member to perform a turnover action to circulate between the first transfer station and the first pushing station.

10. The circulating transport device according to claim 1, characterized in that: The first transfer mechanism includes a second turnover circulation mechanism and a second supporting member, wherein the second turnover circulation mechanism has a second transfer station at one end close to the return belt and a second pushing station at one end close to the feed belt; The second supporting member is provided on the second turnover circulation mechanism for supporting at least one of the bobbin carriers. The second turnover circulation mechanism is controlled to drive the second supporting member to perform a turnover action to circulate between the second transfer station and the second pushing station.

11. A yarn throwing robot, characterized in that: A circulating transport device comprising the circulating transport device according to any one of claims 1 to 10.

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