Traveller threading device for automatic joining on a ring spinning frame and method of use thereof

Abstract

The application discloses a traveler threading device for automatic joint of a ring spinning frame, and relates to the technical field of automatic joint of a ring spinning frame.The traveler threading device comprises a traveler positioning component and a threading end effector.The threading end effector comprises a connecting plate and at least one movable threading finger.The connecting plate is installed on a threading end effector driving base.The threading end effector driving base is used to drive the threading end effector to make linear motion in the horizontal direction, the vertical direction or the vertical height.The threading end effector is used to pull the yarn through the movable threading finger, so that part of the yarn is tangent to the traveler ring.The traveler positioning component is used to make the traveler pass through the part of the yarn tangent to the traveler ring.The threading end effector has compact structure, reduces the use of a driving mechanism, and reduces the impact on the yarn.The application can quickly and reliably thread the broken yarn into the traveler after the yarn is broken on the ring spinning frame.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic splicing of ring spinning frame, and particularly relates to a traveler threading device for automatic splicing of ring spinning frame and a method of using the same. BACKGROUND

[0002] In ring spinning production, yarn breakage is inevitable. After yarn breakage, the broken end of spun yarn will be wound on the bobbin. In order to resume the spinning operation, the broken end needs to be separated from the brake, captured, threaded through the traveler, wound into the ring, and finally pulled to the front roller for twisting to complete the splicing. Automatic threading of the traveler is a key technology for automatic splicing of the spinning frame. Due to the narrow operating space between the adjacent spacer plates (the distance between the adjacent spacer plates is 70 or 75 mm) and the flexibility of the yarn, automatic threading of the traveler is very difficult. At present, there are some solutions for automatic threading of the traveler.

[0003] CN105019077B discloses a kind of ring spinning broken end automatic intelligent splicing method. First, it positions the traveler to the threading position using a magnetic attraction device;Then, three ring threading fingers act in turn, the middle ring threading finger controls the yarn height, the left and right ring threading fingers spread the yarn to make it tangent to the traveler, and finally the yarn is fed into the traveler. The shortcomings of this scheme are: from the sensor detecting the broken end of the yarn to the controller controlling the magnetic attraction device to capture the traveler, there is inevitably a delay, and the stopping position of the broken traveler on the ring is not necessarily within the effective attraction range of the magnetic attraction device, i.e. there is a problem of inaccurate positioning of the traveler;Another shortcoming is that the three threading fingers are designed to cooperate with the threading, and in the limited operating space (the distance between the adjacent spacer plates is generally 70 or 75 mm), the three threading fingers are prone to interfere with each other;At the same time, the left and right threading fingers are driven by separate cylinders, and the structure is relatively complex.

[0004] EP3521487B1 patent discloses a method and device for threading the end of a yarn into a ring traveler. It designs a ring traveler threading device with three degrees of freedom (up and down, stretch and contraction, and swing), and the threading end effector of the device also has one degree of freedom (rotation). The threading end effector is driven through the base and swings to the threading position, at this time, the yarn between the bobbin and the yarn pulling device is between the two yarn positioning elements of the threading end effector; then, the two yarn positioning elements are rotated 180 degrees synchronously under the drive of the rotator, the yarn is then tensioned by the two yarn positioning elements and the yarn forms a certain angle with the horizontal plane; then, the threading end effector approaches the ring traveler; finally, a set of oppositely arranged nozzles are used to blow the ring traveler to the tangent point of the yarn and the ring traveler, and the yarn "hits" the ring traveler to achieve threading. The disadvantage of the device is that before tensioning the yarn, the threading end effector needs to be accurately positioned to ensure that the yarn is between the two positioning elements after the "working arm" swings, otherwise the positioning will be inaccurate; another disadvantage is that the positioning device of the ring traveler is a set of oppositely arranged nozzles, that is, the nozzles cannot blow air to position the ring traveler at the same time, and if the ring traveler is far from the nozzles, it cannot guarantee accurate positioning and threading of the ring traveler, especially the ring traveler needs to actively "hit" the yarn to complete the threading, which requires sufficient momentum.

[0005] The present application provides a ring traveler threading device for automatic joint of ring spinning machine, after the yarn breakage of the ring spinning machine, the ring traveler positioning device uses airflow to position the ring traveler to the threading position (usually the front of the spinning position of the ring spinning machine), at the same time, the static threading finger of the threading end effector completes the hooking of the yarn; then, the dynamic threading finger of the threading end effector tensions the yarn, and the ring traveler posture adjustment electromagnet of the threading end effector fixes the position of the positioned ring traveler and adjusts its posture; finally, the yarn is threaded into the ring traveler to achieve threading. SUMMARY

[0006] The present application provides a ring traveler threading device for automatic joint of ring spinning machine and its use method, to solve the problems of unreliable positioning of the ring traveler, interference of the yarn with the components or threading mechanism of the ring spinning machine, impact of the threading mechanism on the yarn, and complex structure of the threading mechanism in the prior art.

[0007] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0008] The ring traveler threading device for automatic joint of ring spinning machine comprises a ring traveler positioning component and a threading end effector, the ring traveler threading device is connected in the automatic joint device, the automatic joint device is arranged on one side of the ring spinning machine, and the ring spinning machine comprises a ring traveler ring, and the ring traveler ring is provided with a ring traveler.

[0009] The threading end effector is connected to a threading end effector driving base, and the threading end effector driving base is connected in the automatic joint device;

[0010] The threading end effector comprises a connecting plate and at least one dynamic threading finger, and the connecting plate is installed on the threading end effector driving base;

[0011] The threading end effector driving base is used to drive the threading end effector to make linear motion in the lateral direction, vertical direction or vertical height, and the motion of the threading end effector driving base is realized by any transmission mode of a belt, a ball screw or a cylinder;

[0012] The threading end effector is used to pull the yarn by the dynamic threading finger, so that part of the yarn is tangent to the steel ring;

[0013] The steel ring positioning component is used to make the steel ring pass through the part of the yarn tangent to the steel ring.

[0014] Preferably, the steel ring positioning component is connected to a steel ring positioning component driving base, and the steel ring positioning component driving base is connected in the automatic joint device;

[0015] The steel ring positioning component driving base is used to drive the steel ring positioning component to make linear motion in the lateral direction or vertical height, and the motion of the steel ring positioning component driving base is realized by any transmission mode of a belt, a ball screw or a cylinder.

[0016] Preferably, the steel ring positioning component comprises a semicircular air channel, a tangential nozzle and a baffle, the semicircular air channel is installed on the steel ring positioning component driving base, the tangential nozzle and the baffle are connected to the lower surface of the semicircular air channel, and the baffle is located at the vertical symmetry section of the semicircular air channel.

[0017] The semicircular air channel has an inner diameter equal to the inner diameter of the steel ring, and is used to deliver compressed air to the tangential nozzle.

[0018] The tangential nozzle is provided with at least three, the tangential nozzles are uniformly distributed below the semicircular air channel, the jet direction of the tangential nozzle is the tangent direction of the central arc line of the semicircular air channel, the jet directions of all the tangential nozzles are unified in the clockwise or counterclockwise direction, and the tangential nozzles are used to blow the steel ring to move along the steel ring to the baffle in the clockwise or counterclockwise direction, so as to realize the positioning of the steel ring. Preferably, the threading end effector further comprises a static threading finger and a steel ring posture adjustment electromagnet.

[0019] The connecting plate adopts a sector-shaped connecting plate, the sector-shaped connecting plate is installed on the threading end effector driving base, and the sector-shaped connecting plate is sector-shaped and has a central angle greater than 180°.

[0020] The static threading finger is fixedly connected to the fan-shaped connecting plate, the steel ring posture adjusting electromagnet is located on the front side of the fan-shaped connecting plate, and the static threading finger is located on one end of the fan-shaped connecting plate which is consistent with the movement direction of the threading end effector.

[0021] The dynamic threading finger is a rotating threading finger, the rotating threading finger is hingedly connected to one end of the rotating connecting rod, and the other end of the rotating connecting rod is movably connected to the center of the fan-shaped connecting plate; and the initial position of the rotating threading finger is on the same side as the static threading finger.

[0022] Preferably, the threading end effector further comprises a rotating driving member.

[0023] The rotating driving member is bolted to the upper side of the fan-shaped connecting plate, the output shaft of the rotating driving member is connected to one end of the rotating shaft through a shaft coupling, and the other end of the rotating shaft is connected to the end of the rotating connecting rod which is away from the rotating threading finger through a hole in the center of the fan-shaped connecting plate.

[0024] Preferably, the rotating threading finger comprises a special-shaped column, one side of the special-shaped column is a slope and the other side is a cylindrical surface.

[0025] The bottom end of the special-shaped column is connected with a semicircular boss, and the semicircular boss is located below the side of the special-shaped column which is a cylindrical surface; and the top end of the special-shaped column is hingedly connected to the rotating connecting rod through a pin shaft.

[0026] Preferably, one side of the top end of the special-shaped column is connected with a one-way stop element, and the one-way stop element is located above the side of the special-shaped column which is a slope, so that the special-shaped column can only rotate from the slope to the cylindrical surface.

[0027] Preferably, the end of the rotating connecting rod which is away from the rotating shaft is connected with a micro stepping motor, and the top end of the special-shaped column is connected to the rotating shaft of the micro stepping motor.

[0028] Preferably, the static threading finger comprises a cylindrical column, the top end of the cylindrical column is fixedly connected to the fan-shaped connecting plate, and the bottom end of the cylindrical column is connected with a circular boss which is used to prevent the yarn from sliding off during the threading process.

[0029] Preferably, two dynamic threading fingers are provided, which are a left sliding threading finger and a right sliding threading finger respectively, and the connecting plate is a slide plate which is connected to the driving base of the threading end effector, the left sliding threading finger and the right sliding threading finger are respectively located on the two sides of the slide plate and are slidingly connected to the slide plate.

[0030] The use method of the steel ring threading device for the automatic joint of the ring spinning frame comprises the following steps:

[0031] S1: After the ring spinning frame spindles are broken, the traveler positioning device uses airflow to move the traveler to the threading position;

[0032] S2: The threading end effector moves to the front of the ring traveler, and the moving threading finger pulls the yarn to keep part of the yarn parallel to the tangent line of the threading position on the ring traveler;

[0033] S3: The threading end effector keeps moving towards the ring traveler while keeping the tangent line of the threading position on the ring traveler, and the part of the yarn that is parallel to the tangent line is threaded into the ring traveler. The threading end effector returns to the original position.

[0034] Preferably, the specific implementation process of S1 is as follows:

[0035] S1-1: After the ring spinning frame spindles are broken, the traveler positioning device is driven by the driving base of the threading end effector to approach the ring traveler, and the semicircular air channel is moved above the ring traveler and concentric with the ring traveler;

[0036] S1-2: Compressed air is sprayed from the tangential nozzle through the semicircular air channel to blow the traveler on the ring traveler to the baffle, move the traveler to the threading position, and complete the positioning of the traveler.

[0037] Preferably, the specific implementation process of S2 is as follows:

[0038] S2-1: The threading end effector moves from right to left or from left to right (i.e. Figure 3 The X coordinate axis positive direction or negative direction), the yarn between the broken yarn bobbin and the yarn pulling device first contacts the static threading finger. Since the static threading finger is fixed on the fan-shaped connecting plate, as the threading end effector moves, the yarn passes around the static threading finger;

[0039] S2-2: The threading end effector continues to move in the direction of motion in S2-1, and the yarn passes around the static threading finger and approaches the rotating threading finger. Since the rotating threading finger is hinged on the rotating link and has an inclined contact surface, the yarn will slide along the inclined surface of the rotating threading finger. At the same time, the rotating threading finger is rotated around the hinge pin by a certain angle in the opposite direction of the movement of the threading end effector under the action of the force of the yarn. The rotation of the special-shaped column makes the yarn pass through the rotating threading finger, and the yarn is located between the rotating threading finger and the rotating shaft;

[0040] S2-3: the yarn threading end effector moves to the front of the ring, and the rotating yarn guide is rotated 180° to tension the yarn between the static yarn guide and the yarn pulling device. Since the rotating yarn guide top end has a one-way stop mechanism, the rotating yarn guide will not rotate around the hinge pin, and the yarn will be hooked to tension the yarn between the static yarn guide and the rotating yarn guide. The yarn is horizontally transverse to the front of the ring posture adjustment electromagnet, that is, the rotating yarn guide hooks the yarn, and at this time the yarn is tensioned and parallel to the X-axis of the space coordinate system X shown in the figure. Figure 3

[0041] Preferably, the specific implementation process of S3 is as follows:

[0042] S3-1: the yarn threading end effector keeps moving to the front of the ring, and the ring posture adjustment electromagnet is energized before the horizontal transverse yarn contacts the ring, so that the yarn threading end of the ring moves upward under the action of magnetic force and separates from the surface of the ring, that is, a gap is generated between the movable end of the ring and the ring.

[0043] S3-2: the yarn threading end effector keeps moving to the front of the ring, the yarn is inserted into the inner ring from the gap, the ring posture adjustment electromagnet is de-energized, the yarn threading end of the ring falls and contacts the surface of the ring, the yarn threading of the ring is completed, the rotating yarn guide is reset, and the yarn threading end effector returns to the original position.

[0044] Compared with the prior art, the beneficial effects of the present application are:

[0045] (1) In the present application, the yarn threading process is first to position the ring, then to adjust the posture of the ring, and finally to insert the tensioned yarn into the ring. From the functional structure, the ring threading device proposed by the present application is mainly divided into two parts, namely the ring positioning part and the yarn threading end effector. The ring positioning part is a "blowing + baffle" structure, and the multiple nozzles with consistent blowing direction in the semicircular air duct can blow air at the same time, and the baffle is used to position the ring. The yarn threading end effector is a "static yarn guide + rotating yarn guide" structure, the static yarn guide is fixed on the yarn threading end effector and can only translate with it; the rotating yarn guide can rotate around the pin shaft at the top of itself, and can also rotate with the rotating shaft of the rotating drive member in the yarn threading end effector. During threading, the static yarn guide will first hook one end of the yarn in the translation process, the rotating yarn guide will rotate around its pin shaft to make the yarn pass through the rotating yarn guide, then the rotating yarn guide will rotate with the rotating drive member to hook the other end of the yarn, and the dynamic and static yarn guides will cooperate to tension the yarn. Subsequently, the ring posture adjustment electromagnet of the yarn threading end effector fixes the position of the already positioned ring and adjusts its posture. Finally, the yarn threading end effector inserts the tensioned yarn into the ring to realize the threading.

[0046] ​(2), in the automatic splicing technology of the ring spinning frame, when the traveller is threaded, the position of the traveller is uncertain (randomly stays at a certain position of the ring), the yarn is a flexible body with a certain twist, and the spacing of the adjacent spindle position spacer plate is very small, the operation space is limited, so that the automatic threading of the traveller is very difficult. The traveller threading device provided by the application has simple structure and is suitable for operation in a narrow space; the semicircular air channel can position the traveller at any position on the ring to the threading position; the compact structure of the threading end effector reduces the use of the driving mechanism and reduces the impact on the yarn; the application can quickly and reliably thread the broken yarn into the traveller after the ring spinning frame breaks. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 is a structure diagram of the ring spinning frame spinning and automatic splicing device in the application;

[0048] Figure 2 is a structure diagram of the ring spinning frame broken yarn and automatic splicing device in the application;

[0049] Figure 3 is a structure diagram of the traveller threading device in embodiment 1 of the application;

[0050] Figure 4 is a structure diagram of the traveller positioning component in embodiment 1 of the application;

[0051] Figure 5 is a schematic diagram of the traveller positioning process in embodiment 1 of the application;

[0052] Figure 6 is a structure diagram of the threading end effector in embodiment 1 of the application;

[0053] Figure 7 is a schematic diagram of the threading process of the threading end effector in embodiment 1 of the application Figure 1 ;

[0054] Figure 8 is a schematic diagram of the threading process of the threading end effector in embodiment 1 of the application Figure 2 ;

[0055] Figure 9 is a structure diagram of the rotating threading finger in embodiment 1 of the application;

[0056] Figure 10 is a schematic diagram of the traveller position fixing and posture adjustment in embodiment 1 of the application;

[0057] Figure 11 is a schematic diagram of the relative position of the other two yarns in embodiment 2 of the application;

[0058] Figure 12 Figure 3 is a schematic diagram of the reverse threading motion direction for the threading end effector in the embodiment 3 of the present application;

[0059] Figure 13 Figure 4 is a schematic diagram of the structure of the rotating threading finger in the embodiment 4 of the present application;

[0060] Figure 14 Figure 5 is a schematic diagram of the structure of the traveller threading device and the threading process in the embodiment 5 of the present application.

[0061] Figure: 1, automatic splicer; 2, ring spinning frame; 3, roving bobbin; 4, roving; 5, back roller; 6, middle roller; 7, front roller; 8, suction nozzle; 9, guide hook; 10, yarn; 11, bobbin; 12, balloon ring; 13, traveller; 14, ring rail; 15, ring; 16, spindle stopper; 17, spacer plate; 18, bobbin holding and carrying device; 19, yarn pulling device; 20, guide hook lifting device; 21, traveller threading device; 211, traveller positioning component; 2111, semicircular air channel; 2112, tangential nozzle; 2113, baffle; 212, threading end effector; 2121, static threading finger; 2122, rotating shaft; 2123, rotary driving member; 2124, fan-shaped connecting plate; 2125, rotating threading finger; 21251, one-way stop element; 21252, pin shaft; 21253, semicircular boss; 21254, micro stepping motor; 2126, rotary connecting rod; 2127, traveller posture adjusting electromagnet; 213, threading end effector driving base; 214, traveller positioning component driving base; 22, spindle stopper component; 23, broken yarn bobbin storage; 24, left sliding threading finger; 25, right sliding threading finger; 26, nozzle; 27, slide plate. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present application.

[0063] Embodiment 1:

[0064] Referring to Figure 1 , 2 is a side view of the ring spinning frame 2 and the automatic splicer 1, Figure 1The process of normal spinning of the ring spinning frame 2 is shown. The roving 4 is drawn to a sliver of a specified linear density from the roving can 3 through drafting of the back roller 5, the middle roller 6 and the front roller 7, the sliver is twisted through the guide hook 9, the ring 12, and is inserted into the ring traveler 13 which is sleeved on the ring rail 15, and is finally wound on the bobbin 11 which is sleeved on the spindle. The specific structure of this ring spinning frame 2 is the prior art, and will not be described here.

[0065] Figure 2 The process of the automatic splicing device 1 going to the broken-end spindle for splicing when a certain spindle position of the ring spinning frame 2 has a broken end is shown. The automatic splicing device 1 includes a bobbin holding and carrying device 18, a yarn pulling device 19, a guide hook lifting device 20, a ring traveler threading device 21, a spindle stopping component 22, a broken-end bobbin storage 23, and the like, all of which are installed in the automatic splicing device 1.

[0066] After the broken end, the yarn suction nozzle 8 is located between the front roller 7 and the guide hook 9, and the sliver which is not twisted after drafting by the front roller 7 is sucked into a waste yarn collection box not shown in the figure by the yarn suction nozzle 8. At the same time, the spindle stopping component 22 contacts the spindle stopper 16 on the ring spinning frame 2 to stop the spindle; then, the guide hook lifting device 20 lifts the guide hook 9, the bobbin holding and carrying device 18 carries the broken-end bobbin 11 to the broken-end bobbin storage 23, and the yarn pulling device 19 captures the broken end from the broken-end bobbin 11 by using negative pressure; immediately, the ring traveler threading device 21 threads the yarn 10 into the ring traveler 13; finally, the yarn pulling device 19 winds the broken end into the ring 12, the guide hook 9 and the front roller 7 in sequence and sends it to the front roller 7 for twisting, completes the splicing, and restores the spinning process.

[0067] It is worth noting that the adjacent spinning spindles are spaced by the spacer plate 17, and the distance between the adjacent spacer plates 17 is only 70mm or 75mm, and the space available for automatic splicing after the broken end is very limited, and the yarn 10 is a flexible object, making it very difficult for the ring traveler 13 to automatically thread.

[0068] Figures 3 to 10 The structure of the ring traveler threading device 21 in this embodiment is shown.

[0069] Figure 3 A schematic diagram of the ring traveler threading device 21 is shown. At this time, the yarn 10 is captured by the yarn pulling device 19 and is located directly in front of the bobbin 11, and the ring traveler 13 is located at any position of the ring rail 15.

[0070] Figure 4 A schematic diagram of the ring traveler positioning component 211 is shown. The ring traveler positioning component 211 is fixed on a movable component which can move in the vertical direction and the front-back direction (i.e. Figure 3The steel ring positioning component driving base 214 is linearly moved along the Z axis of the space coordinate system shown in the figure, i.e. the X axis direction of the space coordinate system shown in the figure. Figure 3 The movement speed of the steel ring positioning component driving base 214 along the Z axis of the space coordinate system shown in the figure is consistent with the movement speed of the ring plate 14. The movement of the steel ring positioning component driving base 214 can be realized by a transmission and driving mechanism such as a belt, a ball screw or an air cylinder.

[0071] In this embodiment, the steel ring positioning component 211 is composed of a semicircular air channel 2111, at least three tangential nozzles 2112 and a baffle 2113. The semicircular air channel 2111 is installed on the steel ring positioning component driving base 214, and the tangential nozzles 2112 and the baffle 2113 are located on the lower surface of the semicircular air channel 2111.

[0072] Further, the semicircular air channel 2111 has an inner diameter substantially equal to the inner diameter of the ring plate 15 and is hollow, and can transport compressed air to the tangential nozzles 2112.

[0073] Further, the tangential nozzles 2112 are located on the lower surface of the semicircular air channel 2111, and the jet direction is the tangent direction of the circumference at the installation position of the tangential nozzles 2112, which provides the maximum pushing force for the movement of the steel ring 13 while reducing the energy loss of the air supply source. The jet directions of all the tangential nozzles 2112 are unified in the clockwise or counterclockwise direction, and the steel ring 13 is blown along the ring plate 15 in the clockwise or counterclockwise direction to the baffle 2113. The number of tangential nozzles 2112 is not less than three.

[0074] Further, the baffle 2113 is located at the vertical symmetry section of the semicircular air channel 2111 and is fixed to the lower surface of the semicircular air channel 2111. When the steel ring 13 is blown to the position of the baffle 2113, it is stopped, realizing the positioning of the steel ring 13. At this time, the steel ring 13 is located directly in front of the ring spinning frame 2 work station.

[0075] Figures 4-5 The R1 direction in the figure is the direction of the airflow of the tangential nozzles 2112 (the airflow direction of the tangential nozzles 2112 is determined by the installation direction of the tangential nozzles 2112, and the tangential nozzles 2112 can also be installed in the opposite direction).

[0076] Figure 5 A schematic diagram showing the positioning process of the steel ring 13 is shown. The steel ring positioning component 211 moves along the L1 direction to above the ring plate 15 and is concentric with the ring plate 15. Under the action of the airflow of the tangential nozzles 2112, the steel ring 13 located at any position on the ring plate 15 moves along the R2 direction and is positioned by the baffle 2113.

[0077] Figure 6A schematic structural diagram of the threading end effector 212 is shown, which is composed of a static threading finger 2121, a rotating threading finger 2125, a rotating connecting rod 2126, a fan-shaped connecting plate 2124, a rotating shaft 2122, a rotating drive member 2123, and a ring attitude adjustment electromagnet 2127.

[0078] In this embodiment, the threading end effector 212 is fixed on a threading end effector driving base 213 that can move linearly in the vertical, front-back, and left-right directions (i.e., the Z, Y, and X coordinate axis directions of the spatial coordinate system) and the base moves at a speed consistent with the speed of the ring board 14 in the vertical direction (i.e., the Z coordinate axis direction of the spatial coordinate system) to complete the actions of hooking and threading the yarn. Figure 3 Figure 3 The movement of the threading end effector driving base 213 can be achieved through a transmission and drive mechanism such as a belt, a ball screw, or a cylinder.

[0079] In this embodiment, the static threading finger 2121 and the ring attitude adjustment electromagnet 2127 are fixed on the fan-shaped connecting plate 2124, with the ring attitude adjustment electromagnet 2127 fixed on the front side of the fan-shaped connecting plate 2124, the rotating threading finger 2125 is hinged to the rotating connecting rod 2126, the rotating connecting rod 2126 is installed on the rotating shaft 2122 through interference fit, key, or nut fasteners, the rotating shaft 2122 is directly connected to the output shaft of the rotating drive member 2123 through a coupling, the rotating drive member 2123 is installed above the fan-shaped connecting plate 2124 through bolts, and the rotating shaft 2122 is installed in the fan-shaped connecting plate 2124 through the hole in the middle of the plate and the rotating connecting rod 2126 below the plate.

[0080] In this embodiment, the fan-shaped connecting plate 2124 serves as the carrier for the static threading finger 2121, the ring attitude adjustment electromagnet 2127, and the rotating drive member 2123 and is fixed to the threading end effector driving base 213.

[0081] In this embodiment, the ring attitude adjustment electromagnet 2127 is fixed at the front end of the threading end effector 212 and generates a magnetic force when the yarn 10 is about to be threaded into the ring 13 to fix the position of the ring 13 and adjust the attitude of the ring 13 (i.e., the pitch angle of the ring 13 relative to the ring board 15).

[0082] Further, since the ring attitude adjustment electromagnet 2127 is fixed at the front end of the fan-shaped connecting plate 2124, to prevent interference with the components of the ring spinning frame 2 during the threading process, the front end of the fan-shaped connecting plate 2124 should have a recessed shape to provide a mounting position for the ring attitude adjustment electromagnet 2127.

[0083] ​In this embodiment, the static threading finger 2121 is of two-section structure, the upper part is a cylinder, and the lower part is a circular boss, which can prevent the yarn 10 from falling off during the threading process.

[0084] Further, the static threading finger 2121 should be installed on the fan-shaped connecting plate 2124 at the end consistent with the movement direction of the threading end effector 212.

[0085] In this embodiment, the rotating threading finger 2125 is of two-section structure, the upper part is a special-shaped column with one side inclined surface and one side cylindrical surface, the top end of the special-shaped column has a pin hole, and one side of the top end of the special-shaped column has a one-way stop element 21251; the lower part is a semicircular boss 21253 located on the side of the upper part with the cylindrical surface. In order to facilitate the yarn 10 to pass through the rotating threading finger 2125, the rotating threading finger 2125 should be made of light materials such as plastic.

[0086] Further, the initial position of the rotating threading finger 2125 and the static threading finger 2121 are on the same side.

[0087] In this embodiment, the rotating driving member 2123 is a power source for driving the rotating threading finger 2125 to rotate, which is one of an electric motor, a pneumatic motor or a hydraulic motor.

[0088] Further, in order to facilitate the control of the acceleration of the rotating threading finger 2125 and reduce the impact of the rotating threading finger 2125 on the yarn 10 when hooking the yarn, the rotating driving member 2123 is preferably a stepping motor.

[0089] In this embodiment, the rotating shaft 2122 serves as a transmission member, the upper end is directly connected with the output shaft of the rotating driving member 2123, and the lower end is installed with the rotating connecting rod 2126.

[0090] In this embodiment, one end of the rotating connecting rod 2126 is provided with a through hole for installing the rotating shaft 2122, and the lower surface of the other end has a hinge seat provided with a pin hole for installing the rotating threading finger 2125.

[0091] Figures 7-8 A schematic diagram showing the process of threading the yarn 10 into the steel ring 13 by the threading end effector 212 is shown. Figure 7 Fig. a shows that the threading end effector 212 moves forward along the L2 direction (i.e. Figure 3 the positive direction of the X coordinate axis of the space coordinate system) towards the front of the bobbin 11 under the driving of the threading end effector driving base 213; Figure 7The diagram shows a schematic of yarn 10 passing around the stationary threading finger 2121 and through the rotating threading finger 2125. Located between the bobbin 11 and the yarn traction device 19, the yarn 10 first passes around the outside of the stationary threading finger 2121 as the threading end actuator 212 moves. Then, the yarn 10 slides down the inclined surface of the rotating threading finger 2125, and the rotating threading finger 2125 is subjected to the force of the yarn 10, winding around... Figure 9 The pin 21252 shown rotates at a certain angle in the opposite direction to the movement of the yarn threading end actuator 212 (i.e., the R4 direction), and the yarn 10 then passes through the rotating yarn threading finger 2125;

[0092] Figure 8 The diagram in Figure EF illustrates the process of rotating the threading finger 2125 to hook the yarn. Rotating the threading finger 2125 counterclockwise by 180° (i.e., in the R3 direction) hooks the yarn 10. This is because rotating the threading finger 2125... Figure 9 The one-way stop element 21251 shown in the figure will not rotate around the pin 21252 when the yarn is hooked.

[0093] Figure 8 Figure g shows a schematic diagram of how the stationary threading finger 2121 and the rotating threading finger 2125 tension the yarn 10. At this time, the yarn 10 is parallel to... Figure 3 The X-axis direction of the spatial coordinate system shown;

[0094] Figure 8 The middle figure illustrates the process by which the yarn threading end actuator 212 threads the tensioned yarn 10 into the traveler 13. Driven by the yarn threading end actuator drive base 213, the yarn threading end actuator 212 moves along the L3 direction (i.e., Figure 3 The wire loop 13 moves towards the negative Y-axis of the spatial coordinate system. Simultaneously, the attitude adjustment electromagnet 2127 is energized, fixing the position of the wire loop 13 and adjusting its attitude, so that a distance is created between the end of the wire loop 13 and the steel collar 15. Figure 10 As shown in Figure b, the gap P1 allows the tensioned yarn 10 to pass through the steel wire loop 13.

[0095] Figure 10 A schematic diagram of the attitude adjustment process of wire loop 13 is shown. Figure 10 Figure a shows a possible posture of the wire loop 13 after it is positioned by the wire loop positioning component 211. At this time, the end of the wire loop 13 used for threading the yarn rests on the steel collar 15 and contacts the inner wall of the steel collar 15, which is not conducive to the threading of the yarn 10. Figure 10Fig. 2b shows a solution in which the loop position adjusting electromagnet 2127 at the front end of the threading end effector 212 is located obliquely above the loop 13 when the threading position is located, and the loop 13 is lifted obliquely upwards under the magnetic attraction, i.e. an opening P1 is formed between the threading end of the loop 13 and the ring 15, so as to facilitate the threading of the yarn 10. The magnetic force adjusts the position of the loop 13, and at the same time, the position of the loop 13 is fixed, so as to avoid the movement of the loop 13 caused by the force of the yarn 10 during the threading of the yarn 10, thereby avoiding the failure of the threading.

[0096] Embodiment 2:

[0097] Compared with Embodiment 1, referring to Figure 11 , this embodiment shows two other threading process diagrams of the relative position of the yarn 10 (compared with Figure 7 Fig. 2b). Figure 11 Fig. 2a shows the relative position of the yarn 10 and the threading end effector 212 when the yarn 10 is located at the right side of the bobbin 11. Figure 11 Fig. 2b shows the relative position of the yarn 10 and the threading end effector 212 when the yarn 10 is located at the middle position of the bobbin 11. The above two cases are common during the threading process, and the threading end effector 212 proposed in the present application is also suitable for the threading of the yarn 10 in the above two positions. The positioning method and the threading method of the loop 13 are consistent with Embodiment 1, and will not be described here again.

[0098] Embodiment 3:

[0099] Compared with Embodiment 1, referring to Figure 12 , this embodiment shows a threading process diagram when the direction of the hooking motion of the yarn 10 is opposite, i.e. the direction L4. At this time, the static threading finger 2121 should be installed at the right side of the fan-shaped connecting plate 2124, and the initial position of the rotating threading finger 2125 is also turned to the right side, and the direction of the hooking motion of the rotating threading finger 2125 is changed to the clockwise direction R5. Except that the direction of the motion of the threading end effector 212 is opposite, the positioning method and the threading method of the loop 13 are consistent with Embodiment 1, and will not be described here again.

[0100] Embodiment 4:

[0101] Compared with Embodiment 1, referring to Figure 13 , this embodiment shows another schematic structure of the rotating threading finger 2125, and the corresponding threading process is different. The top end of the rotating threading finger 2125 in this embodiment is installed on the driving shaft of the micro stepping motor 21254, and the micro stepping motor 21254 is installed at the end of the rotating connecting rod 2126. During the threading process of the threading end effector 212, i.e. Embodiment 1 Figures 7-8The threading process shown, the rotation of the threading finger 2125 no longer relies on the contact with the yarn 10 rotation, when the yarn 10 reaches Figure 7 the position shown in the middle of the figure c, the rotation of the threading finger 2125 is driven by the micro stepping motor 21254 in the direction of R4, the rotation of the threading finger 2125 is rotated from the initial position (i.e. Figure 3 the negative direction of the Z coordinate axis of the spatial coordinate system) by a certain angle (60° to 90°), the yarn 10 then passes through the rotating threading finger 2125; then, the micro stepping motor 21254 is reversed, the rotating threading finger 2125 is reset to the initial position, and the completion of the hooking, yarn 10 tensioning, steel ring 13 position fixing posture adjustment and threading action is shown in the e-h figure of the embodiment 1 Figure 8 , and the positioning method of the steel ring 13 is consistent with the embodiment 1, which will not be described here.

[0102] Embodiment 5:

[0103] Compared with the embodiment 1, referring to Figure 14 , this embodiment shows another illustrative structure of the steel ring threading device 21, so that the corresponding embodiment shows a completely different illustrative steel ring 13 threading scheme from the above-mentioned embodiments.

[0104] In this embodiment, the steel ring threading device 21 includes a steel ring positioning component 211 and a threading end effector 212.

[0105] In this embodiment, the steel ring positioning component 211 is a nozzle 26, which is connected to the steel ring 15 or the steel ring positioning component driving base 214.

[0106] In this embodiment, the threading end effector 212 is composed of a left sliding threading finger 24, a right sliding threading finger 25 and a slide plate 27. The slide plate 27 is connected to the threading end effector driving base 213, and the left sliding threading finger 24 and the right sliding threading finger 25 are respectively located on the two sides of the slide plate 27 for sliding connection.

[0107] The threading principle of this embodiment is: first, the left sliding threading finger 24 and the right sliding threading finger 25 are used to make translational motion in the opposite direction to tension the yarn 10, then the tensioned yarn 10 is close to the inner wall of the steel ring 15, and finally the multiple nozzles 26 are used to blow air to blow the steel ring 13 onto the yarn 10, completing the threading and positioning of the steel ring 13.

[0108] As shown in Figure 14 the initial position of the steel ring 13 threading, the yarn 10 is located between the left sliding threading finger 24 and the right sliding threading finger 25 of the steel ring threading device 21, the left sliding threading finger 24 moves along the L5 direction of the slide plate 27, and the right sliding threading finger 25 moves along the L6 direction of the slide plate 27; as Figure 14As shown in Fig. 6, the left and right sliding threading fingers 24 and 25 tension the yarn 10, and then the threading end effector 212 moves along the L7 direction to approach the inner wall of the ring 15, and finally the yarn 10 is tangent to the inner wall of the ring 15. Finally, the nozzles 26 (not less than 3, uniformly distributed) simultaneously blow air, so that the wire loop 13 moves along the R5 direction (or the opposite direction of R5) to the tangent point of the inner wall of the ring 15 and the yarn 10, that is, the wire loop 13 actively "hits" the yarn 10, and the wire loop 13 threading is completed.

[0109] The above is only used to help understand the method of the present application and its core essence, but the protection scope of the present application is not limited thereto. For those skilled in the art, according to the technical scheme and the inventive concept of the present application, equivalent replacement or change within the technical scope disclosed by the present application should be covered within the protection scope of the present application. In summary, the content of the present specification should not be understood as a limitation of the present application.

Claims

1. A traveler threading device for automatic joining of ring spinning frame, the traveler threading device (21) comprising a traveler positioning component (211), a threading end effector (212), the traveler threading device (21) being connected in an automatic joining device (1), the automatic joining device (1) being arranged at one side of a ring spinning frame (2), the ring spinning frame (2) comprising a ring traveler (15), the ring traveler (15) being provided with a traveler (13) ; characterized in that: the threading end effector (212) is connected to a threading end effector driving base (213), the threading end effector driving base (213) being connected in the automatic joining device (1) ; the threading end effector (212) comprises a connecting plate and at least one dynamic threading finger, the connecting plate being mounted on the threading end effector driving base (213) ; the threading end effector driving base (213) is used to drive the threading end effector (212) to make linear motion in horizontal direction, vertical direction or vertical height; the threading end effector (212) is used to pull the yarn (10) by the dynamic threading finger, so that part of the yarn (10) is tangent to the ring traveler (15) ; the traveler positioning component (211) is used to make the traveler (13) pass through the part of the yarn (10) tangent to the ring traveler (15) ; the threading end effector (212) further comprises a static threading finger (2121) and a traveler posture adjusting electromagnet (2127) ; the connecting plate adopts a sector connecting plate (2124), the sector connecting plate (2124) being sector-shaped and the sector central angle being greater than 180°; the static threading finger (2121) and the traveler posture adjusting electromagnet (2127) are fixedly connected to the sector connecting plate (2124), the traveler posture adjusting electromagnet (2127) being located at the front side of the sector connecting plate (2124), and the static threading finger (2121) being located at the end of the sector connecting plate (2124) consistent with the movement direction of the threading end effector (212) ; the dynamic threading finger adopts a rotating threading finger (2125), the rotating threading finger (2125) being hingedly connected to one end of a rotating connecting rod (2126), and the other end of the rotating connecting rod (2126) being movably connected to the center of the sector connecting plate (2124) ; the initial position of the rotating threading finger (2125) and the static threading finger (2121) are on the same side.

2. A traveller threading device for automatic piecing of a ring spinning frame according to claim 1, characterized in that the threading end effector (212) further comprises a rotating driving member (2123) ; the rotating driving member (2123) is bolted above the sector connecting plate (2124), an output shaft of the rotating driving member (2123) is connected to one end of a rotating shaft (2122) through a shaft coupling, and the other end of the rotating shaft (2122) is connected to the end of the rotating connecting rod (2126) away from the rotating threading finger (2125) through an opening in the center of the sector connecting plate (2124). 3.The traveler threading device for automatic joining of ring spinning frame according to claim 2, characterized in that, The rotating threading finger (2125) comprises a special-shaped column, one side of which is a slope and the other side is a cylindrical surface; The bottom end of the special-shaped column is connected with a semicircular boss (21253), and the semicircular boss (21253) is located below the side of the special-shaped column which is a cylindrical surface; the top end of the special-shaped column is hinged with a rotating connecting rod (2126) through a pin shaft (21252).

4. The traveler threading device for automatic piecing of a ring spinning frame according to claim 3, characterized in that, The top end of the special-shaped column is connected with a one-way stop element (21251) on one side, and the one-way stop element (21251) is located above the side of the special-shaped column which is a slope, so that the special-shaped column can only rotate from the slope to the cylindrical surface.

5. A traveller threading device for automatic piecing of a ring spinning frame according to claim 3, characterised in that, The end of the rotating connecting rod (2126) away from the rotating shaft (2122) is connected with a micro stepping motor (21254), and the top end of the special-shaped column is connected with the driving shaft of the micro stepping motor (21254).

6. The traveler threading device for automatic piecing of a ring spinning frame according to any one of claims 1-5, characterized in that, The static threading finger (2121) comprises a cylindrical column, the top end of which is fixedly connected with a sector-shaped connecting plate (2124), and the bottom end of the cylindrical column is connected with a circular boss for preventing the yarn (10) from sliding off during the threading process.

7. The traveler threading device for automatic piecing of a ring spinning frame according to claim 1, characterized in that, The traveler positioning component (211) is connected on a traveler positioning component driving base (214), and the traveler positioning component driving base (214) is connected in the automatic piecing device (1); The traveler positioning component driving base (214) is used to drive the traveler positioning component (211) to make linear motion in the horizontal direction or vertical height; The traveler positioning component (211) comprises a semicircular air channel (2111), a tangential nozzle (2112) and a baffle (2113); the semicircular air channel (2111) is installed on the traveler positioning component driving base (214), the tangential nozzle (2112) and the baffle (2113) are connected on the lower surface of the semicircular air channel (2111), and the baffle (2113) is located at the vertical symmetry section of the semicircular air channel (2111); The semicircular air channel (2111) has an inner diameter equal to the inner diameter of the ring traveler (15), and is used to deliver compressed air to the tangential nozzle (2112); The tangential nozzle (2112) is provided with at least three, and the tangential nozzles (2112) are uniformly distributed below the semicircular air channel (2111); the jet direction of the tangential nozzle (2112) is the tangent direction of the central arc line of the semicircular air channel (2111), and the jet directions of all the tangential nozzles (2112) are unified as clockwise or counterclockwise directions, which are used to blow the traveler (13) to move clockwise or counterclockwise along the ring traveler (15) to the baffle (2113) to realize the positioning of the traveler (13).

8. The method of using a traveler threading device for automatic joints of a ring spinning frame as defined in claim 7, characterized in that, The method comprises the following steps: S1: after the ring spinning frame (2) breaks at the spinning position, the traveler positioning component (211) moves the traveler (13) to the threading position by using air flow; S2: the threading end effector (212) moves to the front of the traveler ring (15), and the moving threading finger pulls the yarn (10) to keep part of the yarn (10) parallel to the tangent line of the threading position on the traveler ring (15); S3: the threading end effector (212) keeps moving to the front of the traveler (13) to keep part of the yarn (10) parallel to the tangent line of the threading position on the traveler ring (15), and the yarn (10) is threaded into the traveler (13), and the threading end effector (212) returns to the original position.

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