Yarn automatic connecting device and method based on glue bonding

Abstract

The present invention discloses an automatic yarn connection device based on glue bonding, comprising a workbench frame, a yarn carrier, a glue spraying assembly, a manipulator, and a pressing assembly. The workbench frame is used to provide support and fixation, the yarn carrier is used to guide the yarn to the pressing assembly; the glue spraying assembly is used to provide the required glue; the manipulator is used to tie the yarn knots, and the pressing assembly is used to press the bonded yarns. The present invention also discloses an automatic yarn connection method based on glue bonding, comprising the following steps: 1. The yarn carrier guides the yarn to the pressing table; 2. The glue is sprayed onto the yarn in the V-groove of the pressing table; 3. The pressing assembly presses the yarn with glue; 4. The pressing assembly withdraws, the yarn withdraws, and one automatic yarn connection is completed. The device and method of the present invention belong to the field of spinning machinery technology, and solve the problem in the prior art that knots can only be tied at fixed positions and have poor adaptability. The knotting process is simple and the failure rate is significantly reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of spinning machinery, and relates to an automatic yarn connecting device based on glue bonding. The invention also relates to an automatic yarn connecting method based on glue bonding. Background Art

[0002] Automatic yarn knotting equipment is a widely used mechanical device in the textile industry. Traditional manual and semi-automatic knotting methods require a long time and high technical requirements, resulting in high labor costs and unreliable quality. Automatic knotting devices can solve these problems and increase production, reduce costs, speed up production, and significantly improve production quality. As a result, they are widely used by more and more companies.

[0003] In the textile industry, yarn breakage is unavoidable during processing. Furthermore, during the weaving process, when a yarn is exhausted or the pattern is changed, additional yarn or yarn of a different color is often required to keep the automated system running. However, any splicing defects can negatively impact the quality of the fabric during subsequent processing.

[0004] Currently, common yarn joining methods include air splicing, mechanical knotting, winding knotting, and adhesive bonding. Air splicing results in a smoother knot, but lower knot strength. Mechanical knotting and winding knotting offer high knot reliability, but they experience significant diameter variation, making them difficult to pass through yarn carriers. Glue bonding, on the other hand, offers better diameter variation than mechanical and winding knotting, boasts superior strength compared to air splicing, and is quick and convenient, making it an effective and feasible joining method. However, it can only be tied in fixed positions, resulting in poor adaptability. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic yarn connecting device based on glue bonding, which solves the problem in the prior art that knots can only be tied at fixed positions and the adaptability is poor.

[0006] Another object of the present invention is to provide a method for automatically connecting yarns based on glue bonding, which solves the problems of complicated knotting process and high failure rate in the prior art.

[0007] The technical solution adopted by the present invention is a yarn automatic connecting device based on glue bonding, including a workbench frame, a yarn carrier, a glue spraying assembly, a manipulator and a pressing assembly, wherein the workbench frame is used to provide support and fixation for the entire device, the yarn carrier is used to guide the yarn to the pressing assembly of the manipulator; the glue spraying assembly is used to provide the required glue for yarn knotting to meet the requirements of glue bonding; the manipulator is used to tie yarn knots, and the pressing assembly is used to press the bonded yarn.

[0008] Another technical solution adopted by the present invention is a method for automatically connecting yarns based on glue bonding, which is implemented by using the above-mentioned automatic yarn connecting device based on glue bonding according to the following steps:

[0009] Step 1: Through the XYZ three-axis linkage, the yarn carrier guides the yarn to the press table;

[0010] Step 2: The glue spraying mechanism starts spraying glue to spray glue onto the yarn in the V-shaped groove of the press table;

[0011] Step 3: The pressing assembly moves, the pressing head engages with the pressing table, and presses the yarn with glue;

[0012] Step 4: The pressing assembly exits the working state, and the yarn exits the pressing assembly, completing an automatic yarn connection.

[0013] The beneficial effects of the present invention include the following aspects:

[0014] 1) Using the glue bonding method, the diameter change after the knot is formed is small and the strength is high. The traditional yarn knotter is combined with the robotic arm. The robotic arm and the yarn carrier have a high degree of freedom and have the advantages of multi-angle, multi-position, and multi-yarn compatibility.

[0015] 2) After applying the robot technology to the ordinary yarn knotter, a new type of yarn knotting tool is formed. Based on the ordinary yarn knotter, the cumbersome yarn guiding device is replaced by a robot that can move freely. The yarn carrier is used to pull the yarn to the pressing table, drive the pressing component and the glue spraying component to work, so that the yarn to be knotted is bonded into a knot, thereby realizing yarn knotting.

[0016] 3) The device of the present invention has a high degree of freedom, which changes the deficiency of traditional knotting that knots can only be tied at fixed positions. During the knotting process, the knotting position is free; the glue bonding method is used, the knotting process is simple and not prone to malfunction; the overall structure of the device is simple and easy to produce and assemble. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the overall structure of the device of the present invention;

[0018] Figure 2 It is a front structural schematic diagram of the device of the present invention;

[0019] Figure 3 Schematic diagram of the top view of the device of the present invention;

[0020] Figure 4 Schematic diagram of the partial structure of the pressing assembly in the device of the present invention;

[0021] Figure 5 It is a schematic diagram of the local structure of the device of the present invention in a pressed state;

[0022] Figure 6 It is a schematic diagram of the partial structure of the device of the present invention in the expanded state;

[0023] Figure 7 It is a side view of the output shaft of the motor of the upper arm in the device of the present invention;

[0024] Figure 8 This is an axial view of the output shaft of the boom motor in the device of the present invention.

[0025] In the figure, 1. Base, 2. Support rod, 3. Main screw seat, 4. Slide rail seat 1, 5. Y-axis screw seat, 6. Y-axis screw, 7. X-axis screw seat, 8. U-shaped groove base, 9. U-shaped groove, 10. Z-axis screw, 11. Z-axis screw seat, 12. Slide rail, 13. Screw seat slider, 14. Slide rail seat 2, 15. Arm slider, 16. Motor 1, 17. Motor 2, 18. Pipeline 1, 19. Pipeline 2, 20. Diaphragm pump, 21. Glue box, 22. Motor 3, 23. Cylindrical gear, 24. Pressing platform, 25. Pressing head, 26. Opening and closing claw seat, 27. Gear seat, 28. Manipulator seat, 29. Manipulator rotation shaft, 30. Motor seat 2, 31. Coupling, 32. Motor seat 1, 33. Small arm, 34. Cylindrical pin, 35. Swing rod, 36. Bearing, 37. Side panel, 38. Bottom plate, 39. Big arm motor seat, 40. Big arm, 41. Motor 4, 42. Rear panel, 43. Big arm motor output shaft, 44. Drive plate, 45. Threaded hole. DETAILED DESCRIPTION

[0026] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] The overall structure of the automatic yarn connecting device of the present invention includes a workbench frame, a yarn carrier, a glue spraying assembly, a manipulator and a pressing assembly, wherein the workbench frame is used to provide support and fixation for the entire device, the yarn carrier is used to guide the yarn to the pressing assembly of the manipulator; the glue spraying assembly is used to provide the required glue for yarn knotting to meet the requirements of glue bonding; the manipulator is used to tie yarn knots, and the pressing assembly is used to press the bonded yarn.

[0028] Reference Figure 1 、 Figure 2 、 Figure 3The structure of the workbench frame is that it includes a fixed base 1, and a support rod 2 is vertically fixed to each of the four corners of the base 1. The upper and lower surfaces of each support rod 2 are configured with square columns. The tops of the two support rods 2 on one side along the Y-axis jointly support a slide rail seat 4, and the tops of the two support rods 2 on the other side along the Y-axis jointly support a slide rail seat 2 14. A slide rail 12 is fixedly installed on the upper end surface of the slide rail seat 2 14; a Y-axis screw seat 5 is provided on the slide rail seat 1 4, and a Y-axis screw 6 and a Y-axis nut are provided in the Y-axis screw seat 5, and an X-axis screw seat is fixed on the upper end surface of the Y-axis nut 7, the lower edge of the other end of the X-axis screw seat 7 is tied to the slide rail 12 through the screw seat slider 13; the X-axis screw seat 7 is provided with an X-axis screw and its X-axis nut, and a drive plate 44 is fixed to the upper end surface of the X-axis nut. A vertical Z-axis screw seat 11 is fixed to the outer side of one side of the drive plate 44, and a Z-axis screw seat 11 is provided with a Z-axis screw and its Z-axis nut; a U-shaped groove base 8 is fixed on the Z-axis nut, and a vertical U-shaped groove 9 is provided on the U-shaped groove base 8. The U-shaped groove 9 is used to pass the yarn. The U-shaped groove base 8 and the U-shaped groove 9 together form a yarn carrier to realize XYZ three-axis linkage;

[0029] The upper surface of the base 1 is also fixed with a main screw seat 3, which is arranged parallel to the X-axis screw seat 7. The main screw seat 3 is provided with a spindle screw and a matching spindle nut. The spindle screw has an independent matching motor. A rectangular workbench is provided on the upper end face of the spindle nut. The model of the spindle screw is YBSC6-5-400-BC-H-10-NCH-3.

[0030] A glue spraying assembly is also provided on the upper surface of the base 1, which is adjacent to the workbench. The glue spraying assembly includes a miniature diaphragm pump 20 and a glue box 21. The input end of the diaphragm pump 20 extends into the glue box 21 through pipe 2 19, and the output end of the diaphragm pump 20 is aligned with the pressing assembly through pipe 1 18 to spray glue on the yarn entering the pressing assembly.

[0031] Reference Figure 3 、 Figure 5 、 Figure 6 The structure of the manipulator is as follows: it includes a manipulator base installed on the workbench, and the manipulator base is surrounded by a bottom plate 38, two side panels 37, and a rear panel 42 to form a space with an opening in the front and the top. The bottom plate 38 is fixed to the workbench surface on the main screw seat 3, and a bearing 36 (called a first pair of bearings 36) is installed in each of the two side panels 37. To ensure the installation strength and assembly convenience, the side panels 37 and the rear panel 42 on one side are first fixed to the bottom plate 38, and then the output shaft 43 of the arm motor is assembled with the bearings 36 in the two side panels 37. Then, epoxy resin glue is used to glue the side panel 37 on the other side to the position relative to the side panel 37 fixed in advance in front, and together they form an integrated manipulator base.

[0032] The output shaft 43 of the boom motor is fixedly connected to the rear end of the boom 40, and the output shaft 43 of the boom motor is driven and connected to the motor 1 16. A boom motor seat 39 is placed on one side of the middle part of the boom 40, and motor 2 17 is installed on the boom motor seat 39. A hinge hole is opened in the middle position of the boom 40, and a second pair of bearings 36 is installed in the hinge hole. The output shaft of motor 2 17 passes through the second pair of bearings 36 and is fixedly connected to one end of the swing rod 35. The other end of the swing rod 35 is hinged to the rear end of the arm 33 through a cylindrical pin 34 to form a four-bar mechanism; a slide groove is provided at the front end of the boom 40, and a circular through hole is provided at the front end of the arm 33. A small arm slider 15 is hinged in the circular through hole of the arm 33, and the small arm slider 15 slides in the slide groove of the boom 40. The slide groove of the boom 40 provides a track for the reciprocating motion of the arm 33, so that the movement direction of the arm 33 can be controlled.

[0033] Reference Figure 4 , a motor seat 32 is fixedly provided at the front end of the small arm 33, and a motor 41 is installed in the inner cavity of the motor seat 32. The rotating shaft of the motor 41 extends out of the motor seat 32 and is transmission-connected to the inner end of the coupling 31. The outer end of the coupling 31 is hinged to the motor seat 2 30, and the outer end of the motor seat 2 30 is transmission-connected to the manipulator seat 28 through the manipulator rotation shaft 29 in turn. A gear seat 27 is fixed to the outer end of the manipulator seat 28, and a pair of cylindrical gears 23 are provided on the gear seat 27. The driving shafts of the pair of cylindrical gears 23 are transmission-connected to the motor 3 22. A pair of opening and closing claw seats 26 are respectively fixed on the turntables of the pair of cylindrical gears 23. A pressing platform 24 is fixed on the lower opening and closing claw seat 26, and a pressing head 25 is fixed on the upper opening and closing claw seat 26. The pressing platform 24 and the pressing head 25 are collectively referred to as a pressing assembly.

[0034] The screw seat slider 13 and the arm slider 15 are both made of HGH15 type material.

[0035] Motor 1 16 and motor 4 41 both use 20CM003 type motors; motor 2 17 and motor 3 22 both use 35CM04 type motors.

[0036] Figure 8 In the example, R1 is Figure 7 The diameter of the middle step in the right half; R2 is Figure 7 The maximum shoulder diameter in the shaft; R3 is the diameter of the four threaded holes 45, preferably M3; R4 is Figure 7 The minimum diameter of the right half of the shaft; L is Figure 7 The thickness of the chord section of the high step on the inner side of the right half.

[0037] Reference Figure 7 、 Figure 8The motor 16 is connected to the arm 40 through the arm motor output shaft 43. The arm motor output shaft 43 is a shaft with multiple shoulders. Four threaded holes 45 are opened at the largest shoulder of the arm motor output shaft 43. The four threaded holes 45 are evenly distributed on the largest shoulder along the circumferential direction. The threaded holes 45 are fixedly connected to the ear seat of the arm 40 by bolts; 6mm away from the largest shoulder, a two-step surface coaxial with the output shaft is designed (see Figure 7 The right half) and two chord sections (radial thickness is L). The function of the two-step surface and the two chord sections is to form a mortise and tenon structure with the slot structure at the rear end of the big arm, so that the mutual connection is firm and the transmission is more stable.

[0038] The working principle of the yarn automatic connecting device of the present invention is: during the knotting operation, the pressure head 25 of the pressing assembly is pre-opened, the U-shaped groove base 8 and the U-shaped groove 9 are placed on the Z-axis screw, and the three screws of the X, Y, and Z axes jointly provide the movement of the U-shaped groove 9, guiding the yarn to move downward, so that the U-shaped groove 9 smoothly guides the yarn to the V-shaped groove of the pressing platform 24; then, the glue spraying mechanism is started, and the micro diaphragm pump 20 sucks the glue in the glue box 21 through the pipe 2 19, and then uses the pipe 1 18 to spray the glue onto the yarn in the V-shaped groove of the pressing platform 24. At the same time, the motor 3 22 drives a pair of cylindrical gears 23 to control the pressing assembly to move the pressure head 25 and the pressing platform 24 to close, pressing the viscose yarn to be knotted, and opening the pressing assembly again after the glue is solidified. The three screws of the X, Y, and Z axes jointly control the movement of the U-shaped groove 9 to guide the yarn to exit the pressing assembly.

[0039] The automatic yarn joining method based on glue bonding of the present invention is implemented by using the above-mentioned automatic yarn joining device based on glue bonding according to the following steps:

[0040] Step 1: Through the XYZ three-axis linkage, the yarn carrier guides the yarn to the press table 24.

[0041] The specific action is: the pressing component is opened in advance, and the guide rails provided in the x, y, and z axis directions are used at the upper end of the workbench. Through the XYZ three-axis linkage, the yarn carrier is guided to move to the yarn end that needs to be knotted. The U-shaped groove 9 hooks the yarn and places the yarn ends at both ends in the V-shaped groove of the pressing table 24; the robot arm will also move to assist the yarn carrier in placing the yarn end.

[0042] Step 2: The glue spraying mechanism starts spraying glue to spray glue onto the yarn in the V-shaped groove of the press table 24.

[0043] The specific action is: the micro diaphragm pump 20 placed on the workbench starts working, sucking the glue in the glue box 21 through the second pipe 19, and then using the first pipe 18 to spray the glue onto the yarn in the V-shaped groove of the pressing table 24.

[0044] Step 3: Press the assembly to hold down the glued yarn.

[0045] The specific action is: the motor 3 22 in the manipulator works to control the pressure head 25 and the pressure platform 24 to close, and compact and fix the yarn with glue.

[0046] Step 4: The pressing assembly exits the working state and the yarn exits the pressing assembly.

[0047] The specific action is: after the glue successfully connects the yarn ends at both ends, the pressing assembly is reopened; then, the yarn carrier is guided to move to the robot through the XYZ three-axis linkage, and the yarn that has been connected in the V-groove of the pressing table 24 is hooked to separate it from the pressing assembly, completing an automatic connection of the yarn.

[0048] Example 1

[0049] The overall structure of the yarn automatic connection device of the present invention includes a workbench frame, a yarn carrier, a glue spraying assembly, a manipulator, and a pressing assembly. The structure of the workbench frame includes a fixed base 1, with a support rod 2 vertically fixed to each of the four corners of the base 1. The upper and lower surfaces of each support rod 2 are configured with square columns. The tops of the two support rods 2 on one side along the Y-axis jointly support a slide rail seat 1 4, and the tops of the two support rods 2 on the other side along the Y-axis jointly support a slide rail seat 2 14. A slide rail 12 is fixedly installed on the upper end surface of the slide rail seat 2 14; a Y-axis screw seat 5 is provided on the slide rail seat 1 4, a Y-axis screw 6 and its Y-axis nut are provided in the Y-axis screw seat 5, and an X-axis screw seat 7 is fixed on the upper end surface of the Y-axis nut. The lower edge of the other end of the X-axis screw seat 7 is looped with the slide rail 12 through the screw seat slider 13; the X-axis screw seat 7 is provided with an X-axis screw and its X-axis nut, and a drive plate 44 is fixed to the upper end face of the X-axis nut, and a vertical Z-axis screw seat 11 is fixed to the outer side of one side of the drive plate 44, and the Z-axis screw seat 11 is provided with a Z-axis screw and its Z-axis nut; a U-shaped groove base 8 is fixed on the Z-axis nut, and a vertical U-shaped groove 9 is provided on the U-shaped groove base 8, and the U-shaped groove 9 is used to pass the yarn, and the U-shaped groove base 8 and the U-shaped groove 9 together form a yarn carrier to realize XYZ three-axis linkage.

[0050] A main screw seat 3 is also fixed on the upper surface of the base 1. The main screw seat 3 is arranged parallel to the X-axis screw seat 7. A main spindle screw and a matching main spindle nut are arranged in the main screw seat 3. The main spindle screw has an independent matching motor. A rectangular workbench is arranged on the upper end face of the spindle nut. The model used by the main spindle is YBSC6-5-400-BC-H-10-NCH-3; a glue spraying assembly is also provided on the upper surface of the base 1. The glue spraying assembly is adjacent to the workbench. The glue spraying assembly includes a miniature diaphragm pump 20 and a glue box 21. The input end of the miniature diaphragm pump 20 extends into the glue box 21 through pipe 2 19, and the output end of the miniature diaphragm pump 20 is connected to the pressing assembly through pipe 1 18 to spray glue on the yarn entering the pressing assembly.

[0051] The structure of the manipulator is that it includes a manipulator base installed on the workbench. The manipulator base is surrounded by a bottom plate 38, two side panels 37, and a rear panel 42 to form a space with an opening in the front and the top. The bottom plate 38 is fixed to the workbench surface on the main screw seat 3, and a bearing 36 (called a first pair of bearings 36) is installed in each of the two side panels 37. To ensure the installation strength and assembly convenience, the side panels 37 and the rear panel 42 on one side are first fixed to the bottom plate 38, and then the arm motor output shaft 43 and the bearings 36 in the two side panels 37 are assembled. Then, use epoxy resin glue to stick the side panel 37 on the other side to the relative position of a side panel 37 fixed in advance in the front, and together form an integrated manipulator base; the arm motor output shaft 43 is fixed to the rear end of the arm 40 The output shaft 43 of the upper arm motor is connected to the motor 16 for driving. A upper arm motor seat 39 is placed on one side of the middle part of the upper arm 40, and motor 2 17 is installed on the upper arm motor seat 39. A hinge hole is opened in the middle position of the upper arm 40, and a second pair of bearings 36 is installed in the hinge hole. The output shaft of motor 2 17 passes through the second pair of bearings 36 and is fixedly connected to one end of the swing rod 35. The other end of the swing rod 35 is hinged to the rear end of the arm 33 through a cylindrical pin 34 to form a four-bar mechanism; a slide groove is provided at the front end of the upper arm 40, and a circular through hole is provided at the front end of the arm 33. A small arm slider 15 is hinged in the circular through hole of the arm 33, and the small arm slider 15 slides in the slide groove of the upper arm 40. The slide groove of the upper arm 40 provides a track for the reciprocating motion of the arm 33, so that the movement direction of the arm 33 can be controlled.

[0052] A motor seat 32 is fixedly provided at the front end of the small arm 33, and a motor 41 is installed in the inner cavity of the motor seat 32. The rotating shaft of the motor 41 extends out of the motor seat 32 and is transmission-connected to the inner end of the coupling 31. The outer end of the coupling 31 is hinged to the motor seat 2 30. The outer end of the motor seat 2 30 is transmission-connected to the manipulator seat 28 through the manipulator rotation shaft 29 in turn. The outer end of the manipulator seat 28 is fixed with a gear seat 27, and a pair of cylindrical gears 23 are provided on the gear seat 27. The driving shafts of the pair of cylindrical gears 23 are transmission-connected to the motor 3 22. A pair of opening and closing claw seats 26 are respectively fixed on the turntables of the pair of cylindrical gears 23. A pressing platform 24 is fixed on the lower opening and closing claw seat 26, and a pressing head 25 is fixed on the upper opening and closing claw seat 26. The pressing platform 24 and the pressing head 25 are collectively referred to as a pressing assembly.

[0053] The automatic yarn coupling device of the present invention is implemented according to the following steps:

[0054] Step 1: Through the XYZ three-axis linkage, the yarn carrier guides the yarn to the press table 24.

[0055] Step 2: The glue spraying mechanism is started to spray glue onto the yarn in the V-shaped groove of the pressing platform 24.

[0056] Step 3: Press the assembly to hold down the glued yarn.

[0057] Step 4: The pressing assembly exits, and the yarn exits the pressing assembly, completing an automatic yarn connection.

[0058] Following the aforementioned steps of the method of the present invention, the carbon fiber composite material was automatically bonded. The resulting product was subjected to uniaxial tensile testing on a universal testing machine until failure occurred in the bonded area. The test results showed excellent fiber bonding, with a failure load of 7 kN and a failure displacement of 1.8 mm. This demonstrates that the quality of the automated fiber bonding process, produced using the method of the present invention, is excellent and fully meets product quality requirements.

[0059] Example 2

[0060] The overall structure of the yarn automatic coupling device of the present invention includes a workbench frame, a yarn carrier, a glue spraying assembly, a manipulator, and a pressing assembly. A main screw seat 3 is fixed to the upper surface of the base 1. The main screw seat 3 is arranged parallel to the X-axis screw seat 7. The main screw seat 3 is provided with a main spindle screw and a matching main spindle nut. The main spindle screw has an independent matching motor. The upper end surface of the main spindle nut is provided with a rectangular workbench. The main spindle screw adopts the model YBSC6-5-400-BC-H-10-NCH-3. A glue spraying assembly is also provided on the upper surface of the base 1. The glue spraying assembly is adjacent to the workbench and includes a micro diaphragm pump 20 and a glue box 21. The input end of the micro diaphragm pump 20 extends into the glue box 21 through a second pipe 19. The output end of the micro diaphragm pump 20 is connected to the pressing assembly through a pipe 18 to spray glue on the yarn entering the pressing assembly.

[0061] The structure of the manipulator is that it includes a manipulator base installed on the workbench. The manipulator base is surrounded by a bottom plate 38, two side panels 37, and a rear panel 42 to form a space with an opening in the front and the top. The bottom plate 38 is fixed to the workbench surface on the main screw seat 3, and a bearing 36 (called a first pair of bearings 36) is installed in each of the two side panels 37. To ensure the installation strength and assembly convenience, the side panels 37 and the rear panel 42 on one side are first fixed to the bottom plate 38, and then the output shaft 43 of the arm motor is assembled with the bearings 36 in the two side panels 37. Then, use epoxy resin glue to stick the side panel 37 on the other side to the relative position of a side panel 37 fixed in advance in the front, and together form an integrated manipulator base; the output shaft 43 of the arm motor is fixed to the rear end of the arm 40 The output shaft 43 of the upper arm motor is connected to the motor 16 for driving. A upper arm motor seat 39 is placed on one side of the middle part of the upper arm 40, and motor 2 17 is installed on the upper arm motor seat 39. A hinge hole is opened in the middle position of the upper arm 40, and a second pair of bearings 36 is installed in the hinge hole. The output shaft of motor 2 17 passes through the second pair of bearings 36 and is fixedly connected to one end of the swing rod 35. The other end of the swing rod 35 is hinged to the rear end of the arm 33 through a cylindrical pin 34 to form a four-bar mechanism; a slide groove is provided at the front end of the upper arm 40, and a circular through hole is provided at the front end of the arm 33. The arm slider 15 is hinged in the circular through hole of the arm 33, and the arm slider 15 slides in the slide groove of the upper arm 40. The slide groove of the upper arm 40 provides a track for the reciprocating motion of the arm 33, so that the movement direction of the arm 33 can be controlled.

[0062] The automatic yarn coupling device of the present invention is implemented according to the following steps:

[0063] Step 1: Through the XYZ three-axis linkage, the yarn carrier guides the yarn to the press table 24.

[0064] Step 2: The glue spraying mechanism is started to spray glue onto the yarn in the V-shaped groove of the pressing platform 24.

[0065] Step 3: Press the assembly to hold down the glued yarn.

[0066] Step 4: The pressing assembly exits, and the yarn exits the pressing assembly, completing an automatic yarn connection.

[0067] Following the above steps of the method of the present invention, 22-tex glass fiber yarns were automatically bonded. The resulting product was subjected to uniaxial tensile testing on a universal testing machine until failure occurred in the bonded area. The test results showed excellent fiber bonding, with a static bond strength of 1.59 N / 20 mm. This demonstrates that the quality of the automated fiber bonding produced using the method of the present invention is excellent and fully meets product quality requirements.

[0068] Example 3

[0069] The overall structure of the yarn automatic connection device of the present invention includes a workbench frame, a yarn carrier, a glue spraying assembly, a manipulator and a pressing assembly. The structure of the workbench frame includes a fixed base 1, a support rod 2 is vertically fixed to each of the four corners of the base 1, and the upper and lower surfaces of each support rod 2 are configured with square columns. The tops of the two support rods 2 on one side along the Y-axis jointly support a slide rail seat 1 4, and the tops of the two support rods 2 on the other side along the Y-axis jointly support a slide rail seat 2 14. A slide rail 12 is fixedly installed on the upper end surface of the slide rail seat 2 14; a Y-axis screw seat 5 is provided on the slide rail seat 1 4, and a Y-axis screw seat 5 is provided on the slide rail seat 1 The lever seat 5 is provided with a Y-axis screw 6 and its Y-axis nut, the upper end surface of the Y-axis nut is fixed with an X-axis screw seat 7, and the lower edge of the other end of the X-axis screw seat 7 is hooked with the slide rail 12 through the screw seat slider 13; the X-axis screw seat 7 is provided with an X-axis screw and its X-axis nut, the upper end surface of the X-axis nut is fixed with a drive plate 44, and the outer side of one side of the drive plate 44 is fixed with a vertical Z-axis screw seat 11, and the Z-axis screw seat 11 is provided with a Z-axis screw and its Z-axis nut; the Z-axis nut A U-shaped groove base 8 is fixed on the top, and a vertical U-shaped groove 9 is provided on the U-shaped groove base 8. The U-shaped groove 9 is used to pass the yarn. The U-shaped groove base 8 and the U-shaped groove 9 together form a yarn carrier to realize XYZ three-axis linkage; the structure of the manipulator is, including a manipulator base installed on the workbench, the manipulator base is surrounded by a bottom plate 38, two side panels 37, and a rear panel 42 to form a space with an opening in the front and the top. The bottom plate 38 is fixed to the workbench surface on the main screw seat 3, and a bearing 36 (called a first pair of bearings 36) is respectively installed in the two side panels 37. To ensure the installation strength and assembly convenience, the side panels 37 and the rear panel 42 on one side are first fixed to the bottom plate 38, and then the arm motor output shaft 43 is assembled with the bearings 36 in the two side panels 37. Then, use epoxy resin glue to glue the side panel 37 on the other side to the relative position of a side panel 37 fixed in advance in front, and together form an integrated manipulator base.

[0070] The output shaft 43 of the boom motor is fixedly connected to the rear end of the boom 40, and the output shaft 43 of the boom motor is driven and connected to the motor 1 16. A boom motor seat 39 is placed on one side of the middle part of the boom 40, and motor 2 17 is installed on the boom motor seat 39. A hinge hole is opened in the middle position of the boom 40, and a second pair of bearings 36 is installed in the hinge hole. The output shaft of motor 2 17 passes through the second pair of bearings 36 and is fixedly connected to one end of the swing rod 35. The other end of the swing rod 35 is hinged to the rear end of the arm 33 through a cylindrical pin 34 to form a four-bar mechanism; a slide groove is provided at the front end of the boom 40, and a circular through hole is provided at the front end of the arm 33. A small arm slider 15 is hinged in the circular through hole of the arm 33, and the small arm slider 15 slides in the slide groove of the boom 40. The slide groove of the boom 40 provides a track for the reciprocating motion of the arm 33, so that the movement direction of the arm 33 can be controlled.

[0071] A motor seat 32 is fixedly provided at the front end of the small arm 33, and a motor 41 is installed in the inner cavity of the motor seat 32. The rotating shaft of the motor 41 extends out of the motor seat 32 and is transmission-connected to the inner end of the coupling 31. The outer end of the coupling 31 is hinged to the motor seat 2 30. The outer end of the motor seat 2 30 is transmission-connected to the manipulator seat 28 through the manipulator rotation shaft 29 in turn. The outer end of the manipulator seat 28 is fixed with a gear seat 27, and a pair of cylindrical gears 23 are provided on the gear seat 27. The driving shafts of the pair of cylindrical gears 23 are transmission-connected to the motor 3 22. A pair of opening and closing claw seats 26 are respectively fixed on the turntables of the pair of cylindrical gears 23. A pressing platform 24 is fixed on the lower opening and closing claw seat 26, and a pressing head 25 is fixed on the upper opening and closing claw seat 26. The pressing platform 24 and the pressing head 25 are collectively referred to as a pressing assembly.

[0072] The automatic yarn coupling device of the present invention is implemented according to the following steps:

[0073] Step 1: Through the XYZ three-axis linkage, the yarn carrier guides the yarn to the press table 24.

[0074] Step 2: The glue spraying mechanism is started to spray glue onto the yarn in the V-shaped groove of the pressing platform 24.

[0075] Step 3: Press the assembly to hold down the glued yarn.

[0076] Step 4: The pressing assembly exits, and the yarn exits the pressing assembly, completing an automatic yarn connection.

[0077] Following the above steps of the method of the present invention, 133 tex coarse glass fiber was automatically bonded together. The resulting product was subjected to uniaxial tensile testing on a universal testing machine until failure occurred in the bonded area. The test results showed excellent fiber bonding, with a static bond strength of 1.82 N / 20 mm. This demonstrates that the quality of the automatic fiber bonding produced using the method of the present invention is excellent and fully meets product quality requirements.

Claims

1. A yarn automatic connecting device based on glue bonding, characterized by: It includes a workbench frame, a yarn carrier, a glue spraying assembly, a manipulator and a pressing assembly. The workbench frame is used to provide support and fixation for the entire device, the yarn carrier is used to guide the yarn to the pressing assembly; the glue spraying assembly is used to provide the required glue for yarn knotting; the manipulator is used to tie the yarn, and the pressing assembly is used to press the bonded yarn together. The structure of the workbench frame is as follows: it includes a fixed base (1), and a support rod (2) is vertically fixed to each of the four corners of the base (1); the top ends of the two support rods (2) on one side jointly support a slide rail seat 1 (4), and the top ends of the two support rods (2) on the other side jointly support a slide rail seat 2 (14); a slide rail (12) is fixedly installed on the upper end surface of the slide rail seat 2 (14); a Y-axis screw seat (5) is provided on the slide rail seat 1 (4), a Y-axis screw (6) and its Y-axis nut are provided in the Y-axis screw seat (5), and an X-axis screw seat (7) is fixed on the upper end surface of the Y-axis nut. The lower edge of the other end of the X-axis screw seat (7) is sleeved with the slide rail (12) through the screw seat slider (13); an X-axis screw and an X-axis nut are provided in the X-axis screw seat (7); a driving plate (44) is fixed to the upper end surface of the X-axis nut, a vertical Z-axis screw seat (11) is fixed to the outer side of one side of the driving plate (44), and a Z-axis screw and a Z-axis nut are provided in the Z-axis screw seat (11); a U-shaped groove base (8) is fixed on the Z-axis nut, a vertical U-shaped groove (9) is provided on the U-shaped groove base (8), and the U-shaped groove base (8) and the U-shaped groove (9) together form a yarn carrier; The upper surface of the base (1) is also fixed with a main screw seat (3), which is arranged parallel to the X-axis screw seat (7). The main screw seat (3) is provided with a main spindle screw and a matching main spindle nut. The main spindle screw has an independent matching motor, and a rectangular workbench is provided on the upper end surface of the main spindle nut. The upper surface of the base (1) is provided with a glue spraying assembly, which is adjacent to the workbench. The glue spraying assembly includes a miniature diaphragm pump (20) and a glue box (21). The input end of the diaphragm pump (20) extends into the glue box 21 through the second pipe (19), and the output end of the diaphragm pump (20) is aligned with the pressure-fitting assembly through the first pipe (18); The structure of the manipulator is as follows: the manipulator base is composed of a bottom plate (38), two side panels (37), and a rear panel (42) to form a space with an opening in the front and the top; the bottom plate (38) is fixed on the work surface of the main screw seat (3); a bearing (36) is installed in each of the two side panels (37), and together they form an integrated manipulator base; the pair of bearings (36) are commonly fitted with a large arm motor output shaft (43), and the large arm motor output shaft (43) is fixedly connected to the rear end of the large arm (40) The output shaft (43) of the motor of the big arm is connected to the driving of the motor 1 (16). The motor seat (39) of the big arm is arranged on one side of the middle of the big arm (40). The motor 2 (17) is installed on the motor seat (39). A hinge hole is opened at the middle position of the big arm (40). The second pair of bearings (36) are installed in the hinge hole. The output shaft of the motor 2 (17) passes through the second pair of bearings (36) and is fixedly connected to one end of the swing rod (35). The other end of the swing rod (35) is hinged to the rear end of the small arm (33) through a cylindrical pin (34). A four-bar mechanism; a slide groove is provided at the front end of the upper arm (40), a circular through hole is provided at the front end of the lower arm (33), and a lower arm slider (15) is hinged in the circular through hole of the lower arm (33); a motor seat 1 (32) is fixedly provided at the front end of the lower arm (33), a motor 4 (41) is installed in the inner cavity of the motor seat 1 (32), a rotating shaft of the motor 4 (41) extends out of the motor seat 1 (32) and is transmission-connected with the inner end of the coupling (31), the outer end of the coupling (31) is hinged with the motor seat 2 (30), and the outer end of the motor seat 2 (30) is hinged. The manipulator is connected to the manipulator seat (28) through a manipulator self-rotating shaft (29), a gear seat (27) is fixed to the outer end of the manipulator seat (28), a pair of cylindrical gears (23) are provided on the gear seat (27), the driving shafts of the pair of cylindrical gears (23) are connected to the motor (22), and a pair of opening and closing claw seats (26) are fixed on the turntables of the pair of cylindrical gears (23), a pressing platform (24) is fixed on the lower opening and closing claw seat (26), and a pressing head (25) is fixed on the upper opening and closing claw seat (26); The boom motor output shaft (43) is a shaft with multiple shoulders. Four threaded holes (45) are opened at the largest shoulder of the boom motor output shaft (43). The four threaded holes (45) are evenly distributed on the largest shoulder along the circumferential direction. Near the largest shoulder, two step surfaces coaxial with the output shaft and two tangential sections are provided.

2. A method for automatically joining yarns based on glue bonding, using the automatic yarn joining device based on glue bonding according to claim 1, characterized in that: Follow these steps to implement: Step 1: The pressing assembly is opened, and the yarn carrier guides the yarn into the V-groove of the pressing table (24) through the XYZ three-axis linkage; Step 2: The glue spraying mechanism starts spraying glue to spray glue onto the yarn in the V-shaped groove of the pressing table (24); Step 3: The pressing assembly is actuated, and the pressing head (25) engages with the pressing platform (24) to press the yarn with glue; Step 4: The pressing assembly exits the working state, and the yarn exits the pressing assembly, completing an automatic yarn connection.

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