A fully automatic lap former

Abstract

The application provides a full-automatic bobbin winder, which comprises a taking and placing device, a thread end device, a lifting and pressing arm device, a thread picking device and a frame, wherein the taking and placing device, the thread end device, the lifting and pressing arm device and the thread picking device are all installed on the frame; the thread end device is used for gathering, sucking and cutting threads; the lifting and pressing arm device is used for lifting, pushing outwards, combining inwards and pressing downwards to add elasticity to the main arm of the winder; the taking and placing device is used for taking full bobbins and / or placing empty bobbins; and the thread picking device is used for sending the threads left by the thread end device to the empty bobbins. The full-automatic bobbin winder provided by the application realizes full automation of the whole process of taking full bobbins and placing empty bobbins, and has a simple structure.

Description

Technical Field

[0001] This invention belongs to the technical field of auxiliary equipment for texturing machines, and specifically relates to a fully automatic drum dropping machine. Background Technology

[0002] In the field of chemical fiber production and processing, texturing machines are used to process untwisted yarns such as polyester (POY) and polypropylene into elastic yarns (DTY) with medium or low elasticity through twisting and texturing, and then wind the processed yarns into rolls. Texturing machines have multiple winding stations, each with a main moving arm and a main stationary arm. The main moving arm and main stationary arm have opposing bosses, and the two ends of the paper tube are fitted onto these bosses. The main moving arm can be raised and lowered, and can also be pulled outwards and closed inwards. When the main moving arm is raised and lowered, it drives the main stationary arm to rise and fall synchronously. Currently, all the work in the texturing machine, from filling the roll to emptying it, is done manually. Specifically, after the yarn roll at one station of the texturing machine is fully wound, the operator first holds a suction gun to each layer of yarn, then sucks the yarn into the suction gun nozzle. After sucking, the yarn on the full roll side is manually cut off to leave a head. Then, the operator manually raises the main moving arm of the texturing machine and pulls it outwards, always keeping the main moving arm in the open position. The full canister is manually removed and replaced with an empty canister. The main boom is released, and it automatically closes. The operator then manually presses the main boom down. Finally, the operator manually guides the thread held by the suction gun to the corresponding thread-holding slot on the empty canister. This completes the entire canister removal and unloading process.

[0003] Manual labor is time-sensitive and involves complex procedures. The manual lifting and pressing of the main boom requires significant force and coordination with handling full and empty drums. Full drums are also heavy and difficult to handle, resulting in high labor intensity and low efficiency for long periods. Furthermore, some workshop aisles are narrow, making drum handling inconvenient. Additionally, manually handling full drums can easily damage the yarn surface, affecting yarn quality.

[0004] Chinese patent document CN113788366A discloses an automatic paper tube dropping robot for a texturing machine, which can achieve fully automatic paper tube dropping. However, its two clamping mechanisms on the paper tube picking and placing robotic arm, due to the action of small tension springs, grip and transfer the paper tubes. But when picking up or placing the paper tubes, the paper tubes need to overcome the spring force to smoothly enter or exit the clamping mechanism, which can easily cause damage to the paper tubes and the texturing machine itself. The multi-link mechanism of the lifting arm opening and closing device occupies a large space, the spring-type extension and retraction control is inaccurate, and the cylinder impact is large, which can easily damage the main unit. The overall structure of this automatic paper tube dropping robot is complex, the cost is high, and it is not suitable for narrow aisles. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a fully automatic drum dropping machine that realizes full automation of the entire process of picking up full drums and emptying drums, with a simple structure.

[0006] To solve the above-mentioned technical problems, embodiments of the present invention provide a fully automatic doffing machine, including a doffing device, a thread end-retaining device, a lifting and pressing arm device, a thread picking device, and a frame. The doffing device, the thread end-retaining device, the lifting and pressing arm device, and the thread picking device are all mounted on the frame. The thread end-retaining device is used for gathering, sucking, and retaining broken threads. The lifting and pressing arm device is used for lifting, pulling outward, closing inward, and pressing down on the main arm of the texturing machine. The doffing device is used for taking full doffing and / or empty doffing. The thread picking device is used to deliver the thread end-retaining device to the empty doffing doffing.

[0007] As a further improvement of this invention, the thread retention device includes a first retention platform, a second retention platform, a first driving component, a second driving component, a thread gathering component, a thread suction mechanism with a thread suction port, and a thread cutting mechanism. The first retention platform is mounted on a frame. The second retention platform is mounted on the first retention platform via the first driving component, which drives the second retention platform to move along the Y-axis on the first retention platform. The thread gathering component is mounted on the second retention platform via the second driving component, which drives the thread gathering component to move along the X-axis on the second retention platform. The thread suction mechanism is mounted on either the first or second retention platform and is used to suction the thread hooked by the thread gathering component through the thread suction port. The thread cutting mechanism is mounted on either the first or second retention platform and is used to cut the thread suctioned by the thread suction mechanism by opening and closing the scissor blades.

[0008] As a further improvement of the present invention, the yarn gathering component includes a yarn gathering hook, which includes an upper hook and a lower hook, and the upper hook and the lower hook are installed at an interval between each other; the horizontal plane where the yarn suction port of the yarn suction mechanism is located and the horizontal plane where the scissor mouth of the yarn breaking mechanism is located are both located between the upper hook and the lower hook.

[0009] As a further improvement of the present invention, the yarn suction mechanism includes a suction gun, a first electromagnet and a first connecting rod, the suction gun and the first electromagnet are fixedly installed on the second yarn-holding platform; the push rod of the first electromagnet is connected to the switch pin of the suction gun through the first connecting rod, and the yarn suction port is the nozzle of the suction gun.

[0010] As a further improvement of the embodiment of the present invention, the wire breaking mechanism includes a first blade, a second blade, a second electromagnet, and a second connecting rod. The first blade and the second electromagnet are fixedly installed on the second end-retaining platform. The second blade is rotatably connected to the first blade, and a scissor opening is formed between the second blade and the first blade. The push rod of the second electromagnet is connected to the second blade through the second connecting rod. The second electromagnet drives the second blade to rotate through the second connecting rod to open and close the scissor opening.

[0011] As a further improvement of this embodiment of the invention, the lifting and pressing arm device includes a first worktable, a second worktable, a swing arm, a lifting and pressing component, an opening and closing drive assembly, and a lifting and pressing swing drive assembly. The first worktable is mounted on the frame; the second worktable is mounted on the first worktable via the opening and closing drive assembly, which drives the second worktable to move along the Y-axis; the swing arm is mounted on the second worktable via the lifting and pressing swing drive assembly, which drives the swing arm to swing up and down; the lifting and pressing component is mounted on the end of the swing arm; the lifting and pressing component includes an opening and closing plate and a lifting and pressing rod, with the lifting and pressing rod mounted on the opening and closing plate; the opening and closing plate acts on the main boom when opening and closing the main boom, and the lifting and pressing rod acts on the main boom when lifting and pressing the main boom.

[0012] As a further improvement of the present invention, the lifting arm device further includes a lifting and telescopic drive assembly. The lifting member is mounted on the swing arm through the lifting and telescopic drive assembly, which is used to drive the lifting member to move along the X-axis direction.

[0013] As a further improvement of the present invention, the lifting arm device further includes a lifting and lowering drive assembly. The first worktable is mounted on the frame via the lifting and lowering drive assembly, which is used to drive the first worktable to move along the Z-axis.

[0014] As a further improvement of this embodiment of the invention, the picking and placing device includes a swing base plate, a main swing arm, a secondary swing arm, a connecting rod, a swing drive component, and two picking and placing arms. The swing base plate is mounted on a frame. The main swing arm and the secondary swing arm are both rotatably mounted on the swing base plate, and the connecting rod is rotatably connected between the main swing arm and the secondary swing arm. The straight line between the rotational connection point of the main swing arm and the connecting rod and the rotational connection point of the secondary swing arm and the connecting rod is parallel to the straight line between the rotational connection point of the main swing arm and the swing base plate and the rotational connection point of the secondary swing arm and the swing base plate, and the straight-line distance between the rotational connection point of the main swing arm and the connecting rod and the rotational connection point of the secondary swing arm and the connecting rod is equal to the straight-line distance between the rotational connection point of the main swing arm and the swing base plate and the rotational connection point of the secondary swing arm and the swing base plate. The swing drive component is connected to the main swing arm and is used to drive the main swing arm to swing. A mounting shaft is horizontally mounted on the connecting rod, and the two picking and placing arms are arranged opposite each other on the mounting shaft. The picking and placing arms are provided with upward-opening placing slots.

[0015] As a further improvement of the embodiments of the present invention, it also includes a pick-and-place translation drive assembly, a lifting plate, and a pick-and-place lifting drive assembly. The lifting plate is slidably connected to the frame, and the pick-and-place lifting drive assembly is connected to the lifting plate to drive the lifting plate to move along the Z-axis direction. The swing base plate is slidably connected to the lifting plate, and the pick-and-place translation drive assembly is connected to the swing base plate to drive the swing base plate to move along the X-axis direction on the lifting plate.

[0016] As a further improvement of this embodiment of the invention, the tube taking and placing device is provided, which is used to take a full tube and empty the tube.

[0017] As a further improvement of this embodiment of the invention, there are two tube-taking and placing devices, namely a first tube-taking and placing device and a second tube-taking and placing device. The first tube-taking and placing device is used to fill the tube, and the second tube-taking and placing device is used to empty the tube.

[0018] As a further improvement of this embodiment of the invention, both picking and placing arms of the second picking and placing device are fixedly mounted on the mounting shaft.

[0019] As a further improvement of the present invention, both picking and placing arms of the second picking and placing device are mounted on the first sleeve, and the first sleeve is sleeved on the mounting shaft through a linear bearing; a limit groove is provided on the side wall of the first sleeve, and a limit pin is provided on the mounting shaft, the limit pin and the limit groove are adapted to each other; an adjustment drive assembly is installed on the connecting rod, the adjustment drive assembly is connected to the first sleeve or the picking and placing arm, and is used to drive the picking and placing arm to move on the mounting shaft.

[0020] As a further improvement of this embodiment of the invention, the second cylinder pick-up and drop-down device further includes a pressure rod, which is rotatably mounted at the end of the cylinder pick-up and drop-down arm via a rotary cylinder, and is used to press down on the empty cylinder in the drop-down slot.

[0021] As a further improvement of the present invention, one picking and placing arm of the first picking and placing device is fixedly mounted on the mounting shaft, and the other picking and placing arm is connected to a second sleeve. The second sleeve is sleeved on the mounting shaft through a linear bearing. A limit groove is provided on the side wall of the second sleeve, and a limit pin is provided on the mounting shaft. The limit pin and the limit groove are adapted to each other. An opening and closing drive assembly is installed between the second sleeve and the picking and placing arm fixedly mounted on the mounting shaft, between the second sleeve and the connecting rod, between the two picking and placing arms, or between the picking and placing arm connected to the second sleeve and the connecting rod. The opening and closing drive assembly is used to adjust the distance between the two picking and placing arms.

[0022] As a further improvement of this embodiment of the invention, each of the two picking and placing arms of the first picking and placing device is connected to a second sleeve, and the two second sleeves are respectively sleeved on the mounting shaft through linear bearings; the side walls of the two second sleeves are provided with limit grooves, and the mounting shaft is provided with limit pins, which are adapted to the limit grooves; an opening and closing drive component is connected between the two second sleeves or between the two picking and placing arms for adjusting the distance between the two picking and placing arms; an adjustment drive component is installed on the connecting rod, and the adjustment drive component is connected to one of the second sleeves or one of the picking and placing arms for driving the picking and placing arms to move synchronously on the mounting shaft.

[0023] As a further improvement of the present invention, the wire picking device includes a wire picking work platform, a wire picking arm, and a wire picking hook. The wire picking work platform is mounted on a frame. The wire picking arm is mounted on the wire picking work platform via a wire picking swing drive assembly, which drives the wire picking arm to swing up and down. The wire picking hook is mounted on the wire picking arm.

[0024] As a further improvement of the present invention, the wire picking device further includes a wire picking telescopic drive assembly. The wire picking hook is installed at the end of the wire picking arm through the wire picking telescopic drive assembly, and the wire picking telescopic drive assembly is used to drive the wire picking hook to move along the length direction of the wire picking arm.

[0025] As a further improvement of this embodiment of the invention, the wire picking device further includes a wire picking translation drive assembly, a wire picking lifting platform, and a wire picking lifting drive assembly. The wire picking lifting platform is slidably connected to the frame, and the wire picking lifting drive assembly is connected to the wire picking lifting platform to drive the wire picking lifting platform to move along the Z-axis direction. The wire picking working platform is slidably connected to the wire picking lifting platform, and the wire picking translation drive assembly is connected to the wire picking working platform to drive the wire picking working platform to move along the Y-axis direction.

[0026] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0027] The fully automatic doffing machine of this embodiment has a yarn end-keeping device for gathering, sucking, and leaving broken yarn ends, a lifting and pressing arm device for lifting, pulling outward, closing inward, and pressing down the main arm of the texturing machine, a doffing device for taking full doffing and releasing empty doffing, and a yarn picking device for sending the yarn ends left by the yarn end-keeping device to the empty doffing. The entire process of taking full doffing and changing empty doffing can be completed automatically, and the structure is simple. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the fully automatic drum dropping machine according to an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the wire end-retaining device of the fully automatic doffing machine according to an embodiment of the present invention;

[0030] Figure 3 This is a top view of the thread-retaining device in an embodiment of the present invention;

[0031] Figure 4 This is a left view of the thread-holding device in an embodiment of the present invention;

[0032] Figure 5 This is a right view of the thread-holding device in an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the lifting arm device of the fully automatic drum dropping machine according to an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the lifting arm device lifting the main boom of the texturing machine in an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the state in which the lifting arm device presses down on the main boom of the texturing machine in an embodiment of the present invention;

[0036] Figure 9 This is a schematic diagram of the second drum picking and placing device of the fully automatic drum dropping machine according to an embodiment of the present invention;

[0037] Figure 10 yes Figure 9 The diagram shows the working state of the second take-up and put-out tube device when emptying the tube.

[0038] Figure 11 This is a schematic diagram of the first drum picking and placing device of the fully automatic drum dropping machine according to an embodiment of the present invention;

[0039] Figure 12 This is a schematic diagram of the wire-picking device of the fully automatic doffing machine according to an embodiment of the present invention.

[0040] The diagram shows: a first take-up and put-out cylinder device 10, a second take-up and put-out cylinder device 20, a thread end-retaining device 2, a lifting and pressing arm device 3, a thread picking device 4, a frame 5, an empty cylinder 8, and a full cylinder 9; a first end-retaining platform 21, a second end-retaining platform 22, a thread gathering component 23, a thread gathering hook 231, a thread gathering moving plate 232, a thread suction mechanism 24, a suction gun 241, a first electromagnet 242, a first connecting rod 243, a thread breaking mechanism 25, a first blade 251, a second blade 252, a second electromagnet 253, a second connecting rod 254, a first slide rail 261, a first drive motor 262, a first lead screw nut pair 263, a coupling 264, a lead screw seat 265, a second slide rail 271, a second slider 272, a second drive motor 273, and a rack 274; a first worktable 31, a second worktable 32, a swing arm 33, a lifting and pressing component 34, an opening and closing plate 341, and a lifting and pressing rod 34. 2. First cylinder 351, opening and closing slide rail 352, opening and closing slider 353, electronic ruler 354, second cylinder 361, lifting and pressing gear 362, lifting and pressing rack 363, rotating shaft 364, torque sensor 365, third cylinder 371, telescopic slide rail 372, telescopic slider 373, main moving arm 381, main fixed arm 382; swing base plate 11, main swing arm 12, slave swing arm 13, connecting rod 14, pick-up and put-down mechanism. 15. Cylinder arm, 16. Swing drive component, 17. Mounting shaft, 18. First sleeve, 19. Adjustment drive assembly, 110. Second sleeve, 111. Pressure rod, 112. Rotary cylinder, 113. Lifting plate, 1131. Third slide rail, 1141. Picking and placing translation motor, 1142. Picking and placing gear, 1143. Picking and placing toothed belt, 115. Opening and closing drive component; 41. Wire picking work platform, 42. Wire picking arm, 43. Wire picking hook, 44. Wire picking lifting platform. Detailed Implementation

[0041] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings.

[0042] It should be noted that the X-axis, Y-axis, and Z-axis in this article constitute a coordinate system. The Y-axis and X-axis lie in the same horizontal plane and are perpendicular to each other. The Y-axis is set parallel to the working surface of the texturing machine, and the X-axis is set perpendicular to the working surface of the texturing machine. The Z-axis is set vertically, perpendicular to the horizontal plane containing the Y-axis and X-axis. A full tube includes a paper tube, and the outer winding portion of the paper tube is wrapped with yarn of a certain thickness. An empty tube is a paper tube.

[0043] This invention provides a fully automatic drum dropping machine, such as... Figure 1 As shown, the machine includes a canister loading / unloading device, a thread end-retaining device 2, a lifting and pressing arm device 3, a thread picking device 4, and a frame 5. All four devices are mounted on the frame 5. The thread end-retaining device 2 is used for gathering, sucking, and retaining broken threads. The lifting and pressing arm device 3 is used for lifting, pulling outwards, closing inwards, and pressing down on the main arm of the texturing machine. The canister loading / unloading device is used for loading full canisters and / or empty canisters. The thread picking device 4 is used to deliver the thread end-retaining device 2 to an empty canister. Preferably, the frame 5 includes a traveling base and a portal frame mounted on the traveling base.

[0044] The working process of the fully automatic drum unloading machine in the above embodiment is as follows:

[0045] When a bobbin on one of the texturing machine's stations is fully wound, the entire fully automatic bobbin unwinding machine first moves to that station via frame 5. The thread end-holding device 2 gathers the corresponding multi-layered thread at that station, sucks in the thread, and cuts it. Then, the lifting and pressing arm device 3 lifts the main moving arm at that station, opens it outwards, and keeps the main moving arm in the open position. The bobbin pick-and-place device 1 moves to that station, removes the full bobbin, and places the empty bobbin in the empty position. The lifting and pressing arm device 3 releases the main moving arm, which automatically closes, and then the lifting and pressing arm device 3 presses the main moving arm down. Finally, the thread picking device 4 delivers the thread sucked in by the thread end-holding device to the corresponding thread-holding groove on the empty bobbin.

[0046] In this embodiment, the fully automatic doffing machine uses a thread end-keeping device 2 to gather, suck, and retain broken threads. The lifting and pressing arm device 3 lifts, pulls, closes, and presses down the main arm of the texturing machine. The doffing and emptying device picks up full doffings and releases empty doffings. The thread picking device 4 delivers the thread ends retained by the thread end-keeping device 2 to the empty doffings. The entire process of picking up full doffings and changing empty doffings can be completed automatically, and the structure is simple.

[0047] The thread-retaining device in the embodiments of the present invention, such as Figures 2 to 5As shown, the system includes a first yarn retention platform 21, a second yarn retention platform 22, a first drive assembly, a second drive assembly, a yarn gathering component 23, a yarn suction mechanism 24 with a yarn suction port, and a yarn breaking mechanism 25. The first yarn retention platform 21 is mounted on the traveling base of the frame 5. The second yarn retention platform 22 is mounted on the first yarn retention platform 21 via the first drive assembly, which drives the second yarn retention platform 22 to move along the Y-axis on the first yarn retention platform 21. The yarn gathering component 23 is mounted on the second worktable 22 via the second drive assembly, which drives the yarn gathering component 23 to move along the X-axis on the second yarn retention platform 22. The yarn suction mechanism 24 is used to suction the yarn hooked by the yarn gathering component through the yarn suction port. The yarn suction mechanism 24 can be mounted on the first yarn retention platform 21, meaning the yarn suction position remains fixed. Once the yarn gathering component 23 moves along the Y-axis and X-axis to the position where the yarn suction mechanism 24 is installed, the yarn suction mechanism suctions the yarn. Preferably, the wire-suction mechanism is installed on the second end-holding platform 22. The wire-suction mechanism and the wire-gathering component can move along the Y-axis direction with the second end-holding platform 22, meaning the wire-suction position can be flexibly adjusted in the Y-axis direction. Once the wire-gathering component 23 moves along the X-axis to the position where the wire-suction mechanism 24 is installed, the wire-suction mechanism sucks up the wire. The wire-cutting mechanism 25 is used to cut the wire sucked up by the wire-suction mechanism by opening and closing the scissor blades. The wire-cutting mechanism 25 can be installed on the first end-holding platform 21, meaning the wire-cutting position remains fixed. Once the wire-gathering component 23 moves along the Y-axis and X-axis to the position where the wire-cutting mechanism 25 is installed, the wire-suction mechanism sucks up the wire, and the wire-cutting mechanism cuts the wire. Preferably, the wire breaking mechanism 25 is installed on the second head-holding platform 22. The wire breaking mechanism and the wire gathering component can move along the Y-axis direction with the second head-holding platform 22. That is, the wire breaking station can be flexibly adjusted in the Y-axis direction. When the wire gathering component 23 moves along the X-axis direction to the position where the wire breaking mechanism 25 is installed, the wire suction mechanism 24 sucks up the wire, and the wire breaking mechanism 25 cuts the wire.

[0048] In this preferred embodiment of the thread retention device, the first driving component drives the second retention platform 22 to move along the Y-axis direction on the first retention platform 21. During the movement, the thread gathering member 23 installed on the second retention platform 22 gathers multiple threads. After moving to a set position, the second driving component drives the thread gathering member 23 to move along the X-axis direction on the second retention platform 22. The thread gathering member 23 gathers multiple layers of threads to the yarn suction port of the yarn suction mechanism and the scissor head of the yarn cutting mechanism. The yarn suction mechanism 24 sucks up the threads, and the yarn cutting mechanism 25 cuts the threads. In this embodiment, the thread retention device gathers multiple threads at different positions and brings them to the yarn suction station and the yarn cutting station, so that multiple threads are sucked in and cut together, which facilitates continuous filling and empty bobbin replacement at multiple stations.

[0049] In the above embodiments, preferably, such as Figure 4As shown, the yarn gathering component 23 includes a yarn gathering hook 231, which comprises an upper hook and a lower hook, installed vertically spaced apart. The horizontal plane where the yarn suction port of the yarn suction mechanism is located and the horizontal plane where the scissor opening of the yarn breaking mechanism is located are both located between the upper hook and the lower hook. The yarn is simultaneously hooked by the upper hook and the lower hook, and the yarn suction mechanism and the yarn breaking mechanism perform yarn suction and breaking between the upper hook and the lower hook, making yarn suction and breaking easier. Preferably, both the upper hook and the lower hook include a first straight rod, a semi-circular ring, and a second straight rod connected in sequence, with the second straight rod perpendicular to the first straight rod. The ends of the upper hook and the lower hook are connected as one piece. When the yarn gathering component 23 gathers the yarn, the yarn is gathered into the semi-circular ring of the upper hook and the lower hook.

[0050] Furthermore, the wire gathering component 23 also includes a wire gathering moving plate 232, which is mounted on the second head-retaining platform 22, and a wire gathering hook 231 is mounted on the end of the wire gathering moving plate 232. The wire gathering hook 231 moves with the wire gathering moving plate 232 on the second head-retaining platform.

[0051] Among them, such as Figure 3 As shown, the first drive assembly includes a first slide rail 261, a first slider, a first drive motor 262, and a first lead screw and nut assembly 263. The first slide rail 261 is arranged along the Y-axis on the first end-mount platform 21. The first slider is mounted on the second end-mount platform 22, and the second end-mount platform 22 is slidably mounted on the first end-mount platform 21 via the first slider and the first slide rail 261. The first drive motor 262 is mounted on the first end-mount platform 21, and the lead screw is mounted on a lead screw seat 265 on the first end-mount platform 21. The first drive motor 262 is connected to the lead screw of the first lead screw and nut assembly 263 via a coupling 264, and the second end-mount platform 22 is fixedly connected to the nut of the first lead screw and nut assembly 263. When the first drive motor 262 operates, it drives the lead screw to rotate, thereby causing the second end-mount platform to move along the first slide rail 261 via the nut, that is, the second end-mount platform moves along the Y-axis.

[0052] like Figure 3 and Figure 4As shown, the second drive assembly includes a second slide rail 271, a second slider 272, a second drive motor 273, a head-holding gear, and a head-holding rack 274. The second slide rail 271 is arranged along the X-axis on the head-holding moving plate 232 of the head-holding member 23. The second slider 272 is fixedly installed on the second head-holding platform 22. Alternatively, the second slide rail 271 is arranged along the X-axis on the second head-holding platform 22, and the second slider 272 is fixedly installed on the head-holding moving plate 232 of the head-holding member 23. The head-holding member 23 is mounted on the second head-holding platform 22 via the second slide rail 271 and the second slider 272. The second drive motor 273 is mounted on the second head-holding platform 22 and is connected to the head-holding gear. The head-holding rack 274 is arranged along the X-axis on the head-holding moving plate 232 of the head-holding member 23, and the head-holding gear meshes with the head-holding rack 274. The second drive motor 273 operates, driving the head gear to rotate. Under the meshing of the head gear rack, the wire gathering component 23 moves along the X-axis.

[0053] The wire-suction mechanism 24 has various structures; this embodiment adopts a preferred structure, such as... Figure 5 As shown. Specifically, the yarn suction mechanism 24 includes a suction gun 241, a first electromagnet 242, and a first connecting rod 243. The suction gun 241 and the first electromagnet 242 are fixedly mounted on the second yarn-holding platform 22. The push rod of the first electromagnet 242 is connected to the switch pin of the suction gun through the first connecting rod 243. The yarn suction port is the nozzle of the suction gun 241. When the yarn gatherer gathers the yarn to the yarn suction station, the first electromagnet 242 is energized, causing the push rod of the first electromagnet 242 to retract. The first connecting rod 243 pulls the switch pin of the suction gun, opening the nozzle and sucking the yarn into the nozzle. After the yarn breaks and is re-lifted and wound onto the empty paper tube, the first electromagnet 242 is de-energized, causing the push rod of the first electromagnet 242 to extend, the switch pin of the suction gun 241 to reset, and the nozzle to close.

[0054] The wire-breaking mechanism 25 has various structures; this embodiment adopts a preferred structure, such as... Figure 3As shown. Specifically, the wire-breaking mechanism 25 includes a first blade 251, a second blade 252, a second electromagnet 253, and a second connecting rod 254. The first blade 251 and the second electromagnet 253 are fixedly mounted on the second end-holding platform 22. The second blade 252 is rotatably connected to the first blade 251, forming a scissor cut between them. One end of the second connecting rod 254 is rotatably mounted on the second end-holding platform 22, and the other end is rotatably connected to the push rod of the second electromagnet 253. The end connected to the push rod of the second electromagnet 253 has an arc-shaped drive groove, and the second blade 251 has a protrusion that matches the drive groove. The second blade also has a reset rod, which is connected to a tension spring fixed on the second end-holding platform 22. The push rod of the second electromagnet 253 is connected to the second blade 252 through the second connecting rod 254. The second electromagnet 253 drives the second blade 252 to rotate through the second connecting rod 254, thus opening and closing the scissor cut. Initially, the push rod of the first electromagnet 242 is extended, opening the scissor jaws between the second and first blades. When the yarn gatherer brings the yarn to the yarn suction station, the yarn simultaneously enters the scissor jaws. Once the yarn is attracted, the second electromagnet 253 is energized, causing its push rod to retract. No force is applied to the second blade, and the second blade, under the restoring force of the tension spring, rotates towards the first blade, closing the scissor jaws and cutting the yarn. After the yarn is cut, the second electromagnet 253 is de-energized, causing its push rod to extend and push the second blade away from the first blade, opening the scissor jaws.

[0055] The lifting arm device in this embodiment, such as Figure 6 As shown, the system includes a first worktable 31, a second worktable 32, a swing arm 33, an opening / closing drive assembly, and a lifting / pressing swing drive assembly. The first worktable 31 is mounted on the frame 5. The second worktable 32 is mounted on the first worktable 31 via the opening / closing drive assembly, which drives the second worktable 32 to move along the Y-axis. The swing arm 33 is mounted on the second worktable 32 via the lifting / pressing swing drive assembly, which drives the swing arm 33 to swing up and down.

[0056] The lifting and pressing arm device in the above embodiment drives the swing arm upward through the lifting and pressing swing drive assembly, which can lift the main moving arm 381 of the texturing machine. The second worktable 32 is then driven by the opening and closing drive assembly, causing the swing arm to move along the Y-axis away from the main fixed arm 382, ​​i.e., to move the main moving arm outward. After the full cylinder is removed and the empty cylinder is placed, the second worktable 32 is driven by the opening and closing drive assembly again, causing the swing arm to move along the Y-axis closer to the main fixed arm, making the main moving arm inward. Finally, the swing arm is driven downward through the lifting and pressing swing drive assembly, which can press down the main moving arm. This completes the lifting, outward pulling, inward closing, and downward pressing of the main moving arm of the texturing machine, resulting in a simple structure.

[0057] Further preferably, the lifting arm device in this embodiment also includes a lifting member 34, which is mounted on the swing arm 33. The lifting member 34 includes an opening and closing plate 341 and a lifting rod 342, with the lifting rod 342 mounted on the opening and closing plate 341, forming a T-shaped structure. The T-shaped structure of the lifting member 34 can meet the requirements of lifting onto the platform, pressing down, and pulling outward. In use, the lifting member 34 contacts the main swing arm 381. When lifting the main swing arm, as... Figure 7 As shown, the lifting rod 342 is located below the main boom 381, the lifting plate 34 is located inside the main boom, the swing arm 33 swings upward, and the lifting rod acts on the main boom, lifting it upward. When the main boom is pulled outward, the lifting rod 342 is kept below the main boom, the swing arm moves away from the main boom along the Y-axis, and the lifting plate 34 pushes the main boom to open outward. After the full cylinder is removed and the empty cylinder is placed, the swing arm moves closer to the main boom along the Y-axis, and the main boom automatically returns to its inward position after being no longer acted upon by the lifting plate 34. The lifting member 34 is moved above the main boom, as shown... Figure 8 As shown, the lifting rod 342 is positioned above the main boom 381, the swing arm 33 swings downward, and the lifting rod acts on the main boom to press the main boom down and reset it.

[0058] In a further preferred embodiment, the lifting arm device also includes a lifting and telescopic drive assembly. The lifting member 34 is mounted on the swing arm 33 via the lifting and telescopic drive assembly, which drives the lifting member 34 to move along the X-axis. When lifting the main boom, the lifting rod 342 of the lifting member is located below the main boom, while when pressing down the main boom, the lifting rod 342 needs to be located above the main boom. After the main boom closes, the lifting member can swing upwards and retract away from the main boom through the cooperation of the lifting and telescopic drive assembly. When the lifting member swings above the main boom, it extends towards the main boom again through the lifting and telescopic drive assembly, ultimately positioning the lifting rod above the main boom. This allows the entire process of lifting, pulling outwards, closing inwards, and pressing down to be completed automatically and flexibly, without damaging the main boom.

[0059] The lifting and pressing telescopic drive assembly includes a third cylinder 371, a telescopic slide rail 372, and a telescopic slider 373. The telescopic slide rail is mounted on the swing arm, and the telescopic slider is mounted on the lifting member. Alternatively, the telescopic slide rail 372 is mounted on the lifting member 34, and the telescopic slider 373 is mounted on the swing arm 33. The lifting member 34 is mounted on the swing arm 33 via the adapted telescopic slider 373 and telescopic slide rail 372. The cylinder body of the third cylinder 371 is connected to the swing arm 33, and the push rod of the third cylinder 371 is connected to the lifting member 34. Alternatively, the cylinder body of the third cylinder is connected to the lifting member, and the push rod of the third cylinder is connected to the swing arm. The third cylinder 371 drives the lifting member 34 to extend and retract on the swing arm 33.

[0060] In this embodiment, the opening / closing drive assembly includes a first cylinder 351, an opening / closing slide rail 352, and an opening / closing slider 353. The second worktable 32 is mounted on the first worktable 31 via the adapted opening / closing slider 353 and the opening / closing slide rail 352. The opening / closing slide rail 352 is arranged along the Y-axis on the first worktable 31, and the opening / closing slider 353 is mounted on the second worktable 32. Alternatively, the opening / closing slide rail is arranged along the Y-axis on the second worktable, and the opening / closing slider is mounted on the first worktable. The cylinder body of the first cylinder 351 is connected to the first worktable 31, and the push rod of the first cylinder 351 is connected to the second worktable 32. Alternatively, the cylinder body of the first cylinder is connected to the second worktable, and the push rod of the first cylinder is connected to the first worktable. The extension and retraction of the first cylinder drives the second worktable 32 to move along the Y-axis on the first worktable 31.

[0061] Preferably, the opening and closing drive assembly further includes an electronic ruler 354, with its two ends connected to the first worktable 31 and the second worktable 32, respectively. The extension and retraction of the first cylinder drives the second worktable 32 to move, synchronously causing the electronic ruler to extend and retract. This allows for precise measurement of the movement distance of the second worktable top 32 driven by the first cylinder, facilitating accurate control of the outward extension degree of the main boom. This provides a flexible outward extension of the main boom without damaging it, and is both precise and reliable.

[0062] In this embodiment, the lifting and pressing swing drive assembly includes a second cylinder 361, a lifting gear 362, a lifting rack 363, and a rotating shaft 364. The rotating shaft 364 is mounted on the second worktable 32 via a bearing seat and is fixedly connected to the swing arm 33. The lifting gear 362 is fixedly mounted on the rotating shaft 364. The second cylinder 361 is mounted on the second worktable 32 and is connected to the rack 363. The lifting gear 362 meshes with the lifting rack 363. The extension and retraction of the second cylinder drives the rack 363 to move up and down, which in turn drives the rotating shaft to rotate via the lifting gear, thereby causing the swing arm to swing up and down.

[0063] Preferably, the lifting and pressing swing drive assembly also includes a torque sensor 365, which is mounted on the rotating shaft 364 and used to measure the rotational torque of the rotating shaft 364, that is, to measure the swing torque of the swing arm 33. The swing arm swings with the rotation of the rotating shaft, and the torque sensor 365 rotates synchronously with the rotating shaft, which can accurately measure the torque of the swing arm, so as to accurately control the up and down swing amplitude of the swing arm, and perform flexible lifting and pressing of the main boom without damaging the main boom, and with precision and reliability.

[0064] Preferably, the lifting arm device in this embodiment further includes a lifting drive assembly, which is connected to the first worktable 31 and used to drive the first worktable 31 to move along the Z-axis. The lifting drive assembly adjusts the height of the first worktable 31 to operate the main lifting arm located at different positions. Specifically, the lifting drive assembly includes a lifting motor, a lead screw and nut assembly, a lifting slide rail, and a lifting slider. The lifting slide rail is vertically arranged on the frame, and the lifting slider is mounted on the first worktable 31. The first worktable 31 is slidably mounted on the frame via the adapted lifting slide rail and lifting slider. The lifting motor is fixed to the frame and is connected to the lead screw drive of the lead screw and nut assembly. The nut of the lead screw and nut assembly is connected to the first worktable 31. When the lifting motor operates, it drives the lead screw to rotate, which in turn moves the first worktable up and down via the nut.

[0065] The device for picking up and placing the tube in this embodiment, such as Figures 9 to 11 As shown, the device includes a swing base plate 11, a main swing arm 12, a secondary swing arm 13, a connecting rod 14, a swing drive component 16, and a pick-and-place cylinder arm 15. One end of the main swing arm 12 is rotatably mounted on the swing base plate 11 via a first rotating shaft. The other end of the main swing arm 12 is rotatably connected to one end of the connecting rod 14 via a second rotating shaft. The other end of the connecting rod 14 is rotatably connected to one end of the secondary swing arm 13 via a third rotating shaft. The other end of the secondary swing arm 13 is rotatably mounted on the swing base plate 11 via a fourth rotating shaft. The straight line between the rotational connection point of the main swing arm 12 and the connecting rod 14 and the rotational connection point of the swing arm 13 and the connecting rod 14 is parallel to the straight line between the rotational connection point of the main swing arm 12 and the swing base plate 11 and the rotational connection point of the swing arm 13 and the swing base plate 11. Furthermore, the straight-line distance between the rotational connection point of the main swing arm 12 and the connecting rod 14 and the rotational connection point of the swing arm 13 and the connecting rod 14 is equal to the straight-line distance between the rotational connection point of the main swing arm 12 and the swing base plate 11 and the rotational connection point of the swing arm 13 and the swing base plate 11. The swing drive component 16 is connected to the main swing arm 12. The pick-and-place arm 15 is provided with an upward-opening placement slot for placing full or empty cylinders. The pick-and-place arm 15 is mounted on the connecting rod 14, and the axis of the placement slot is parallel to the Y-axis. The swing drive component 16 is a motor.

[0066] The pick-and-place arm 15 can be block-shaped, with the placement groove located at its upper end. Alternatively, the pick-and-place arm 15 can be semi-cylindrical, with the placement groove forming its cavity. Preferably, in this embodiment, the pick-and-place arm 15 adopts a strip-shaped structure, with the placement groove located at its end. A mounting shaft 17 is fixedly installed on the connecting rod 14, parallel to the Y-axis. There are two pick-and-place arms 15, which are installed at intervals relative to each other on the mounting shaft 17. Both arms are parallel to the X-axis; in use, a full or empty cylinder is placed on either arm.

[0067] In this embodiment, the cylinder pick-and-place device comprises a parallel four-bar linkage structure consisting of a swing base plate 11, a main swing arm 12, a secondary swing arm 13, and a connecting rod 14. The swing base plate 11 remains stationary, while the swing drive 16 drives the main swing arm 12 to swing relative to the swing base plate 11, thereby causing the secondary swing arm 13 to swing and the connecting rod 14 to move. This allows the cylinder pick-and-place arm 15 to be retracted or placed at the cylinder pick-and-place position for picking up, placing, and transferring full or empty cylinders. During the movement, the orientation of the connecting rod 14 in three-dimensional space remains unchanged. Specifically, the angles between the connecting rod and the planes containing the X and Y axes (horizontal planes), the angles between the connecting rod and the planes containing the X and Z axes (planes perpendicular to the working surface of the texturing machine), and the angles between the connecting rod and the planes containing the Y and Z axes (the working surface of the texturing machine) all remain unchanged. This ensures that the cylinder pick-and-place arm mounted on the connecting rod does not rotate, and the cylinder placement slot always remains open upwards. When picking up empty or full tubes, they can fall horizontally into the tube placement trough. When placing empty or full tubes, they can be horizontally supported at the placement station. During the transfer process, the empty or full tubes remain horizontal and will not rotate or slide, ensuring that the threads in full tubes and the paper tubes in empty tubes are not damaged. Furthermore, the tube picking and placing arm only supports the empty or full tubes and does not apply any other force, thus preventing damage to the threads in full tubes and the paper tubes in empty tubes. The tube picking and placing device in this embodiment has a large stroke and occupies little space.

[0068] The fully automatic drum-dropping machine of this embodiment can be equipped with a drum-picking and discharging device, which is used for both picking up full drums and discharging empty drums. Preferably, as follows: Figure 1 As shown, two tube-picking and placing devices are provided, namely a first tube-picking and placing device 10 and a second tube-picking and placing device 20. The first tube-picking and placing device 10 is used to pick up a full tube, and the second tube-picking and placing device 20 is used to empty a tube. The two tube-picking and placing devices work together to improve the tube dropping efficiency.

[0069] The second tube loading / unloading device 20 in the above embodiment is used to empty the tube. This embodiment provides two preferred structures.

[0070] In the first structure, both pick-up and place-up cylinder arms 15 are fixedly mounted on the mounting shaft 17, so that the distance between the two pick-up and place-up cylinder arms 15 remains constant.

[0071] The second structure, considering that the rollers at each texturing station of the texturing machine may not be centered, requires the loading and unloading arm to make fine adjustments along the Y-axis, using the rollers as a reference, to ensure the empty cylinder is placed accurately. Preferably, as... Figure 9As shown, both pick-and-place arms 15 are mounted on the first sleeve 18. The distance between the two pick-and-place arms 15 is fixed and does not exceed the length of a full or empty paper tube. The first sleeve 18 is sleeved on the mounting shaft 17 via a linear bearing, and the two pick-and-place arms 15 are mounted on the mounting shaft 17 via the first sleeve 18. A strip-shaped limiting groove is provided on the side wall of the first sleeve 18, and a limiting pin is provided on the mounting shaft 17. The limiting pin and the limiting groove are adapted to restrict the rotation of the first sleeve on the mounting shaft, and also serve as a guide when the first sleeve 18 moves on the mounting shaft 17. An adjustment drive assembly 19 is mounted on the connecting rod 14. The adjustment drive assembly 19 is connected to the first sleeve 18 or the pick-and-place arms 15 and is used to drive the first sleeve 18 to move on the mounting shaft and adjust the position of the two pick-and-place arms 15 on the mounting shaft.

[0072] The adjustment drive assembly 19 can be a motor-screw transmission mechanism. Specifically, the adjustment drive assembly 19 includes an adjustment motor, a screw, and a screw holder. The screw holder is mounted on a connecting rod, and the adjustment motor is mounted on the first sleeve. One end of the screw is connected to the output shaft of the adjustment motor, and the other end of the screw is inserted into the screw holder. The adjustment motor drives the screw to rotate, adjusting the depth of the screw insertion into the screw holder, thereby adjusting the position of the pick-and-place cylinder arm on the mounting shaft. The adjustment drive assembly 19 can also be a cylinder, with the cylinder body mounted on the connecting rod, and the push rod end of the cylinder connected to the first sleeve or the pick-and-place cylinder arm.

[0073] To ensure that the empty cylinder placed on the cylinder-picking arm does not fall during the cylinder-picking and placing process, in this preferred embodiment, a pressure rod 111 is rotatably mounted at the end of the cylinder-picking and placing arm 15, such as... Figure 9 As shown. When an empty or full cylinder is placed into the cylinder discharge slot, the pressure rod 111 rotates toward the discharge slot and presses against the empty cylinder in the discharge slot. When the empty cylinder is transferred to a specific work station, the pressure rod 111 rotates away from the discharge slot and opens the opening of the discharge slot.

[0074] Among them, such as Figure 9 As shown, the pressure rod 111 can be rotatably mounted on the end of the pick-and-place cylinder arm 15 via a rotary cylinder 112. The stator of the rotary cylinder 112 is mounted on the end of the pick-and-place cylinder arm, and one end of the pressure rod 111 is connected to the rotor of the rotary cylinder 112. The rotary cylinder 112 drives the pressure rod 111 to rotate.

[0075] The first loading and unloading device 10 in the above embodiment is used to load a full cylinder. This embodiment provides three preferred structures.

[0076] In the first structure, one pick-and-place arm 15 is fixedly mounted on a mounting shaft 17, and the other pick-and-place arm 15 is connected to a second sleeve. The second sleeve is sleeved on the mounting shaft 17 via a linear bearing, and the pick-and-place arm 15 is mounted on the mounting shaft 17 via the second sleeve. A limiting groove is formed on the side wall of the second sleeve, and a limiting pin is provided on the mounting shaft. The limiting pin and the limiting groove are adapted to restrict the rotation of the second sleeve on the mounting shaft, and the second sleeve also serves as a guide when moving on the mounting shaft 17. An opening / closing drive is installed between the second sleeve and the pick-and-place arm fixedly mounted on the mounting shaft 17, between the second sleeve and the connecting rod, between the two pick-and-place arms, or between the pick-and-place arm connected to the second sleeve and the connecting rod. This drive is used to drive the second sleeve to move on the mounting shaft 17, thereby adjusting the distance between the two pick-and-place arms 15. The opening / closing drive can be a cylinder, with the cylinder body mounted on one pick-and-place arm and the push rod end of the cylinder connected to the other pick-and-place arm. In this embodiment, one pick-and-place arm is fixed, while the other pick-and-place arm is moved by an opening and closing drive, thereby adjusting the distance between the two pick-and-place arms 15. When the full cylinder is moved to the full cylinder placement station, by moving one pick-and-place arm, the distance between the two pick-and-place arms 15 is increased, causing the full cylinder to fall.

[0077] The second structure, such as Figure 11 As shown, each of the two pick-and-place arms 15 is connected to a second sleeve 110. The two second sleeves 110 are respectively mounted on the mounting shaft 17 via linear bearings, and the two pick-and-place arms 15 are respectively mounted on the mounting shaft 17 via the second sleeves 110. Limit grooves are formed on the side walls of both second sleeves 110, and limit pins are provided on the mounting shaft. The limit pins and limit grooves are matched to restrict the rotation of the second sleeves on the mounting shaft, and also serve as guides when the second sleeves 110 move on the mounting shaft 17. An opening / closing drive component 115 is connected between the two second sleeves 110 or between the two pick-and-place arms to adjust the distance between the two pick-and-place arms 15. The opening / closing drive component 115 can be a cylinder, with the cylinder body mounted on one of the second sleeves or pick-and-place arms, and the end of the cylinder's push rod connected to the other second sleeve or pick-and-place arm.

[0078] The third structure, considering that the rollers at each texturing station of the texturing machine may not be centered, requires the roller pick-up arm to be finely adjusted along the Y-axis with the rollers as a reference to ensure that the empty roller is placed accurately or to properly receive the full roller when placing an empty roller or picking up a full roller. For example... Figure 11As shown, an adjustment drive assembly 19 is mounted on the connecting rod 14. The adjustment drive assembly 19 is connected to one of the second sleeves 110 or one of the pick-and-place arms, and is used to drive the two second sleeves to move synchronously on the mounting shaft 17, thereby adjusting the position of the two pick-and-place arms 15 on the mounting shaft. The adjustment drive assembly 19 can be a motor-screw transmission mechanism. Specifically, the adjustment drive assembly 19 includes an adjustment motor, a screw, and a screw seat. The screw seat is mounted on the connecting rod, and the adjustment motor is mounted on one of the second sleeves or pick-and-place arms. One end of the screw is connected to the output shaft of the adjustment motor, and the other end is inserted into the screw seat. The adjustment motor drives the screw to rotate, adjusting the depth of the screw insertion into the screw seat, thereby adjusting the position of one pick-and-place arm on the mounting shaft. Since the two pick-and-place arms are connected by an opening and closing drive component 115, the position of the other pick-and-place arm on the mounting shaft is adjusted together.

[0079] All of the above preferred embodiments may further include a lifting plate 113, a pick-and-place lifting drive assembly, and a pick-and-place translation drive assembly. For example... Figure 9 As shown, the lifting plate 113 is slidably connected to the frame 5, and the pick-and-place lifting drive assembly is connected to the lifting plate 113 to drive the lifting plate to move along the Z-axis. The swing base plate 11 is slidably connected to the lifting plate 113 via a slider and a slide rail 1131, and the pick-and-place translation drive assembly is connected to the swing base plate 11 to drive the swing base plate 11 to move along the X-axis. The pick-and-place lifting drive assembly and the pick-and-place translation drive assembly drive the swing base plate 11 to move on a plane perpendicular to the working surface of the texturing machine, so that the two pick-and-place cylinder arms are opposite to the workstation to be operated. The swing drive component 16 drives the main swing arm 12 to swing, and the swing arm 13 swings to move the connecting rod 14, thereby retracting the pick-and-place cylinder arm 15 to the workstation to be operated, to pick up a full cylinder or empty a cylinder.

[0080] The pick-and-place translation drive assembly includes a pick-and-place translation motor 1141, a pick-and-place gear 1142, and a pick-and-place toothed belt 1143. The pick-and-place translation motor 1141 is mounted on the swing base plate 11. The slide rail 1131 and the toothed belt 1143 are both arranged along the X-axis direction on the lifting plate 113. The pick-and-place translation motor 1141 is connected to the pick-and-place gear 1142, and the pick-and-place gear 1142 meshes with the pick-and-place toothed belt 1143. The pick-and-place translation motor 1141 drives the pick-and-place gear 1142 to rotate, thereby driving the swing base plate 11 to move along the X-axis direction. The pick-and-place lifting drive assembly can adopt a screw drive mechanism or a gear and rack drive mechanism.

[0081] The wire-picking device 4 in this embodiment of the invention, such as Figure 12As shown, the machine includes a yarn-picking platform 41, a yarn-picking arm 42, and a yarn-picking hook 43. The yarn-picking platform 41 is mounted on the frame 5. The yarn-picking arm 42 is mounted on the yarn-picking platform 41 via a yarn-picking swing drive assembly, which drives the yarn-picking arm 42 to swing up and down. The yarn-picking hook 43 is mounted on the yarn-picking arm 42. The yarn-picking hook is used to hook the yarn and swings upward under the drive of the yarn-picking swing drive assembly, picking the yarn from the bottom of the texturing machine upward to the corresponding yarn-holding groove on the empty yarn bobbin so that the yarn can be wound around the empty bobbin.

[0082] Preferably, the wire-picking device 4 further includes a wire-picking telescopic drive assembly. The wire-picking hook 43 is mounted on the end of the wire-picking arm 42 via the wire-picking telescopic drive assembly, which drives the wire-picking hook 43 to move along the length of the wire-picking arm. Preferably, the wire-picking device 4 further includes a wire-picking translation drive assembly, a wire-picking lifting platform 44, and a wire-picking lifting drive assembly. The wire-picking lifting platform 44 is slidably connected to the frame 5, and the wire-picking lifting drive assembly is connected to the wire-picking lifting platform 44 to drive the wire-picking lifting platform 44 to move along the Z-axis. The wire-picking working platform 41 is slidably connected to the wire-picking lifting platform 44, and the wire-picking translation drive assembly is connected to the wire-picking working platform 41 to drive the wire-picking working platform 41 to move along the Y-axis.

[0083] The wire-picking oscillation drive assembly can employ a gear transmission mechanism. The wire-picking telescopic drive assembly can use a cylinder, which is small in size and can be installed on the wire-picking arm without affecting its oscillation. The wire-picking lifting drive assembly can employ a screw drive mechanism, a gear and rack drive mechanism, or a gear conveyor belt drive mechanism. The wire-picking translation drive assembly can employ a screw drive mechanism or a gear and rack drive mechanism.

[0084] After the take-up and put-down device places the empty cylinder onto the winding station of the texturing machine, the take-up lifting drive assembly and the take-up translation drive assembly drive the take-up arm to move on a plane perpendicular to the working surface of the texturing machine, so that the take-up arm is opposite to the station to be operated. The take-up swing drive assembly drives the take-up arm to swing downward, and the take-up extension drive assembly drives the take-up hook to extend. The take-up hook picks up the wire at the bottom of the texturing machine, and the take-up swing drive assembly drives the take-up arm to swing upward, picking up the wire to the corresponding wire slot of the empty wire cylinder. The wire is then wound on the rotating empty cylinder.

[0085] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A fully automatic drum dropping machine, characterized in that, The machine includes a take-up and put-out device, a thread end-retaining device (2), a lifting and pressing arm device (3), a thread picking device (4), and a frame (5). The take-up and put-out device, the thread end-retaining device (2), the lifting and pressing arm device (3), and the thread picking device (4) are all installed on the frame (5). The thread end-retaining device (2) is used for gathering, sucking, and retaining the ends of broken threads. The lifting and pressing arm device (3) is used for lifting, pulling outward, closing inward, and pressing down on the main moving arm of the texturing machine. The take-up and put-out device is used for taking full cylinders and / or empty cylinders. The thread picking device (4) is used to send the thread end retained by the thread end-retaining device (2) to the empty cylinder. The lifting and pressing arm device (3) includes a first worktable (31), a second worktable (32), a swing arm (33), a lifting and pressing component (34), an opening and closing drive assembly, and a lifting and pressing swing drive assembly. The first worktable (31) is mounted on the frame (5). The second worktable (32) is mounted on the first worktable (31) through the opening and closing drive assembly, which is used to drive the second worktable (32) to move along the Y-axis. The swing arm (33) is mounted on the second worktable (32) through the lifting and pressing swing drive assembly, which is used to drive the swing arm (33) to swing up and down. The lifting and pressing component (34) is mounted on the end of the swing arm (33). The lifting and pressing component (34) includes an opening and closing plate (341) and a lifting and pressing rod (342). The lifting and pressing rod (342) is mounted on the opening and closing plate (341). The opening and closing plate (341) is used to act on the main boom when opening and closing the main boom, and the lifting and pressing rod (342) is used to act on the main boom when lifting and pressing the main boom.

2. The fully automatic drum dropping machine according to claim 1, characterized in that, The yarn retention device (2) includes a first retention platform (21), a second retention platform (22), a first drive assembly, a second drive assembly, a yarn gathering component (23), a yarn suction mechanism (24) with a yarn suction port, and a yarn breaking mechanism (25). The first retention platform (21) is mounted on the frame (5); the second retention platform (22) is mounted on the first retention platform (21) via the first drive assembly, which drives the second retention platform (22) to move along the Y-axis on the first retention platform (21); the yarn gathering component... The component (23) is installed on the second end-holding platform (22) via the second drive assembly. The second drive assembly is used to drive the yarn gathering component (23) to move along the X-axis direction on the second end-holding platform (22). The yarn suction mechanism (24) is installed on the first end-holding platform (21) or the second end-holding platform (22) and is used to suck the yarn hooked by the yarn gathering component through the yarn suction port. The yarn cutting mechanism (25) is installed on the first end-holding platform (21) or the second end-holding platform (22) and is used to cut the yarn sucked by the yarn suction mechanism by opening and closing the scissor blades.

3. The fully automatic drum dropping machine according to claim 2, characterized in that, The yarn gathering component (23) includes a yarn gathering hook (231), which includes an upper hook and a lower hook, which are installed at intervals. The horizontal plane where the yarn suction port of the yarn suction mechanism is located and the horizontal plane where the scissor mouth of the yarn breaking mechanism is located are both located between the upper hook and the lower hook.

4. The fully automatic drum dropping machine according to claim 2, characterized in that, The yarn suction mechanism (24) includes a suction gun (241), a first electromagnet (242) and a first connecting rod (243). The suction gun (241) and the first electromagnet (242) are fixedly installed on the second yarn retention platform (22). The push rod of the first electromagnet (242) is connected to the switch pin of the suction gun through the first connecting rod (243). The yarn suction port is the nozzle of the suction gun.

5. The fully automatic drum dropping machine according to claim 2, characterized in that, The wire breaking mechanism (25) includes a first blade (251), a second blade (252), a second electromagnet (253), and a second connecting rod (254). The first blade (251) and the second electromagnet (253) are fixedly installed on the second end-retaining platform (22). The second blade (252) is rotatably connected to the first blade (251), and a scissor mouth is formed between the second blade (252) and the first blade (251). The push rod of the second electromagnet (253) is connected to the second blade (252) through the second connecting rod (254). The second electromagnet (253) drives the second blade (252) to rotate through the second connecting rod (254) to open and close the scissor mouth.

6. The fully automatic drum dropping machine according to claim 1, characterized in that, The lifting arm device (3) also includes a lifting and telescopic drive assembly. The lifting member (34) is mounted on the swing arm (33) through the lifting and telescopic drive assembly. The lifting and telescopic drive assembly is used to drive the lifting member (34) to move along the X-axis direction.

7. The fully automatic drum dropping machine according to claim 1, characterized in that, The lifting arm device (3) further includes a lifting and lowering drive assembly. The first worktable (31) is mounted on the frame (5) via the lifting and lowering drive assembly. The lifting and lowering drive assembly is used to drive the first worktable (31) to move along the Z-axis.

8. The fully automatic drum dropping machine according to claim 1, characterized in that, The picking and placing device includes a swing base plate (11), a main swing arm (12), a secondary swing arm (13), a connecting rod (14), a swing drive component (16), and two picking and placing arms (15). The swing base plate (11) is mounted on the frame (5). The main swing arm (12) and the secondary swing arm (13) are both rotatably mounted on the swing base plate (11). The connecting rod (14) is rotatably connected between the main swing arm (12) and the secondary swing arm (13). The straight line between the rotational connection point of the main swing arm (12) and the connecting rod (14) and the rotational connection point of the secondary swing arm (13) and the connecting rod (14) is parallel to the rotational connection point of the main swing arm (12) and the swing base plate (11) and the secondary swing arm (13). The straight line between the two points of the main swing arm (12) and the swing base plate (11) is equal to the straight line between the two points of the main swing arm (12) and the swing base plate (11) and the swing arm (13) and the swing base plate (11); the swing drive (16) is connected to the main swing arm (12) and is used to drive the main swing arm (12) to swing; the connecting rod (14) is horizontally mounted with a mounting shaft (17), and two pick-and-place cylinder arms (15) are arranged opposite to each other on the mounting shaft (17), and the pick-and-place cylinder arms (15) are provided with an upward-opening cylinder groove.

9. The fully automatic drum dropping machine according to claim 8, characterized in that, It also includes a pick-and-place translation drive assembly, a lifting plate (113) and a pick-and-place lifting drive assembly. The lifting plate (113) is slidably connected to the frame (5). The pick-and-place lifting drive assembly is connected to the lifting plate (113) and is used to drive the lifting plate to move along the Z-axis direction. The swing base plate (11) is slidably connected to the lifting plate (113). The pick-and-place translation drive assembly is connected to the swing base plate (11) and is used to drive the swing base plate (11) to move along the X-axis direction on the lifting plate (113).

10. The fully automatic drum dropping machine according to claim 8, characterized in that, There is one device for taking a full tube and emptying a tube.

11. The fully automatic drum dropping machine according to claim 8, characterized in that, There are two cylinder taking and placing devices, namely a first cylinder taking and placing device (10) and a second cylinder taking and placing device (20). The first cylinder taking and placing device (10) is used to fill the cylinder, and the second cylinder taking and placing device (20) is used to empty the cylinder.

12. The fully automatic drum dropping machine according to claim 11, characterized in that, The two picking and placing arms (15) of the second picking and placing device (20) are fixedly installed on the mounting shaft (17).

13. The fully automatic drum unloading machine according to claim 11, characterized in that, The two picking and placing arms (15) of the second picking and placing device (20) are both mounted on the first sleeve (18). The first sleeve (18) is sleeved on the mounting shaft (17) through a linear bearing. The side wall of the first sleeve (18) is provided with a limiting groove, and the mounting shaft (17) is provided with a limiting pin. The limiting pin and the limiting groove are adapted to each other. An adjustment drive assembly (19) is installed on the connecting rod (14). The adjustment drive assembly (19) is connected to the first sleeve (18) or the picking and placing arm (15) and is used to drive the picking and placing arm (15) to move on the mounting shaft.

14. The fully automatic drum-dropping machine according to claim 11, characterized in that, The second cylinder pick-up and drop device also includes a pressure rod (111), which is rotatably mounted on the end of the cylinder pick-up and drop arm (15) by a rotary cylinder (112). The pressure rod (111) is used to press on the empty cylinder in the drop slot.

15. The fully automatic drum unloading machine according to claim 11, characterized in that, One of the picking and placing arms (15) of the first picking and placing device (10) is fixedly mounted on the mounting shaft (17), and the other picking and placing arm (15) is connected to a second sleeve. The second sleeve is sleeved on the mounting shaft (17) through a linear bearing. A limit groove is opened on the side wall of the second sleeve, and a limit pin is provided on the mounting shaft. The limit pin and the limit groove are adapted to each other. An opening and closing drive assembly is installed between the second sleeve and the picking and placing arm fixedly mounted on the mounting shaft (17), between the second sleeve and the connecting rod, between the two picking and placing arms, or between the picking and placing arm connected to the second sleeve and the connecting rod. The opening and closing drive assembly is used to adjust the distance between the two picking and placing arms (15).

16. The fully automatic drum dropping machine according to claim 11, characterized in that, Each of the two picking and placing arms (15) of the first picking and placing device (10) is connected to a second sleeve (110). The two second sleeves (110) are respectively sleeved on the mounting shaft (17) through linear bearings. The side walls of the two second sleeves (110) are provided with limit grooves, and the mounting shaft is provided with limit pins. The limit pins and limit grooves are adapted to each other. An opening and closing drive component (115) is connected between the two second sleeves (110) or between the two picking and placing arms (15) for adjusting the distance between the two picking and placing arms (15). An adjustment drive component (19) is installed on the connecting rod (14). The adjustment drive component (19) is connected to one of the second sleeves (110) or one of the picking and placing arms (15) for driving the picking and placing arms (15) to move synchronously on the mounting shaft (17).

17. The fully automatic drum dropping machine according to claim 1, characterized in that, The wire picking device (4) includes a wire picking work platform (41), a wire picking arm (42), and a wire picking hook (43). The wire picking work platform (41) is mounted on the frame (5). The wire picking arm (42) is mounted on the wire picking work platform (41) through a wire picking swing drive assembly. The wire picking swing drive assembly is used to drive the wire picking arm (42) to swing up and down. The wire picking hook (43) is mounted on the wire picking arm (42).

18. The fully automatic drum unloading machine according to claim 17, characterized in that, The wire picking device (4) also includes a wire picking telescopic drive assembly. The wire picking hook (43) is installed at the end of the wire picking arm (42) through the wire picking telescopic drive assembly. The wire picking telescopic drive assembly is used to drive the wire picking hook (43) to move along the length direction of the wire picking arm.

19. The fully automatic drum-dropping machine according to claim 17, characterized in that, The wire picking device (4) further includes a wire picking translation drive assembly, a wire picking lifting platform (44), and a wire picking lifting drive assembly. The wire picking lifting platform (44) is slidably connected to the frame (5). The wire picking lifting drive assembly is connected to the wire picking lifting platform (44) and is used to drive the wire picking lifting platform (44) to move along the Z-axis. The wire picking working platform (41) is slidably connected to the wire picking lifting platform (44). The wire picking translation drive assembly is connected to the wire picking working platform (41) and is used to drive the wire picking working platform (41) to move along the Y-axis.

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