Brush head finding device, brush head finding method and yarn feeding robot

Abstract

The present application relates to a brush head-finding device, a brush head-finding method and a yarn feeding robot. The brush head-finding device includes a brush; a first rotating mechanism capable of being connected to the rotating shaft of the brush and used for providing a driving force for the brush to make a rotating motion; a second rotating mechanism arranged on one side of the first rotating mechanism and capable of being connected to the rotating shaft of the cheese and used for providing a driving force for the cheese to make a rotating motion; and a moving mechanism capable of being connected to the brush or the cheese and used for providing a driving force for relative movement between the brush and the cheese. Wherein, during the movement of the brush or the cheese, there are a head-finding position and a retracting position. When the brush or the cheese is at the head-finding position, the brush is in contact with the cheese. When the brush and the cheese are at the retracting position, the brush is separated from the cheese. By providing the brush, the yarn on the surface of the cheese can be easily attached to the brush, and since the end of the yarn can be wound around the brush in a loop, the end of the yarn is not easily dropped from the brush, overall improving the success rate of head-finding.

Description

Technical Field

[0001] The present application relates to the technical field of textile machinery, and particularly to a brush head-finding device, a brush head-finding method and a yarn-feeding 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 tube yarns, extracting yarn ends, and putting them into the yarn storage every day, resulting in low efficiency. Therefore, in order to improve production efficiency, automated winding workshops have emerged.

[0003] In the automated process of extracting yarn ends, it is usually necessary to suck the yarn ends on the surface of the tube yarn by negative pressure. In order to ensure sufficient suction, the head of the suction device usually needs to be made narrow, which makes it difficult for the yarn ends of the tube yarn to be sucked into the head, resulting in a low success rate of head finding. Summary of the Invention

[0004] Based on this, in view of the problem that in the existing method of sucking the yarn ends on the surface of the tube yarn by negative pressure, the yarn ends are not easily sucked into the head, resulting in a low success rate of head finding, it is necessary to provide a brush head-finding device, a brush head-finding method and a yarn-feeding robot that can improve the success rate of head finding.

[0005] The present application provides a brush head-finding device for finding the yarn ends of a tube yarn. The brush head-finding device includes:

[0006] A brush;

[0007] A first rotating mechanism capable of being connected to the rotating shaft of the brush for providing a driving force for the brush to perform a rotating motion;

[0008] A second rotating mechanism provided on one side of the first rotating mechanism and capable of being connected to the rotating shaft of the tube yarn for providing a driving force for the tube yarn to perform a rotating motion; and

[0009] A moving mechanism capable of being connected to the brush or the tube yarn for providing a driving force for the relative movement between the brush and the tube yarn;

[0010] Wherein, during the movement of the brush or the tube yarn, there are a head-finding position and a retracting position. When the brush or the tube yarn is located at the head-finding position, the brush is in contact with the tube yarn. When the brush and the tube yarn are located at the retracting position, the brush is separated from the tube yarn.

[0011] In one embodiment, when the first rotating mechanism is located at the head-finding position, the first rotating mechanism can drive the brush to perform a rotating motion in the first direction, and the second rotating mechanism can drive the tube yarn to perform a rotating motion in the first direction;

[0012] Among them, the first direction of the through groove is the yarn unwinding direction of the through groove tube yarn.

[0013] In one embodiment, when the first rotating mechanism of the through groove is at the through groove head-finding position, the first rotating mechanism of the through groove can drive the through groove brush to rotate along the first direction of the through groove, and the second rotating mechanism of the through groove can drive the through groove tube yarn to rotate along the second direction;

[0014] Among them, the second direction of the through groove is the yarn winding direction of the through groove tube yarn.

[0015] In one embodiment, the through groove brush head-finding device further includes a pressing mechanism and a detection component;

[0016] The through groove pressing mechanism is connected to the first rotating mechanism of the through groove, and is used to provide the driving force for the first rotating mechanism of the through groove to switch between a first position connected to the rotating shaft of the through groove brush and a second position separated from the rotating shaft of the through groove brush;

[0017] The through groove detection component is arranged close to the through groove brush. When the through groove brush or the tube yarn moves from the through groove head-finding position to the through groove retreat position, and the first rotating mechanism of the through groove is at the second position of the through groove, the through groove detection component is used to detect the rotation state of the through groove brush; or

[0018] The through groove pressing mechanism is connected to the second rotating mechanism of the through groove, and is used to provide the driving force for the second rotating mechanism of the through groove to switch between a third position connected to the rotating shaft of the through groove tube yarn and a fourth position separated from the rotating shaft of the through groove tube yarn;

[0019] The through groove detection component is arranged close to the through groove tube yarn. When the through groove brush or the tube yarn moves from the through groove head-finding position to the through groove retreat position, and the second rotating mechanism of the through groove is at the fourth position of the through groove, the through groove detection component is used to detect the rotation state of the through groove tube yarn.

[0020] In one embodiment, the through groove detection component includes a detector and a detection piece;

[0021] When the through groove pressing mechanism is connected to the first rotating mechanism of the through groove, the through groove detection piece is installed on the rotating shaft of the through groove brush, the through groove detector is arranged axially along the rotating shaft of the through groove brush opposite to the through groove detection piece, and the through groove detection piece is provided with a through groove and a blocking portion circumferentially along the rotating shaft of the through groove brush;

[0022] When the through groove pressing mechanism is connected to the second rotating mechanism of the through groove, the through groove detection piece is installed on the rotating shaft of the through groove tube yarn, the through groove detector is arranged axially along the rotating shaft of the through groove tube yarn opposite to the through groove detection piece, and the through groove detection piece is provided with a through groove and a blocking portion circumferentially along the rotating shaft of the through groove tube yarn;

[0023] The through-slot detector can send a detection signal to the through-slot detection component. When there is a through-slot blocking part on the transmission path of the through-slot detection signal, the through-slot detector can output a first detection signal. When there is a through-slot on the transmission path of the through-slot detection signal, the through-slot detector can output a second detection signal.

[0024] In one embodiment, the through-slot detector includes a reflective sensor.

[0025] In one embodiment, the through-slot brush head-finding device further includes a first moving seat and an elastic member. The through-slot brush or the through-slot tube yarn is installed on the first moving seat of the through-slot, and the through-slot elastic member is arranged between the through-slot moving mechanism and the first moving seat.

[0026] In one embodiment, the through-slot brush head-finding device further includes a second moving seat connected to the through-slot moving mechanism. The second moving seat of the through-slot has a second connecting plate and a third connecting plate oppositely arranged along the moving direction of the through-slot brush or the through-slot tube yarn. At least part of the first moving seat of the through-slot is arranged between the second connecting plate and the third connecting plate of the through-slot, and the through-slot elastic member is arranged between the second connecting plate and the first moving seat of the through-slot;

[0027] The through-slot moving mechanism can drive the second connecting plate of the through-slot to move towards the first moving seat of the through-slot, so that the through-slot elastic member is compressed to drive the first moving seat of the through-slot to move, causing the through-slot brush or the through-slot tube yarn to move to the through-slot head-finding position;

[0028] The through-slot moving mechanism can drive the second connecting plate of the through-slot to move away from the first moving seat of the through-slot, so that the third connecting plate of the through-slot abuts against the first moving seat of the through-slot to drive the first moving seat of the through-slot to move, causing the through-slot brush or the through-slot tube yarn to move to the through-slot retracting position.

[0029] On the other hand, the present application also provides a method for finding the head of a brush, which is used to find the end of the tube yarn. The method for finding the head of the through-slot brush includes the steps:

[0030] 1) Provide a brush;

[0031] 2) Move the through-slot brush or the through-slot tube yarn so that the through-slot brush is in contact with the through-slot tube yarn;

[0032] 3) Drive the through-slot brush to rotate around its rotating shaft and drive the through-slot tube yarn to rotate around its rotating shaft;

[0033] 4) Move the through-slot brush or the through-slot tube yarn so that the through-slot brush is separated from the through-slot tube yarn.

[0034] In one embodiment, step 3) specifically includes the steps:

[0035] Drive the through-groove brush to rotate in the first direction, and drive the through-groove tube yarn to rotate in the first direction of the through-groove; wherein, the first direction of the through-groove is the yarn unwinding direction of the through-groove tube yarn.

[0036] In one embodiment, before the through-groove step of driving the through-groove brush to rotate in the first direction and driving the through-groove tube yarn to rotate in the first direction of the through-groove, the following steps are further included:

[0037] Drive the through-groove brush to rotate in the first direction, and drive the through-groove tube yarn to rotate in the second direction of the through-groove; wherein, the second direction of the through-groove is the yarn winding direction of the through-groove tube yarn.

[0038] In one embodiment, during the through-groove step 4), the following steps are further included:

[0039] Cancel the driving force for rotating the through-groove brush or the through-groove tube yarn, so that the through-groove brush or the through-groove tube yarn is in a free state;

[0040] Detect the rotation state of the through-groove brush or the through-groove tube yarn.

[0041] In one embodiment, when it is detected that the through-groove brush or the through-groove tube yarn does not rotate, repeat the through-groove steps 1) to 4).

[0042] In another aspect of the present application, a yarn-throwing robot is further provided, including the above-mentioned brush head-finding device.

[0043] For the above-mentioned brush head-finding device, brush head-finding method and yarn-throwing robot, by setting the brush, the yarn on the surface of the tube yarn can be easily attached to the brush, and since the thread end can be wound around the brush in a loop, the thread end is not easily dropped from the brush, so the success rate of head-finding is improved as a whole. Description of the Drawings

[0044] Figure 1 is a schematic three-dimensional structure diagram of the brush head-finding device in an embodiment of the present application;

[0045] Figure 2 is Figure 1 a schematic cross-sectional structure diagram of the brush head-finding device shown;

[0046] Figure 3 is Figure 1 a schematic enlarged structure diagram of a part of the brush head-finding device shown;

[0047] Figure 4 is Figure 1 a schematic enlarged structure diagram of another part of the brush head-finding device shown;

[0048] Figure 5 is Figure 1Schematic diagram of the three-dimensional structure of another perspective of the brush head finding device shown;

[0049] Figure 6 It is a flowchart of the steps of the brush head finding method in an embodiment of the present application. Detailed implementation manners

[0050] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein. Those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the description of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0052] In the description of this application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this 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 thus cannot be understood as a limitation of this application.

[0053] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0054] In this application, unless otherwise clearly defined and limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0055] In this application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0056] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0057] In addition, the drawings are not drawn to a 1:1 scale, and the relative sizes of the components are only drawn by way of example in the drawings and not necessarily to the true scale.

[0058] Figure 1 The perspective structural schematic diagram of the brush head finding device in an embodiment of the present application is shown. For ease of description, the drawings only show the structures related to the embodiments of the present application.

[0059] Referring to the drawings, an embodiment of the present application provides a brush head finding device 100 for finding the thread end of a cheese 200. The brush head finding device 100 includes a brush 10, a first rotating mechanism 20, a second rotating mechanism 30, and a moving mechanism 40. The brush head finding device 100 of the present application can be applied to a yarn throwing robot 300. Specifically, the brush head finding device 100 can be used for the thread end acquisition station of the yarn throwing robot 300.

[0060] The first rotating mechanism 20 can be connected to the rotating shaft 11 of the brush 10 and is used to provide the driving force for the brush 10 to rotate. The second rotating mechanism 30 is arranged on one side of the first rotating mechanism 20 and can be connected to the rotating shaft 210 of the cheese 200, and is used to provide the driving force for the cheese 200 to rotate.

[0061] The moving mechanism 40 can be connected to the brush 10 or the cheese 200 and is used to provide the driving force for the relative movement between the brush 10 and the cheese 200. Specifically, the moving mechanism 40 can provide the driving force for the relative movement between the brush 10 and the cheese 200 along the direction perpendicular to the rotating shaft 11 of the brush 10 or the rotating shaft 210 of the cheese 200, so as to make the two approach or separate from each other. In the embodiment of the present application, the moving mechanism 40 is connected to the brush 10, and the position of the cheese 200 is fixed.

[0062] Wherein, during the movement of the brush 10 or the cheese 200, it includes a head-finding position and a retracting position. When the brush 10 or the cheese 200 is at the head-finding position, the brush 10 is in contact with the cheese 200. When the brush 10 or the cheese 200 is at the retracting position, the brush 10 is separated from the cheese 10.

[0063] Specifically, the brush 10 is cylindrical, and the bristles are uniformly arranged along the circumferential direction of the brush 10. In order to make the contact area between the brush 10 and the cheese 200 larger, in some embodiments, the outer contour shape of the brush 10 is adapted to the outer contour shape of the cheese 200. Specifically, in the embodiment of the present application, the brush 10 is cylindrical.

[0064] In practical applications, when the brush 10 or the cheese 200 is moved to the head-finding position, the brush 10 is brought into contact with the cheese 20, and the brush 10 is driven to rotate and the cheese 200 is driven to rotate. In this way, the thread on the surface of the cheese 200 can be wound around the brush 10 in a loop during the rotation of each other. Then, when the brush 10 or the cheese 200 is moved to the separation position, the thread can be separated from the surface of the cheese 20 along with the brush 10, thereby completing the head-finding work.

[0065] In the brush head-finding device 100 of the present application, by arranging the brush 10, the yarn on the surface of the cheese 200 can be easily attached to the brush 10. And because the thread can be wound around the brush 10 in a loop, the thread is not easy to fall off from the brush 10. Therefore, the success rate of head-finding is improved as a whole.

[0066] In the embodiment of the present application, the rotating shaft 11 of the brush 10 is parallel to the rotating shaft 210 of the cheese 200. In this way, the entire outer surface of the brush 10 can be evenly in contact with the outer surface of the cheese 200 during rotation, improving the head-finding efficiency.

[0067] In order to further quickly wind the end of the yarn around the brush 10, when the brush 10 or the cheese 200 is in the yarn-finding position, the first rotating mechanism 20 can drive the brush 10 to rotate in the first direction, and the second rotating mechanism 30 can drive the cheese 200 to rotate in the first direction as well, where the first direction is the unwinding direction of the cheese 200.

[0068] Furthermore, considering that the yarn on the surface of the cheese 200 may be rewound or tangled, when the brush 10 or the cheese 200 is in the yarn-finding position, the first rotating mechanism 20 can be set to drive the brush 10 to rotate in the first direction, and the second rotating mechanism 30 can drive the cheese 200 to rotate in the second direction, where the second direction is the winding direction of the cheese 200. In this way, the yarn on the surface of the cheese 200 can be smoothed out, thus ensuring the smooth progress of the subsequent winding work.

[0069] Specifically, the brush yarn-finding device 100 further includes a first moving seat 50. The brush 10 or the cheese 200 is installed on the first moving seat 50. The moving mechanism 40 is connected to the first moving seat 50 and is used to provide the driving force for the movement of the first moving seat 50, thereby indirectly driving the relative movement between the brush 10 and the cheese 200. In the embodiment of the present application, the brush 10 is installed on the first moving seat 50.

[0070] Furthermore, the first rotating mechanism 20 or the second rotating mechanism 30 is also installed on the first moving seat 50. In this way, it follows the movement of the brush 10 or the cheese 200 to drive the brush 10 or the cheese 200 to rotate at any time. In the embodiment of the present application, the first rotating mechanism 20 is installed on the first moving seat 50, and the first rotating mechanism 20 is located above the brush 10 in the vertical direction.

[0071] Specifically, the first moving seat 50 includes a first support frame 51. The first support frame 51 has a receiving space 511. The brush 10 or the cheese 200 is placed in the receiving space 511, and both ends of the rotating shaft 11 of the brush 10 or the rotating shaft 210 of the cheese 200 are rotatably connected to the opposite sides of the first support frame 51. Further, one end of the rotating shaft 11 of the brush 10 or the rotating shaft 210 of the cheese 200 penetrates through the first support frame 51 to be connected to the first rotating mechanism 20 or the second rotating mechanism 30. By providing the first support frame 51, the brush 10 or the cheese 200 can be reliably supported to enable the reliable rotation of the brush 10 or the cheese 200. In addition, the receiving space 511 can also protect the brush 10 or the cheese 200.

[0072] In an embodiment of the present application, the moving mechanism 40 can move multiple brushes 10 or multiple yarn cops 200 simultaneously. Therefore, there are also multiple first support frames 51, and each first support frame 51 is connected to a corresponding brush 10 or a yarn cop 200. Specifically, in the embodiment of the present application, the moving mechanism 40 can drive three brushes 10 to move simultaneously. It can be understood that multiple brushes 10 can correspond to multiple yarn cops 200 one by one to find the thread ends of multiple yarn cops 200 simultaneously.

[0073] Furthermore, the first moving seat 50 further includes a first connecting plate 52. The first connecting plate 52 is disposed on one side of the first support frame 51 and is connected to multiple first support frames 51. The moving mechanism 40 is connected to the first moving seat 50. Specifically, the first rotating mechanism 20 or the second rotating mechanism 30 is installed on the first connecting plate 52.

[0074] As Figure 2 shown, in some embodiments, the brush end-finding device 100 further includes an elastic member 55. The brush 10 or the yarn cop 200 is installed on the moving seat 10, and the elastic member 55 is disposed between the moving mechanism 40 and the first moving seat 50. By providing the elastic member 55, during the process of the moving mechanism 40 driving the brush 10 or the yarn cop 200 to move, a certain elasticity can be provided for the brush 10 or the yarn cop 200, so as to ensure the fit between the yarn cop 200 and the brush 10 under the condition of yarn cops 200 with different outer diameters.

[0075] Furthermore, the brush end-finding device 100 further includes a second moving seat 58 connected to the moving mechanism 40. The second moving seat 58 has a second connecting plate 581 and a third connecting plate 582 disposed opposite to each other along the moving direction of the brush 10 or the yarn cop 200. At least a part of the first moving seat 50 is disposed between the second connecting plate 581 and the third connecting plate 582, and the elastic member 55 is disposed between the second connecting plate 581 and the first moving seat 50.

[0076] The moving mechanism 40 can drive the second connecting plate 581 to move towards the direction close to the first moving seat 50, so that the elastic member 55 is compressed to drive the first moving seat 50 to move, causing the brush 10 or the yarn cop 200 to reach the end-finding position. The moving mechanism 40 can drive the second connecting plate 581 to move away from the first moving seat 50, so that the third connecting plate 582 abuts against the first moving seat 50 to drive the first moving seat 50 to move, causing the brush 10 or the yarn cop 200 to move to the retracted position.

[0077] In this way, by providing the opposing second connecting plate 581 and third connecting plate 582, when the brush 10 or the cheese 200 moves to the head-finding position, an elastic force can be reliably provided to the first moving seat 50, and then an elastic force can be provided to the brush 10 or the cheese 200. When the brush 10 or the cheese 200 moves to the retracting position, it rigidly abuts against the first moving seat 50, making the retracting position accurate, and further ensuring the stability of the distance between the retracting position and the head-finding position, resulting in a stable fitting effect.

[0078] Furthermore, the second moving seat 58 further includes an orientation column connected between the second connecting plate 581 and the third connecting plate 582, and the elastic member 55 is sleeved on the orientation column.

[0079] Please refer to again Figure 1 , in order to improve the stability of the movement of the first moving seat 50, in some embodiments, the brush head-finding device 100 further includes a fixed seat 60 and a guide column 64. The moving mechanism 40 is installed on the fixed seat 60, the guide column 64 is fixed to the fixed seat 60, and one end of the guide column 64 passes through the first moving seat 50 to guide the movement of the first moving seat 50.

[0080] Further, the fixed seat 60 includes a relatively arranged first fixing plate 61 and a second fixing plate 62. At least a part of the first moving seat 50 is disposed between the first fixing plate 61 and the second fixing plate 62. Both ends of the guide column 64 are respectively connected to the first fixing plate 61 and the second fixing plate 62, and the guide column 64 passes through the first moving seat 50. By providing two relatively arranged fixing plates, the structural stability of the guide column 64 can be improved, and thus the guiding effect can be ensured.

[0081] Specifically, in the embodiment of the present application, there are multiple guide columns 64, and the multiple guide columns 64 are spaced apart from each other. Specifically, the multiple guide columns 64 are arranged in a ring. Preferably, there are four guide columns 64, and the four guide columns 64 are arranged in a trapezoid.

[0082] In the embodiment of the present application, the moving mechanism 40 is located below the brush 10 or the cheese 200 along the axial direction. In this way, the center of gravity of the overall structure can be made closer to the lower side, and thus the structural stability can be ensured.

[0083] As Figure 3 shown, in some embodiments, the first rotating mechanism 20 includes a first mounting seat 21, a rotating member 22 and a rotation driving member 23. The rotating member 22 is disposed on the first mounting seat 21 and can be connected to the brush 10, and the rotation driving member 23 is connected to the rotating member 22 to provide a driving force for the rotating member 22 to perform a rotational movement.

[0084] It should be noted that the rotation driving member 23 has a rotation output end, and the rotation output end is connected to the rotating member 22 to provide a driving force for the rotating member 22 to perform a rotational movement. Specifically, the rotation driving member 23 includes a rotation motor.

[0085] Furthermore, there are at least two brushes 10, and there are at least two rotating members 22. Each rotating member 22 is connected to a corresponding brush 10. The first rotation mechanism 20 further includes a transmission assembly 24. The transmission assembly 24 is installed on the first mounting seat 21, and the rotation driving member 23 is connected to all the rotating members 22 through the transmission assembly 24. By providing the transmission assembly 24, multiple rotating members 22 can be rotated simultaneously when using one rotation driving member 23, simplifying the driving structure.

[0086] Specifically, in the embodiment of the present application, the transmission assembly 24 includes an annular transmission member 241 and at least two transmission wheels 242. The annular transmission member 241 surrounds all the transmission wheels 242 and is in transmission connection with them. The rotation driving member 23 is connected to one of the transmission wheels 242 to provide a driving force for the transmission wheel 242 to rotate. Each rotating member 22 is connected to a corresponding transmission wheel 242. More specifically, the annular transmission member 241 includes an annular belt, and the transmission wheel 242 includes a pulley. In other ways, it can also be an annular chain and a sprocket, which are not limited here. However, the structure of the belt and the pulley is simple and light in weight, and can be used as a preference.

[0087] In this way, by setting the cooperation mode of the annular transmission member 241 and the transmission wheels 242, it can adapt to a relatively large distance between two adjacent rotating members 22, and can make the transmission simple and reliable.

[0088] In some embodiments, there are at least three brushes 10, at least three rotating members 22, and multiple groups of transmission assemblies 24. One of the transmission wheels 242 in each transmission assembly 24 and one of the transmission wheels 242 in an adjacent other group of transmission assemblies 24 are stacked and connected along the axial direction of the transmission wheels 242. In this way, the same rotation driving member 23 can be used to drive multiple groups of transmission assemblies 24 simultaneously, further simplifying the driving structure and saving space. Specifically, in the embodiment of the present application, the transmission assembly 24 includes two groups, the rotating members 22 include three, and the brushes 10 include three.

[0089] It should be noted that, in this embodiment, there are at least three rotating members 22, and two stacked and connected transmission wheels 242 are connected to the same rotating member 22.

[0090] In some embodiments, the first rotating mechanism 20 further includes a tensioning wheel 25. The tensioning wheel 25 is located between two adjacent transmission wheels 242 in the transmission assembly 24 and contacts the annular transmission member 241 to tension the annular transmission member 241. The tensioning wheel 25 is provided to increase the contact area between the transmission wheel 242 and the annular transmission member 241, thereby increasing the transmission force, so that the rotation force of all the transmission wheels 242 is stable and the rotation synchronization is good.

[0091] In the embodiments of the present application, the structure of the second rotating mechanism 30 is similar to that of the first rotating mechanism 20, and will not be described in detail here.

[0092] As Figure 4 shown, in some embodiments, one of the rotating shafts 11 of the first rotating mechanism 20 and the brush 10 has a docking protrusion 221, and the other has a docking groove 111. The docking protrusion 221 cooperates with the docking groove 111 to connect the rotating mechanism 20 to the rotating shaft 11 of the brush 10. Specifically, the docking protrusion 221 or the docking groove 111 is provided on the rotating member 22 of the first rotating mechanism 20. In some embodiments, the cross-sectional shape of the docking protrusion 221 or the docking groove 111 has at least one straight side in the circumferential direction. Preferably, the cross-sectional shape of the docking protrusion 221 or the docking groove 111 is quadrilateral. In the embodiments of the present application, the first rotating mechanism 20 has a docking groove 111, and the rotating shaft 11 of the brush 10 has a docking protrusion 221.

[0093] In some embodiments, the second rotating mechanism 30 has a friction surface for frictionally contacting the surface of the yarn package 200. Specifically, the friction surface is for frictionally contacting the end face of the tube of the yarn package 200. Specifically, the friction surface is provided on the rotating member 22 of the second rotating mechanism 30.

[0094] As Figure 5 shown, in some embodiments, the brush head finding device 100 further includes a first pressing mechanism 65 and a detection assembly 70. The first pressing mechanism 65 is connected to the first rotating mechanism 20 and is used to provide a driving force for the first rotating mechanism 20 to switch between a first position connected to the rotating shaft 11 of the brush 10 and a second position separated from the rotating shaft 11 of the brush 10.

[0095] The detection assembly 70 is disposed close to the brush 10. When the brush 10 or the yarn package 200 moves from the head finding position to the retracted position and the first rotating mechanism 20 is in the second position, the detection assembly 70 is used to detect the rotation state of the brush 10.

[0096] Specifically, in actual applications, when the brush 10 and the cheese 200 are in contact at the yarn-finding position and have completed their respective rotational movements, the brush 10 or the cheese 200 retracts to the retracted position. At this time, if the end of the yarn is wound around the brush 10, when the first rotating mechanism 20 is separated from the rotating shaft 11 of the brush 10, the brush 10 is in a free state, and the brush 10 will be pulled by the yarn and rotate on its own. Therefore, the detection component 70 can detect the self-rotation of the brush 10 and output a successful yarn-finding signal. If the end of the yarn is not wound around the brush 10, then in the free state, the brush 10 will not be pulled by the yarn and rotate on its own, and the detection component 70 fails to detect the self-rotation of the brush 10 and outputs a failed yarn-finding signal. In this way, by using the cooperation of the detection component 70 and the first pressing mechanism 65, it is possible to determine whether the yarn-finding is successful, and this method is simple and reliable.

[0097] Specifically, the first pressing mechanism 65 includes a pressing driving member 651, and the pressing driving member 651 is connected to the first rotating mechanism 20 and is used to provide the driving force for the first rotating mechanism 20 to switch between the first position and the second position.

[0098] It should be noted that the pressing driving member 651 has a pressing output end, and the pressing output end is connected to the first rotating mechanism 20 to provide the driving force for the first rotating mechanism 20 to switch between the first position and the second position. Specifically, the pressing driving member 651 includes a pressing motor.

[0099] In some embodiments, the first pressing mechanism 65 is located on one side of the first rotating mechanism 20 along the radial direction of the brush 10. Since the first rotating mechanism 20 is located above the brush 10 along its axial direction, if the first pressing mechanism 65 is still arranged above the first rotating mechanism 20 along the axial direction of the brush 10, the overall axial dimension of the brush yarn-finding device 100 will be large, which will affect the movement stability of the first rotating mechanism 20 and the first pressing mechanism 65. Arranging it on one side along the radial direction can balance the structural center of gravity of the brush yarn-finding device 100 and improve the movement stability of each component.

[0100] Specifically, the pressing driving member 651 is installed on the side of the first connecting plate 52 facing away from the brush 10.

[0101] In some other embodiments, the brush yarn-finding device 100 further includes a second pressing mechanism 80. The second pressing mechanism 80 is connected to the second rotating mechanism 30 and is used to provide the driving force for the second rotating mechanism 30 to switch between the third position connected to the rotating shaft 210 of the cheese 200 and the fourth position separated from the rotating shaft 210 of the cheese 200. Specifically, the structure of the second pressing mechanism 80 is similar to that of the first pressing mechanism 65 and will not be elaborated here.

[0102] The detection component 70 is arranged close to the cheese 200. When the brush 10 or the cheese 200 moves from the yarn-finding position to the retracted position and the second rotating mechanism 30 is in the fourth position, the detection component 70 is used to detect the rotation state of the cheese 200.

[0103] Specifically, in practical applications, when the brush 10 is in contact with the cheese 200 at the yarn-finding position and after their respective rotational movements are completed, the brush 10 or the cheese 200 retracts to the retracted position. At this time, if the end of the yarn is wound around the brush 10 and the second rotating mechanism 30 is separated from the rotating shaft 210 of the cheese 200, the cheese 200 is in a free state and will rotate by itself due to being pulled by its own yarn. Therefore, the detection component 70 can detect the self-rotation of the cheese 200 and output a successful yarn-finding signal. If the end of the yarn is not wound around the brush 10, then in the free state, the cheese 200 will not rotate by itself due to being pulled by the yarn, and the detection component 70 fails to detect the self-rotation of the cheese 200 and outputs a failed yarn-finding signal. In this way, by using the cooperation of the detection component 70 and the second pressing mechanism 80 to determine whether the yarn-finding is successful, this method is simple and reliable.

[0104] Please refer to again Figure 4 In some embodiments, the detection component 70 includes a detector 71 and a detection member 72. The detection member 72 is installed on the rotating shaft 11 of the brush 10. The detector 71 is arranged opposite to the detection member 72 along the axial direction of the rotating shaft 11 of the brush 10. The detection member 72 is provided with a through groove and a blocking portion along the circumferential direction of the rotating shaft 11 of the brush 10. The detector 71 can send a detection signal to the detection member 72. When there is a blocking portion on the transmission path of the detection signal, the detector 71 can output a first detection signal. When there is a through groove on the transmission path of the detection signal, the detector 71 can output a second detection signal.

[0105] Specifically, the through groove includes an intersecting first through groove and a second through groove. The blocking portion includes a plurality of sub-blocking portions, and each sub-blocking portion is arranged between the first through groove and the second through groove. In this way, the signal change output frequency of the detector 71 can be increased, thereby improving the detection accuracy.

[0106] In actual application, when the brush 10 and the cop 200 are in contact at the end-finding position and have completed their respective rotational movements, the brush 10 or the cop 200 returns to the withdrawn position. At this time, if the yarn end is wrapped around the brush 10, it will drive the brush 10 to rotate, thereby causing the detection member 72 to rotate. Therefore, the transmission path of the detection signal sent by the detector 71 will switch between the blocking portion and the through slot, so that the output signal of the detector 72 will also switch between the first detection signal and the second detection signal. In this way, it can be determined that the brush 10 has rotated, and then the end-finding is successful. If the yarn end is not wrapped around the brush 10, the brush 10 will not rotate, and the signal output by the detector 72 will remain the first detection signal or the second detection signal, thereby determining that the end-finding has failed.

[0107] It should be pointed out that if the brush 10 actively retracts to the retracted position relative to the bobbin 200, since the brush 10 is in a free state, vibration may be generated during the movement to cause the brush 10 to rotate slightly. At this time, the output signal of the detector 72 may also switch between the first detection signal and the second detection signal. However, the judgment ability can be improved by optimizing the detection process, which is also within the scope of protection of this application.

[0108] In some embodiments, the detection member 72 may also be mounted on the rotating shaft 210 of the cop 200. The detector 71 is disposed opposite the detection member 72 along the axial direction of the rotating shaft 210 of the cop 200. The detection member 72 is provided with a through groove and a blocking portion along the circumference of the rotating shaft 210 of the cop 200. The detection method of the detector 71 is the same as that described above and is not further described here.

[0109] In some embodiments, the detector 71 is a reflective sensor, specifically a reflective optical sensor. In other embodiments, it can also be a through-beam sensor. However, compared to through-beam sensors, reflective sensors can save more space and do not conflict with the position of the bobbin 200 or the brush 300, thereby affecting detection reliability.

[0110] Specifically, the detector 71 is provided on a side of the detecting member 71 facing away from the brush 10 or the cop 200 .

[0111] like Figure 6 As shown, based on the same inventive concept, the present application also provides a brush head finding method for finding the thread end of the bobbin 200. The brush head finding method includes the following steps:

[0112] S110: providing a brush 10;

[0113] The brush 10 has a rotating shaft 11 , and the bristles are evenly arranged around the rotating shaft 11 .

[0114] S120: moving the brush 10 or the cop 200 so that the brush 10 and the cop 200 are in contact with each other.

[0115] Specifically, the driving force for the relative movement between the brush 10 and the cheese 200 can be provided by the moving mechanism 40. In the specific embodiment of the present application, the moving mechanism 40 is used to move the brush 10.

[0116] S130: Drive the brush 10 to rotate around its rotating shaft 11, and drive the cheese 200 to rotate around its rotating shaft 210;

[0117] Specifically, the brush 10 can be driven to rotate around its rotating shaft 11 by the first rotating mechanism 20, and the cheese 200 can be driven to rotate around its rotating shaft 210 by the second rotating mechanism 30.

[0118] S140: Move the brush 10 or the cheese 200 so that the brush 10 is separated from the cheese 200.

[0119] Specifically, moving the brush 10 or the cheese 200 can also be achieved by the moving mechanism 40.

[0120] In this way, by setting the brush 10, the yarn on the surface of the cheese 10 can be easily attached to the brush 10, and since the end of the yarn can be wound around the brush 10 in a loop, the end of the yarn is not easily dropped from the brush 10, so the success rate of finding the end is improved as a whole.

[0121] Further, step S130 specifically includes the steps of:

[0122] Drive the brush 10 to perform a rotational movement in the first direction, and drive the cheese 200 to perform a rotational movement in the second direction, where the first direction is the unwinding direction of the cheese 200.

[0123] In this way, the end of the yarn can be further quickly wound around the brush 10, improving the end-finding efficiency.

[0124] Even further, before the above steps, there are also steps of:

[0125] Drive the brush 10 to perform a rotational movement in the first direction, and drive the cheese 200 to perform a rotational movement in the second direction, where the second direction is the winding direction of the cheese 200.

[0126] Considering that the yarn on the surface of the cheese 200 may be reversely wound or tangled, setting this step can smooth out the yarn on the surface of the cheese 200, thereby ensuring that the subsequent winding work can proceed smoothly.

[0127] In some embodiments, during step S140, there are also steps of:

[0128] Cancel the driving force for rotating the brush 10 or the cheese 200 so that the brush 10 or the cheese 200 is in a free state;

[0129] Detect the rotation state of the detection brush 10 or the cheese 200.

[0130] Among them, the way to cancel the driving force for the rotation of the brush 10 can be achieved by the first pressing mechanism 65, the way to cancel the driving force of the cheese 200 can be achieved by the second pressing mechanism 80, and the detection of the rotation state of the brush 10 can be achieved by the detection component 70.

[0131] When the brush 10 is in contact with the cheese 200 and after their respective rotational movements are completed, the brush 10 and the cheese 200 move away from each other. At this time, if the end of the yarn is wound around the brush 10, the brush 10 is in a free state, and the brush 10 or the cheese 200 will be pulled by its own yarn and rotate. Therefore, the detection component 70 can detect the rotation of the brush 10 or the cheese 200 and output a signal indicating successful head finding. If the end of the yarn is not wound around the brush 10, then in the free state, the brush 10 or the cheese 200 will not be pulled by the yarn and rotate, and the detection component 70 fails to detect the rotation of the brush 10 or the cheese 200 and outputs a signal indicating failed head finding.

[0132] Furthermore, when it is detected that the brush 10 or the cheese 200 does not rotate, repeat steps S110 - S140.

[0133] In this way, after the detection component 70 outputs a signal indicating failed head finding, the steps of finding the head can be repeated until the head finding is successful.

[0134] Based on the same inventive concept, the present application also provides a yarn - throwing robot, including the above - mentioned brush head - finding device 100.

[0135] The brush head - finding device 100, the brush head - finding method, and the yarn - throwing robot provided by the embodiments of the present application have the following beneficial effects compared with the prior art:

[0136] By providing the brush 10, the yarn on the surface of the cheese 10 can be easily attached to the brush 10, and since the end of the yarn can form a loop around the brush 10, the end of the yarn is not easily dropped from the brush 10. Therefore, the success rate of head finding is generally improved.

[0137] The technical features of the above - described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above - described embodiments are described. However, as long as the combinations of these technical features do not conflict, they should all be considered as the scope recorded in this specification.

[0138] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A brush head finding device for finding the thread end of a cheese, characterized in that, The brush head-finding device includes: A brush; A first rotating mechanism capable of being connected to the rotating shaft of the brush and used to provide a driving force for the brush to perform a rotating motion; A second rotating mechanism provided on one side of the first rotating mechanism and capable of being connected to the rotating shaft of the yarn tube and used to provide a driving force for the yarn tube to perform a rotating motion; and A moving mechanism capable of being connected to the brush or the yarn tube and used to provide a driving force for relative movement between the brush and the yarn tube; A first moving seat and an elastic member, the brush or the yarn tube is installed on the first moving seat, and the elastic member is provided between the moving mechanism and the first moving seat; Wherein, during the movement of the brush or the yarn tube, there are a head-finding position and a retracting position. When the brush or the yarn tube is at the head-finding position, the brush is in contact with the yarn tube. The first rotating mechanism can drive the brush to perform a rotating motion in a first direction, and the second rotating mechanism can drive the yarn tube to perform a rotating motion in the first direction. When the brush and the yarn tube are at the retracting position, the brush is separated from the yarn tube; The brush head-finding device further includes a pressing mechanism and a detection component; The pressing mechanism is connected to the first rotating mechanism and used to provide a driving force for the first rotating mechanism to switch between a first position connected to the rotating shaft of the brush and a second position separated from the rotating shaft of the brush; the detection component is arranged close to the brush. When the brush or the yarn tube moves from the head-finding position to the retracting position and the first rotating mechanism is at the second position, the detection component is used to detect the rotation state of the brush; or The pressing mechanism is connected to the second rotating mechanism and used to provide a driving force for the second rotating mechanism to switch between a third position connected to the rotating shaft of the yarn tube and a fourth position separated from the rotating shaft of the yarn tube; the detection component is arranged close to the yarn tube. When the brush or the yarn tube moves from the head-finding position to the retracting position and the second rotating mechanism is at the fourth position, the detection component is used to detect the rotation state of the yarn tube.

2. The brush head finding device according to claim 1, characterized in that, When the first rotating mechanism is at the head-finding position, the first rotating mechanism can drive the brush to perform a rotating motion in the first direction, and the second rotating mechanism can drive the yarn tube to perform a rotating motion in a second direction; Wherein, the second direction is the yarn winding direction of the yarn tube.

3. The brush head finding device according to claim 1, characterized in that, The detection component includes a detector and a detection piece; When the pressing mechanism is connected to the first rotating mechanism, the detection piece is installed on the rotating shaft of the brush, the detector is arranged axially along the rotating shaft of the brush opposite to the detection piece, and the detection piece is provided with a through groove and a blocking portion circumferentially along the rotating shaft of the brush; When the pressing mechanism is connected to the second rotating mechanism, the detection piece is installed on the rotating shaft of the yarn tube, the detector is arranged axially along the rotating shaft of the yarn tube opposite to the detection piece, and the detection piece is provided with a through groove and a blocking portion circumferentially along the rotating shaft of the yarn tube; The detector is capable of sending a detection signal to the detection element. When the blocking portion is present on the transmission path of the detection signal, the detector can output a first detection signal. When the through slot is present on the transmission path of the detection signal, the detector can output a second detection signal.

4. The brush head finding device according to claim 3, wherein, The detector includes a reflective sensor.

5. The brush head finding device according to claim 1, characterized in that, The brush head finding device further includes a second moving seat connected to the moving mechanism. The second moving seat has a second connecting plate and a third connecting plate oppositely arranged along the moving direction of the brush or the cheese. At least a part of the first moving seat is disposed between the second connecting plate and the third connecting plate, and the elastic member is disposed between the second connecting plate and the first moving seat; The moving mechanism can drive the second connecting plate to move towards the first moving seat, so that the elastic member is compressed to drive the first moving seat to move, causing the brush or the cheese to move to the head finding position; The moving mechanism can drive the second connecting plate to move away from the first moving seat, so that the third connecting plate abuts against the first moving seat to drive the first moving seat to move, causing the brush or the cheese to move to the retracting position.

6. A method for finding the head of a brush, characterized in that, Using the brush head finding device according to any one of claims 1 to 5 to find the end of the cheese, the brush head finding method includes the steps: 1) Provide a brush; 2) Move the brush or the cheese so that the brush is in contact with the cheese; 3) Drive the brush to rotate in a first direction and drive the cheese to rotate in the first direction; wherein, the first direction is the unwinding direction of the cheese; 4) Move the brush or the cheese so that the brush is separated from the cheese; cancel the driving force for driving the brush or the cheese to rotate, so that the brush or the cheese is in a free state; detect the rotation state of the brush or the cheese; When it is detected that the brush or the cheese does not rotate, repeat the steps 1) to 4).

7. The method for finding the head of a brush according to claim 6, characterized in that, Before the step of driving the brush to rotate in a first direction and driving the cheese to rotate in the first direction, the method further includes the steps: Drive the brush to rotate in a first direction and drive the cheese to rotate in a second direction; wherein, the second direction is the winding direction of the cheese.

8. A yarn feeding robot, characterized in that, It includes the brush head finding device according to any one of claims 1 to 5.

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