Crimper

Abstract

The application relates to a yarn-end-adhesion-free yarn changing endless drawing machine and a control method, and belongs to the technical field of the drawing machine. The application has the characteristics of compact and simple structure, simple operation, energy saving and consumption reduction, safety and high efficiency, solves the problems that the mechanical hand is difficult to process the yarn-end-adhesion-free yarn changing endless drawing machine and a control method, and belongs to the technical field of the drawing machine. The application has the characteristics of compact and simple structure, simple operation, energy saving and consumption reduction, safety and high efficiency, solves the problems that the mechanical hand is difficult to process the yarn-end-adhesion-free yarn changing endless drawing machine and a control method, and belongs to the technical field of the drawing machine. The application has the characteristics of compact and simple structure, simple operation, energy saving and consumption reduction, safety and high efficiency, solves the problems that the mechanical hand is difficult to process the yarn-end-adhesion-free yarn changing endless drawing machine and a control method, and belongs to the technical field of the drawing machine.

Description

[0001] This application is a divisional application of the patent application entitled "Drawing machine and control method for yarn drawing without head and tail adhesion when changing yarn bobbins". The original application was filed on August 3, 2022, and the application number is 202210928076.5. Technical Field

[0002] This invention relates to the field of yarn drawing machine technology, specifically to a yarn drawing machine and control method that prevents the beginning and end yarns from sticking together when changing bobbins. Background Technology

[0003] In the current fiberglass furnace drawing process, the yarn is pushed to the end of the V-groove by a pusher rod and wound onto the yarn ring by a hook or a threaded groove. Although our company has patents for yarn-free cutting and slow-drawing automatic yarn-loading online yarn-free transition mechanism, the ends of the yarn stuck together between yarn bundles are not cut, making it difficult for the robotic arm to work. Manual cutting and separation are necessary before the robotic arm can retrieve the yarn. This human-machine collaboration poses safety hazards, cannot achieve automation, and results in frequent waste yarn from full-bore changes and automatic loading, wasting time, materials, and energy. Even more troublesome is the difficulty in handling this waste yarn; a rough estimate suggests that each drawing machine generates at least two to three tons, and sometimes four to five tons, of waste yarn per year. The air consumption of the pusher cylinder is also wasted.

[0004] With societal progress, harsh working conditions, safety, energy conservation, and waste yarn disposal have become top priorities. Some large companies have entered the era of intelligent manufacturing. For example, in the yarn drawing area, fully automated, enclosed robots replace manual operations. This requires seamless integration between the robotic arm and the drawing machine. However, the condition for no human intervention is that each yarn spool must be free of end-to-end yarn adhesion and require no cutting of the starting yarn. Only then can the robotic arm remove each yarn spool from the machine head and place it onto the yarn cart for the next process. Furthermore, the drawing machine's body is limited by the compact kiln structure, restricting the distance between the two machine heads and preventing the drawing of extremely large yarn spools and extremely long yarn lengths. Summary of the Invention

[0005] The purpose of this invention is to provide a yarn drawing machine and control method that eliminates the sticking of start and end yarns during yarn changing. It primarily addresses the problems in existing technologies where robotic arms struggle to handle stuck start and end yarns between yarn spools and to remove the start yarn from the upper yarn ring. This invention features a compact and simple structure, easy operation, energy saving, and high safety and efficiency. It solves the problems of robotic arms struggling to handle stuck start and end yarns between yarn spools and being unable to draw very large yarn spools and very long yarn lengths, avoiding safety hazards for operators and achieving unmanned yarn drawing. This invention encompasses all yarn drawing machines and yarn drawing processes.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] This invention discloses a yarn drawing machine for preventing head and tail yarn adhesion during bobbin changing, comprising a frame, a bobbin changing rotary disk movably nested and connected to the frame panel, a working head and a spare head being provided on the end face of the bobbin changing rotary disk, the working head and the spare head being symmetrically distributed on the bobbin changing rotary disk, a movable partition plate being provided between the working head and the spare head, a swing arm drive assembly being provided on the upper part of the frame, and a movable joint being provided between the swing arm drive assembly and the movable partition plate to lift the movable partition plate. The moving swing arm has a yarn-blocking assembly at its lower part; both the working head and the standby head include a main shaft, the front end of which is provided with a yarn-attaching ring for cutting; the main shaft is provided with several annularly distributed expansion plates; an aluminum rotary drum is provided between the expansion plates and the main shaft and is nested and fixed to the main shaft; the expansion plates and the aluminum rotary drum are movably inserted and fixed; the aluminum rotary drum is symmetrically provided with yarn-grabbing assemblies penetrating the expansion plates on the outside or in the middle of each corresponding yarn ball; and a slow-pulling mechanism is provided below the working head and the standby head.

[0008] The wire gripping assembly is a pneumatic wire gripping assembly. The pneumatic wire gripping assembly has an air passage integrated with the aluminum rotating drum. The pneumatic wire gripping assembly is sealed and movably embedded and fixed to the aluminum rotating drum. The wire gripper of the pneumatic wire gripping assembly movably passes through the gaps of the two expansion plates. The wire gripper has a piston rod inside. There is a transition connecting block between the piston rod and the wire gripper, which is inserted into the piston rod in a T-shaped slot. The piston rod is sleeved with the aluminum rotating drum in a cylinder piston manner. The lower end of the wire gripper has a piston fixing sleeve that is sleeved with the piston rod.

[0009] The yarn-blocking assembly is provided between the swing arm drive assembly and the working head. The yarn-blocking assembly is used when the yarn grabber is arranged outside the yarn ball. The yarn-blocking assembly includes a rotating outer rod, an upper yarn-blocking rod at the front end of the rotating outer rod, and a yarn-pushing reciprocating rod that is movably inserted and connected to the rotating outer rod inside the rotating outer rod. Several limiting grooves are provided on the side of the rotating outer rod, and each limiting groove is provided with a yarn-pushing rod that is integrally connected and fixed to the yarn-pushing reciprocating rod.

[0010] Among them, the movable isolation plate is prior art, and its structure is described in the over- and under-rotation plate 23 in patent application number 6201911266146.X; the swing arm drive assembly is described in the actuator Ⅲ 21 in patent application number 6201911266146.X; and the linkage swing arm is described in the upper swing arm 24 in patent application number 6201911266146.X. The structural feature of the yarn-on-coil loop without cutting is described in a yarn-on-coil loop without cutting mechanism for a drawing machine in patent application number 2021214020769. The slow-pull mechanism is described in the slow-pull head assembly 2 in patent application number 2019222350655.

[0011] Preferably, a spring II nested between the lower end of the piston rod and the aluminum rotating cylinder is provided, and a vent hole communicating with the spring II is provided on the upper part of the piston rod. Sealing rings are provided between the piston rod and the aluminum rotating cylinder, between the piston rod and the piston fixing sleeve, and between the piston fixing sleeve and the aluminum rotating cylinder.

[0012] Preferably, the yarn grabber is a needle-punched yarn grabber or a toothed yarn grabber, and the yarn grabber is arranged in the middle of each yarn ball or on the outside of each yarn ball.

[0013] Preferably, the swing arm drive assembly is provided above the working head. The swing arm drive assembly includes a movable isolation plate, a linkage swing arm, a synchronous belt, an over / under swing cylinder, an actuator III fixed seat, a pull rod, a servo worm gear motor III, and a sector worm wheel III. A protective plate is provided on the linkage swing arm, and the upper head wire stop rod is provided in the middle of the outer side of the linkage swing arm. The upper head wire stop rod is used when the wire grabber is arranged in the middle of each yarn ball.

[0014] Preferably, the rear end of the linkage swing arm is provided with a swing worm gear that is fixedly connected to the pivot pin of the linkage swing arm. The swing worm gear is provided with a fixed shaft that is fixedly connected to the frame. The upper end of the swing worm gear is provided with a worm that is fixedly connected to the pivot pin of the swing worm gear. The side of the swing worm gear is provided with a connecting rod that is movably sleeved with the fixed shaft. The lower end of the connecting rod is provided with a pull rod limiting seat. A pull rod that is movably inserted and limited between the pull rod limiting seat and the connecting rod is provided.

[0015] This invention also provides a control method for a yarn drawing machine that prevents the beginning and end yarns from sticking together when changing yarn bobbins, comprising the following process steps:

[0016] Step 1, Top-up: The upper-level drawing operator starts or automatically starts the slow-pulling mechanism of the drawing machine. The yarn automatically enters the slow-pulling mechanism and begins to be pulled. The yarn is guided to the yarn ring of the no-cut yarn by the upper-top guide rod. At this time, the working head starts to rotate and pull the yarn onto the yarn ring of the no-cut yarn. Then the upper-top guide rod follows the linkage swing arm to lift upward, and the yarn slides into the winding area. Alternatively, the upper-top guide rod uses the yarn-blocking assembly to rotate and let the yarn slide into the corresponding winding area to complete the top-up process.

[0017] Step 2, Head Change: Immediately following, the bobbin change begins by replacing the top yarn with the beginning and end yarns stuck together. This involves swapping the working head and the standby head, rotating them 180 degrees clockwise. When the yarn grabber is positioned outside the yarn bundle, a yarn-blocking assembly is required. During the swap, the yarn-blocking assembly's push rod, along with the yarn bundle push rod, pushes each bundle of yarn towards the outer yarn grabber. When the standby head is swapped to approximately 150 degrees, the yarn is captured by the standby head's yarn grabber. Simultaneously, the moving partition plate is vertically lowered by the linkage swing arm, causing the moving partition plate to change position between the standby head and the working head according to the yarn bundle diameter. The yarn is then normally drawn and wound into a yarn bundle in the winding area. At this point, the working head with the top yarn moves to the standby head position and stops. The pneumatic yarn grabber assembly and the yarn ring on the non-cutting yarn automatically retract, allowing the robotic arm to complete the bobbin removal process without manual yarn cutting.

[0018] Step 3, Full Bundle Change: After the working head draws the yarn to a full bundle, the change begins. At the same time, the moving isolation plate moves upward with the linkage swing arm to avoid the standby head. When the standby head is about 150 degrees away from the standby head, the yarn is captured by the yarn catcher of the standby head, or the yarn catcher on the outside of the yarn bundle is captured by the yarn pusher. After avoiding the standby head, the moving isolation plate quickly returns to the vertical swing arm and moves down to the side close to the empty head. This makes the moving isolation plate positioned between the standby head and the working head change with the diameter of the yarn bundle. The yarn is then normally drawn and wound into a full bundle in the winding area.

[0019] Step 4, Unloading the Bore: At this point, the working head of the full bobbin is switched to the standby head position and stops. The pneumatic yarn gripping assembly and the yarn ring on the non-cutting yarn automatically retract and disengage from the yarn bobbin. When the pneumatic yarn gripping assembly stops rotating on the main shaft, the air intake piston rod compresses the spring II, causing the yarn gripper to be lower than the surface of the expansion plate. Then, the yarn bobbin is picked up, realizing the yarn pulling without connecting the yarn bundles. This allows the robot arm to complete the yarn picking and unloading process without manual yarn cutting. Steps 3 and 4 are repeated. When the yarn breaks, steps 1 and 2 must be entered.

[0020] When the main shaft rotates, the pneumatic yarn gripper assembly does not take in air. Under the support of spring II and the action of centrifugal force, the piston rod makes the yarn gripper rise above the surface of the expansion plate and perform the yarn gripping process. When the full bobbin stops rotating, the air enters the air passage, the piston rod compresses spring II, and the yarn gripper falls below the surface of the expansion plate.

[0021] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0022] The yarn drawing machine and control method of the present invention, which eliminates the adhesion between the beginning and end of the yarn when changing the yarn bundle, has the characteristics of compact and simple structure, simple operation, energy saving and consumption reduction, and safety and efficiency. It solves the problems that robotic arms have difficulty in handling the adhesion between the beginning and end of the yarn bundles and cannot draw ultra-large yarn bundles and ultra-long yarns, avoids safety hazards for operators, and truly realizes the unmanned yarn drawing process. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the drawing machine with no head and tail yarn adhesion during the bobbin changing according to the present invention;

[0025] Figure 2 This is a schematic diagram of the full-bore structure of the drawing machine with no head and tail yarn adhesion during bobbin changing according to the present invention;

[0026] Figure 3 This is a schematic diagram of the initial structure of the drawing machine for the present invention, which features a yarn-drawing machine with no head or tail yarn adhesion during the bobbin changing process.

[0027] Figure 4 This is a schematic diagram of the structure of the drawing machine after the bobbin change process, which is designed to prevent the adhesion of the beginning and end yarns during bobbin changes according to the present invention.

[0028] Figure 5 This is a schematic diagram of the unloading state of the drawing machine with no head and tail yarn adhesion during the bobbin changing process according to the present invention.

[0029] Figure 6 This is a side view of the drawing machine with no head and tail yarn adhesion during the bobbin changing according to the present invention.

[0030] Figure 7 This is a schematic diagram of the swing arm drive assembly of the yarn drawing machine with no head and tail yarn adhesion during the yarn changing process according to the present invention.

[0031] Figure 8 This is a cross-sectional view of the head structure of the drawing machine with centrifugal yarn gripping assembly that prevents yarn adhesion during bobbin changing according to the present invention.

[0032] Figure 9 This is a schematic diagram of the centrifugal yarn gripping assembly of the yarn drawing machine with no head and tail yarn adhesion during the bobbin changing process of the present invention.

[0033] Figure 10 This is a cross-sectional view of the head structure of the drawing machine with pneumatic yarn gripping assembly that prevents yarn adhesion during bobbin changing according to the present invention.

[0034] Figure 11 This is a schematic diagram of the pneumatic yarn gripping assembly of the yarn drawing machine that prevents the beginning and end yarns from sticking together when changing yarn bobbins, according to the present invention.

[0035] Explanation of reference numerals in the attached diagram: 1. Working head; 2. Rotary drum for changing yarn; 3. Moving isolation plate; 4. Protective plate; 5. Linkage swing arm; 6. Swing arm drive assembly; 7. Yarn-blocking assembly; 8. Spare head; 9. Frame; 10. Yarn-pushing reciprocating rod; 11. Rotating outer rod; 12. Upper yarn-blocking rod; 13. Limiting groove; 14. Yarn-pushing rod; 15. Yarn-felling ring for cutting-free yarn; 16. Yarn-gripping assembly; 17. Shrinking plate; 18. Main shaft; 19. Worm gear; 20. Oscillating worm gear; 21. Connecting rod; 22. Fixed shaft; 23. Pull rod; 24. Pull rod limit seat; 25. Centrifugal wire gripping assembly; 26. Aluminum drum; 27. Wire gripping centrifugal block; 28. Wire gripper; 29. ​​Spring I; 30. Pneumatic wire gripping assembly; 31. Air passage; 32. Vent hole; 33. Transition connecting block; 34. Piston pull rod; 35. Piston fixing sleeve; 36. Sealing ring; 37. Spring II; 38. Slow pull mechanism. Detailed Implementation

[0036] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] Example 1

[0039] like Figures 1 to 11As shown, Embodiment 1 of the present invention provides a yarn drawing machine with no head and tail yarn adhesion during yarn changing, including a frame 9. A yarn changing rotary disk 2 is provided on the panel of the frame 9 and is movably nested and connected to the frame 9. A working head 1 and a spare head 8 are provided on the end face of the yarn changing rotary disk 2. The working head 1 and the spare head 8 are symmetrically distributed on the yarn changing rotary disk 2. A movable isolation plate 3 is provided between the working head 1 and the spare head 8. A swing arm drive assembly 6 is provided on the upper part of the frame 9. A movable joint linkage swing arm 5 that can lift the movable isolation plate is provided between the swing arm drive assembly 6 and the movable isolation plate 3. A yarn blocking assembly 7 is provided at the lower part of the swing arm drive assembly 6. The working head 1 and the standby head 8 include a main shaft 18. The front end of the main shaft 18 is provided with a yarn-feeding ring 15 that does not require cutting. The main shaft 18 is provided with 10 expanding plates 17 arranged in a ring. An aluminum rotating drum 26 is provided between the expanding plates 17 and the main shaft 18 and is nested and fixed to the main shaft 18. The expanding plates 17 and the aluminum rotating drum 26 are movably inserted and fixed. The aluminum rotating drum 26 is symmetrically provided with yarn-grabbing components 16 that pass through the expanding plates 17 on the outside or in the middle of each corresponding yarn ball. A slow-pulling mechanism 38 is provided below the working head 1 and the standby head 8.

[0040] like Figure 7 As shown, a swing arm drive assembly 6 is provided above the working head 1. The swing arm drive assembly 6 includes a movable isolation plate 3, a linkage swing arm 5, a synchronous belt, an over / under swing cylinder, an actuator III fixed seat, a pull rod, a servo worm gear motor III, and a sector worm wheel III. A protective plate 4 is provided on the linkage swing arm 5. An upper headstock rod 12 is provided in the middle of the outer side of the linkage swing arm 5. The upper headstock rod 12 is used when the yarn grabber 28 is arranged in the middle of each yarn ball. The rear end of the linkage swing arm 5 is provided with a swing worm wheel 20 that is fixedly connected to the pin shaft of the linkage swing arm 5. The swing worm wheel 20 is provided with a fixed shaft 22 that is fixedly connected to the frame 9. The upper end of the swing worm wheel 20 is provided with a worm 19 that is fixedly connected to the pin shaft of the swing worm wheel 20. The side of the swing worm wheel 20 is provided with a connecting rod 21 that is movably sleeved with the fixed shaft 22. The lower end of the connecting rod 21 is provided with a pull rod limiting seat 24. A pull rod 23 that is movably inserted and limited between the pull rod limiting seat 24 and the connecting rod 21 is provided.

[0041] A yarn-blocking assembly 7 is provided between the swing arm drive assembly 6 and the working head 1. The yarn-blocking assembly 7 is used when the yarn grabber 28 is arranged on the outside of the yarn ball. The yarn-blocking assembly 7 includes a rotating outer rod 11. An upper yarn-blocking rod 12 is provided at the front end of the rotating outer rod 11. A yarn-pushing reciprocating rod 10 is provided inside the rotating outer rod 11 and is movably inserted and connected to the rotating outer rod 11. Several limiting grooves 13 are provided on the side of the rotating outer rod 11. A yarn-pushing rod 14 is provided in each of the limiting grooves 13 and is integrally connected and fixed to the yarn-pushing reciprocating rod 10.

[0042] like Figure 8 , Figure 9As shown, the yarn-grabbing assembly 16 is a centrifugal yarn-grabbing assembly 25, which is sleeved through the aluminum drum 26 and extends to the upper end of the expansion plate 17. The centrifugal yarn-grabbing assembly 25 includes a yarn-grabbing centrifugal block 27, and the upper end of the yarn-grabbing centrifugal block 27 is provided with a yarn-grabbing device 28 that is sleeved through the expansion plate 17. The yarn-grabbing device 28 is a needle-punched yarn-grabbing device or a toothed yarn-grabbing device. The yarn-grabbing device 28 can be arranged in the middle of each yarn spool or on the outside of each yarn spool. Both sides of the yarn-grabbing device 28 are provided with springs I 29 located between the expansion plate 17 and the yarn-grabbing centrifugal block 27, and the springs I 29 are nested and fixedly connected to the yarn-grabbing centrifugal block 27.

[0043] like Figure 10 , Figure 11 As shown, the wire gripping assembly 16 is a pneumatic wire gripping assembly 30. The pneumatic wire gripping assembly 30 has an integrated air passage 31 with the aluminum rotating drum 26. The pneumatic wire gripping assembly 30 and the aluminum rotating drum 26 are sealed and movably embedded and fixed. The wire gripper 28 of the pneumatic wire gripping assembly 30 is movably connected to the gaps of the two expansion plates 17. The wire gripper 28 has a piston rod 34 inside. There is a transition connecting block 33 between the piston rod 34 and the wire gripper 28, which is inserted into the piston rod 34 in a T-shaped slot. The piston rod 34 is cylinder-piston-type sleeved with the aluminum rotating drum 26. The lower end of the wire gripper 28 has a piston fixing sleeve 35 that is sleeved with the piston rod 34. There is a spring II 37 nested between the lower end of the piston rod 34 and the aluminum rotating drum 26. The upper part of the piston rod 34 has a vent hole 32 that communicates with the spring II 37. A sealing ring 36 is provided between the piston rod 34 and the aluminum rotating cylinder 26, between the piston rod 34 and the piston fixing sleeve 35, and between the piston fixing sleeve 35 and the aluminum rotating cylinder 26.

[0044] Example 2

[0045] Embodiment 2 of the present invention provides a control method for a yarn drawing machine that prevents the beginning and end yarns from sticking together when changing yarn bobbins, comprising the following process steps:

[0046] Step 1, Top-up: The upper drawing operator starts or automatically starts the slow-pulling mechanism 38 of the drawing machine. The yarn automatically enters the slow-pulling mechanism 38 and begins to be pulled. The yarn is guided to the yarn ring 15 of the non-cut yarn by the upper head guide rod 12. At this time, the working head 1 starts to rotate and pulls the yarn onto the yarn ring 15 of the non-cut yarn. Then the upper head guide rod 12 follows the linkage swing arm 5 to lift upward, and the yarn slides into the winding area. Alternatively, the upper head guide rod 12 uses the yarn-blocking assembly 7 to rotate and let the yarn slide into the corresponding winding area to complete the top-up process.

[0047] Step 2, Head Changing: Immediately following, the bobbin changing begins by replacing the top yarn with the ends stuck together. This involves swapping the working head 1 and the standby head 8, rotating them 180 degrees clockwise. When the yarn feeder 28 is positioned outside the yarn bundle, a yarn-blocking assembly 7 is added for coordination. During the swap, the push rod 14 in the yarn-blocking assembly 7, along with the outer push rod of the yarn bundle, pushes each bundle of yarn towards the outer yarn feeder 28. When the standby head 8 is swapped to approximately 150 degrees, the yarn is captured by the yarn feeder 28. Simultaneously, the moving isolation plate 3 is vertically lowered by the linkage swing arm 5, causing the moving isolation plate 3 to change position between the standby head 8 and the working head 1, varying with the yarn bundle diameter. The yarn is then normally drawn and wound into a bundle in the winding area. At this point, the working head 1, carrying the top yarn, moves to the position of the standby head 8 and stops. The pneumatic yarn feeder assembly 30 and the non-cutting yarn ring 15 automatically retract, allowing the robotic arm to complete the bobbin removal process without manual yarn cutting.

[0048] Step 3, Full Bundle Change: After the working head 1 draws the yarn to a full bundle, the change begins. At the same time, the moving isolation plate 3 moves upward with the linkage swing arm 5 to avoid the standby head 8. When the standby head 8 is about 150 degrees away from the standby head, the yarn is captured by the yarn grabber 28 of the standby head 8, or by the yarn pusher 14 causing the yarn grabber 28 on the outside of the yarn bundle to capture the yarn. After avoiding the yarn bundle, the moving isolation plate 3 is quickly returned by the linkage swing arm 5 to swing down vertically to the side close to the empty head. This makes the moving isolation plate 3 located between the standby head 8 and the working head 1, changing with the diameter of the yarn bundle. The yarn is normally drawn and wound into a full bundle in the winding area.

[0049] Step 4, Unloading the Bore: At this time, the working head 1 with the full bobbin is switched to the standby head 8 and stopped. The pneumatic yarn gripping assembly 30 and the yarn-on-the-bore ring 15 automatically retract and detach from the yarn bobbin. When the pneumatic yarn gripping assembly 30 stops rotating on the main shaft 18, the air intake piston rod 34 of the air passage 31 compresses the spring II 37, so that the yarn gripper 28 is lower than the surface of the expansion plate 17. Then the yarn bobbin is picked up, realizing the yarn-on-the-bore pull without connecting the yarn bundles. This allows the robot arm to complete the yarn picking and unloading process without manual yarn cutting. Steps 3 and 4 are repeated. When the yarn breaks, steps 1 and 2 need to be entered.

[0050] When the main shaft 18 rotates, the pneumatic yarn gripper assembly 30 does not take in air through the air passage 31. Under the support of the spring II 37 and the centrifugal force, the piston rod 34 makes the yarn gripper 28 higher than the surface of the expansion plate 17 to perform the yarn gripping process. When the full bobbin stops rotating, the air passage 31 takes in air, the piston rod 34 compresses the spring II 37, and the yarn gripper 28 is lower than the surface of the expansion plate 17.

[0051] In summary, the yarn drawing machine and control method of the present invention, which eliminates the adhesion between the beginning and end of the yarn when changing the yarn bundle, has the characteristics of compact and simple structure, simple operation, energy saving and consumption reduction, and safety and efficiency. It solves the problems that robotic arms have difficulty handling the adhesion between the beginning and end of the yarn bundles and cannot draw ultra-large yarn bundles and ultra-long yarns. It can avoid safety hazards for operators and truly realize the unmanned yarn drawing process.

[0052] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A drawing machine that prevents the beginning and end yarns from sticking together when changing yarn bobbins, characterized in that, The machine includes a frame (9), on which a drum changing rotary disk (2) is provided in a movably nested connection is provided. A working head (1) and a standby head (8) are provided on the end face of the drum changing rotary disk (2). The working head (1) and the standby head (8) are symmetrically distributed on the drum changing rotary disk (2). A movable isolation plate (3) is provided between the working head (1) and the standby head (8). A swing arm drive assembly (6) is provided on the upper part of the frame (9). A movable joint linkage swing arm (5) capable of lifting the movable isolation plate is provided between the swing arm drive assembly (6) and the movable isolation plate (3). A wire-stopping assembly is provided at the lower part of the swing arm drive assembly (6). Component (7); The working head (1) and the standby head (8) both include a main shaft (18), the front end of the main shaft (18) is provided with a non-cutting yarn feeding ring (15), the main shaft (18) is provided with a number of ring-shaped expansion plates (17), the expansion plates (17) and the main shaft (18) are provided with an aluminum drum (26) nested and fixed to the main shaft (18), the expansion plates (17) and the aluminum drum (26) are movably inserted and fixed, the aluminum drum (26) is symmetrically provided with a yarn gripping assembly (16) penetrating the expansion plate (17) on the outside or in the middle of each corresponding yarn ball, and a slow pulling mechanism (38) is provided below the working head (1) and the standby head (8); The wire gripping assembly (16) is a pneumatic wire gripping assembly (30). The pneumatic wire gripping assembly (30) is provided with an air passage (31) integrated with the aluminum drum (26). The pneumatic wire gripping assembly (30) and the aluminum drum (26) are sealed and movably embedded and fixed. The wire gripper (28) of the pneumatic wire gripping assembly (30) is movably inserted through the gap of the two expansion plates (17). The wire gripper (28) is provided with a piston rod (34) inside. A transition connecting block (33) is provided between the piston rod (34) and the wire gripper (28) and is inserted into the piston rod (34) in a T-shaped slot. The piston rod (34) is sleeved with the aluminum drum (26) in a cylinder piston manner. The lower end of the wire gripper (28) is provided with a piston fixing sleeve (35) that is sleeved with the piston rod (34). The yarn-blocking assembly (7) is provided between the swing arm drive assembly (6) and the working head (1). The yarn-blocking assembly (7) is used when the yarn grabber (28) is arranged outside the yarn ball. The yarn-blocking assembly (7) includes a rotating outer rod (11). The front end of the rotating outer rod (11) is provided with an upper yarn-blocking rod (12). The rotating outer rod (11) is provided with a pushing reciprocating rod (10) that is movably inserted and connected to the rotating outer rod (11). The rotating outer rod (11) is provided with several limiting grooves (13) on its side. Each limiting groove (13) is provided with a pushing rod (14) that is integrally connected and fixed to the pushing reciprocating rod (10). A spring II (37) nested between the lower end of the piston rod (34) and the aluminum rotating cylinder (26) is provided. A vent hole (32) communicating with the spring II (37) is provided on the upper part of the piston rod (34). Sealing rings (36) are provided between the piston rod (34) and the aluminum rotating cylinder (26), between the piston rod (34) and the piston fixing sleeve (35), and between the piston fixing sleeve (35) and the aluminum rotating cylinder (26). When the pneumatic yarn gripper assembly (30) rotates on the main shaft (18), the air passage (31) does not take in air. Under the support of the spring II (37) and the centrifugal force, the piston rod (34) makes the yarn gripper (28) higher than the surface of the expansion plate (17) to perform the yarn gripping process. When the full bobbin stops rotating, the air passage (31) takes in air, the piston rod (34) compresses the spring II (37), and the yarn gripper (28) is lower than the surface of the expansion plate (17).

2. The yarn drawing machine with no head and tail yarn adhesion as described in claim 1, characterized in that, The yarn gripper (28) is a needle-punched yarn gripper or a toothed yarn gripper, and the yarn gripper (28) is arranged in the middle of each yarn ball or on the outside of each yarn ball.

3. The yarn drawing machine with no head and tail yarn adhesion during bobbin changing according to claim 1, characterized in that, The linkage swing arm (5) is provided with a protective plate (4), and another upper head wire stop rod is provided in the middle of the outer side of the linkage swing arm (5). When the wire grabber (28) is arranged in the middle of each yarn ball, the upper head wire stop rod on the outer side of the linkage swing arm (5) is used.

4. The yarn drawing machine with no head and tail yarn adhesion during bobbin changing according to claim 3, characterized in that, The rear end of the linkage swing arm (5) is provided with a swing worm wheel (20) that is fixedly connected to the pin shaft of the linkage swing arm (5). The swing worm wheel (20) is provided with a fixed shaft (22) that is fixedly connected to the frame (9). The upper end of the swing worm wheel (20) is provided with a worm (19) that is fixedly connected to the pin shaft of the swing worm wheel (20). The side of the swing worm wheel (20) is provided with a connecting rod (21) that is movably sleeved with the fixed shaft (22). The lower end of the connecting rod (21) is provided with a pull rod limiting seat (24). Between the pull rod limiting seat (24) and the connecting rod (21), there is a pull rod (23) that is movably inserted and limited by the pull rod limiting seat (24).

5. A control method for a yarn drawing machine that prevents the beginning and end yarns from sticking together during bobbin changing, characterized in that, The yarn drawing machine with no head and tail yarn adhesion during bobbin changing as described in claim 3 or 4 includes the following process steps: Step 1, Top-up: The upper-level drawing operator starts or automatically starts the slow-pulling mechanism (38) of the drawing machine. The yarn automatically enters the slow-pulling mechanism (38) and begins to be pulled. The yarn is guided to the yarn ring (15) of the non-cut yarn by the upper-level guide rod (12). At this time, the working head (1) starts to rotate the yarn to guide it onto the yarn ring (15) of the non-cut yarn. Then the upper-level guide rod (12) follows the linkage swing arm (5) to lift upward. The yarn slides into the winding area or the upper-level guide rod (12) uses the guide assembly (7) to rotate and let the yarn slide into the corresponding winding area to complete the top-up process. Step 2, Head Change: Immediately following the head change, the upper yarn with the beginning and end yarns sticking together is replaced. That is, the working head (1) and the standby head (8) are swapped and rotated 180 degrees clockwise. When the yarn grabber (28) is placed on the outside of the yarn bundle, a yarn blocking assembly (7) needs to be added to cooperate. During the swap, the push rod (14) in the yarn blocking assembly (7) pushes each bundle of yarn towards the outer yarn grabber (28). When the standby head (8) is swapped to about 150 degrees, the yarn is grabbed by the yarn grabber of the standby head (8). (28) Capture, and at the same time, the moving isolation plate (3) is vertically swung down by the linkage swing arm (5), so that the moving isolation plate (3) is located between the standby head (8) and the working head (1) and changes with the diameter of the yarn ball. The yarn is normally drawn and wound into a yarn ball in the winding area. At this time, the working head (1) with the yarn head is switched to the position of the standby head (8) and stopped. The pneumatic yarn gripping assembly (30) and the yarn ring (15) of the non-cut yarn automatically retract, and the robot can remove the yarn without manual cutting. Step 3, full bobbin change: After the working head (1) draws the yarn to a full bobbin, the bobbin change begins. At the same time, the moving isolation plate (3) moves upward with the linkage swing arm (5) to avoid the standby head (8). When the standby head (8) is swapped to about 150 degrees, the yarn is captured by the yarn grabber (28) of the standby head (8), or by the yarn grabber (28) on the outside of the yarn ball captured by the push rod (14). After avoiding the yarn ball, the moving isolation plate (3) is quickly returned to the vertical swing and close to the empty head by the linkage swing arm (5), so that the moving isolation plate (3) is located between the standby head (8) and the working head (1) and changes with the diameter of the yarn ball. The yarn is normally drawn and wound to a full bobbin in the winding area. Step 4, unloading the bobbin: At this time, the working head (1) of the full bobbin is switched to the standby head (8) and stopped. The pneumatic yarn gripping assembly (30) and the yarn ring (15) of the non-cut yarn automatically retract and separate from the yarn bobbin. When the pneumatic yarn gripping assembly (30) stops rotating on the main shaft (18), the air intake piston rod (34) of the air passage (31) compresses the spring II (37), so that the yarn gripper (28) is lower than the surface of the expansion plate (17). Then the yarn bobbin is picked up, realizing the yarn pulling without connecting the yarn bundles; so that the robot arm can complete the yarn picking and unloading process without manual yarn cutting and separation. The third and fourth steps are repeated. When the yarn breaks, the first and second steps need to be entered. When the pneumatic yarn gripping assembly (30) rotates on the main shaft (18), the air passage (31) does not take in air. Under the support of the spring II (37) and the centrifugal force, the piston rod (34) makes the yarn gripper (28) higher than the surface of the expansion plate (17) to perform the yarn gripping process. When the full bobbin stops rotating, the air passage (31) takes in air, the piston rod (34) compresses the spring II (37), and the yarn gripper (28) is lower than the surface of the expansion plate (17).

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