A compact mechanical rotary gripping mechanism and its operation method

Abstract

This invention relates to a compact mechanical rotary gripping mechanism and its operating method, comprising a gripping assembly mounted on a spinning machine body. The gripping assembly includes a rotating main shaft; a clamping end is provided at the bottom of the rotating main shaft, and at least three slide rails are provided on the clamping end. Grippers are slidably connected within the slide rails, and clamping portions extending from the bottom of the clamping end are connected to the grippers. Return springs are embedded in the slide rails, and the multiple clamping portions open and close as the grippers move. This invention has a compact and reasonable structure, is easy to operate, and achieves the clamping of small-diameter yarn tubes by driving the opening and closing of the grippers through the up-and-down movement of the inner tapered shaft. Simultaneously, an external transmission method is used to drive the rotation of the rotating main shaft and the lifting and lowering of the inner tapered shaft, reducing interference from air pipes and electrical wires. Furthermore, the small diameter of the rotating main shaft and the clamping end allows for easy passage through the air ring, facilitating the rewinding of broken yarn tubes.

Description

Technical Field

[0001] This invention relates to the field of textile machinery auxiliary equipment technology, and in particular to a compact mechanical rotary gripping mechanism and its operating method. Background Technology

[0002] Yarn machines are important pieces of equipment in the textile industry. When a yarn machine is working, the spindle drives the yarn tube to rotate and wind the yarn at an extremely high speed. Because the yarn itself is very thin, coupled with the excessively fast winding speed, yarn breakage is very likely to occur.

[0003] Because the yarn tube needs to be detached from the spindle and rotated in a certain direction, and there is an air ring on the outside of the yarn tube that moves up and down repeatedly at a non-uniform speed along the ring plate, and the inner diameter of the air ring is only 4cm.

[0004] Therefore, when gripping the yarn tube, it is necessary to meet the spatial size requirements, as well as the functional requirements, and there should be no interference when the air tube or wire rotates.

[0005] Therefore, we propose a compact mechanical rotary gripping mechanism and its operation method. Summary of the Invention

[0006] In response to the shortcomings of the existing production technology, the applicant provides a compact mechanical rotary gripping mechanism that achieves the effect of clamping and rotating the inner wall of the yarn tube, while also avoiding interference between the air ring and the roller.

[0007] The technical solution adopted in this invention is as follows:

[0008] A compact mechanical rotary gripping mechanism includes a gripping assembly mounted on the body of a spinning frame, the gripping assembly including a rotating spindle;

[0009] The bottom of the rotating spindle is provided with a clamping end, and at least three slides are provided on the clamping end in a ring. A gripper is slidably connected in the slide, and the gripper is connected to the gripper pressure block connected to the outside of the slide by a spring. A clamping part extending out of the bottom of the clamping end is connected to the gripper, and multiple clamping parts open and close as the gripper moves.

[0010] An axially movable inner tapered shaft is inserted inside the rotating spindle. The lower end of the inner tapered shaft is connected to a tapered head that extends into the clamping end and can open the gripper. The upper end of the inner tapered shaft is connected to a shaft end connector that positions the upper end. A telescopic connecting rod is also connected to the side wall of the shaft end connector. The other end of the telescopic connecting rod is fixedly connected to a drive cylinder.

[0011] A spindle bearing housing is movably sleeved on the outer wall of the rotating spindle. A mounting plate is connected to the spindle bearing housing. The mounting plate is connected to a multi-directional displacement motor unit that drives the rotating spindle to move arbitrarily within a certain range via a connecting rod.

[0012] It also includes a pulley fitted onto the upper end of the rotating main shaft, and the pulley is connected to the drive motor via a belt. Both the drive motor and the drive cylinder are connected to the multi-directional displacement motor unit.

[0013] Its further features are:

[0014] The gripper includes a sliding part that moves within the slide, a clamping part that is vertically connected to the lower end of the sliding part, and a spring connecting part that is vertically connected to the upper end of the sliding part. Multiple clamping parts located in different slides are close to each other, and a tapered slope is provided on the upper end of the opposite side of the multiple clamping parts. The surfaces of the opposite sides of the multiple clamping parts are knurled.

[0015] The mounting plate is also fixedly connected to a linear guide bearing that is connected to the telescopic linkage.

[0016] The rotating spindle is also equipped with multiple linear bearings that are sleeved on the inner tapered shaft.

[0017] The shaft end connector is fixedly connected to a tapered shaft bearing sleeved on the inner tapered shaft. The upper end of the shaft end connector is connected to a tapered shaft cover. The top wall of the inner tapered shaft is connected to a shaft end retaining ring that limits the position of the tapered shaft bearing by a bolt assembly.

[0018] The inner wall of the spindle bearing housing is provided with two spindle bearings corresponding to the rotating spindle, and the upper end of the spindle bearing housing is connected to a spindle cover that abuts against the spindle bearings.

[0019] The rotating spindle is also equipped with a limiting ring for lowering the spindle bearing. The opening of the rotating spindle has two stepped grooves. A self-locking nut for uppering the spindle bearing is threaded into the first stepped groove. A connector is connected in the second stepped groove. The connector is inserted between the pulley and the rotating spindle. The connector has a convex ring structure. The wide diameter section of the connector is fitted into the second stepped groove, while the pulley is fixedly fitted onto the narrow diameter section of the connector.

[0020] It also includes a spinning frame body, on which multiple spindles are arranged at equal intervals. A yarn tube is sleeved on the spindle, and a clamp holds the inner wall of the yarn tube. The multiple spindles are sleeved with the same ring plate, and the ring plate slides on the spinning frame body along the axial direction of the spindle. A gas ring ring for assisting winding is connected to the ring plate and sleeved on the outer ring of the spindle. At the same time, a yarn-introducing roller is provided on the side wall of the spinning frame body above the spindle.

[0021] The clamping end is arranged in a ring shape and the outer diameter of the clamping end is less than or equal to three centimeters. The length of the inner tapered shaft is less than the height difference between the roller and the steel collar plate.

[0022] An operating method utilizing a compact mechanical rotary gripping mechanism includes the following steps:

[0023] Step 1: After the yarn tube breaks, the braking mechanism brakes the yarn tube and spindle to stop their rotation. Step 2: The multi-directional displacement motor drives the gripping component through the air ring, placing the grippers inside the yarn tube. Step 3: The drive cylinder moves the inner tapered shaft downwards, opening the grippers and clamping the yarn tube. Step 4: After clamping the yarn tube, the multi-directional displacement motor drives the gripping component upwards, disengaging the yarn tube from the spindle. Step 5: The drive motor rotates the main shaft, causing the yarn tube to rotate and rewind the yarn fed by the yarn feeder. Step 6: After the yarn tube is wound, the gripping component disengages from the yarn tube and resets under the drive of the multi-directional displacement motor, completing the process.

[0024] The beneficial effects of this invention are as follows:

[0025] This invention features a compact and reasonable structure, and is easy to operate. The opening and closing of the grippers is driven by the up-and-down movement of the inner tapered shaft, which enables the clamping of small-diameter yarn tubes. At the same time, an external transmission method is used to drive the rotation of the main shaft and the raising and lowering of the inner tapered shaft, reducing interference from air tubes and electrical wires. Moreover, the small diameter of the main shaft and the clamping end allows for easy passage through the air ring. Furthermore, the multi-directional displacement motor can achieve multi-position displacement adjustment, facilitating the rewinding of broken yarn tubes, making it convenient and practical.

[0026] In addition, the present invention also has the following advantages:

[0027] 1. By setting multiple grippers, and the gripping parts on the multiple grippers are close to each other, and the upper end of the opposite side of the multiple gripping parts is provided with a tapered slope, and the surface of the opposite side of the multiple gripping parts is knurled to increase the friction, it is easy for the grippers to enter the small diameter yarn tube, and it can also increase the gripping friction on the yarn tube and improve the gripping effect.

[0028] 2. To improve the connection between the pulley and the rotating spindle, a connector is inserted between the pulley and the rotating spindle. The connector has a convex ring structure. The wide diameter section of the connector is sleeved on the upper end of the rotating spindle, while the pulley is fixedly sleeved on the narrow diameter section of the connector. This improves the sealing effect on the top of the rotating spindle, preventing leakage of internal parts. It also reduces the overall radial width and facilitates the upper limit of the self-locking nut, making the overall structure more compact.

[0029] 3. The opening of the rotating spindle has two stepped grooves. The first stepped groove has a self-locking nut that limits the upper limit of the spindle bearing. The connecting piece is fixedly sleeved in the second stepped groove by bolt assembly. This can limit the self-locking nut and further reduce the radial width of the rotating spindle. At the same time, by stacking the layers, the fixing effect of each component is improved, and the overall stability is improved. Attached Figure Description

[0030] Figure 1 This is a partial three-dimensional structural diagram of the present invention.

[0031] Figure 2 for Figure 1 A magnified view of part A in the middle.

[0032] Figure 3 This is a front view of the structure of the present invention.

[0033] Figure 4 for Figure 3 A sectional view of section BB in the middle.

[0034] Figure 5 This is a perspective view of the gripping component structure of the present invention.

[0035] Figure 6 This is an exploded view of the gripping component of the present invention.

[0036] Figure 7 This is the main view of the component structure captured by the present invention.

[0037] Figure 8 for Figure 6 A sectional view of section CC.

[0038] Figure 9 This is a perspective view of the gripper structure of the present invention.

[0039] in:

[0040] 1. Spinning machine body; 2. Multi-directional displacement motor unit; 3. Gripping assembly;

[0041] 101. Spindle; 102. Yarn tube; 103. Air ring; 104. Roller; 105. Ring plate;

[0042] 201. Connecting rod; 202. Drive motor; 203. Drive cylinder;

[0043] 301. Rotary spindle; 302. Clamping end; 3021. Clamping jaw; 30211. Sliding part; 30212. Clamping part; 30213. Spring connecting part; 3022. Clamping jaw pressure block; 3023. Return spring; 303. Spindle bearing housing; 3031. Spindle bearing; 3032. Spindle cover; 304. Connecting piece; 305. Pulley; 306. Inner tapered shaft; 3061. Linear bearing; 3062. Tapered head; 307. Shaft end connecting piece; 3071. Tapered shaft cover; 3072. Shaft end retaining ring; 3073. Tapered shaft bearing; 308. Telescopic connecting rod; 309. Linear guide bearing; 310. Self-locking nut; 311. Mounting plate. Detailed Implementation

[0044] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0045] Example 1

[0046] like Figures 1-9 As shown, the compact mechanical rotary gripping mechanism in this embodiment includes a gripping component 3, which includes a rotating spindle 301. The lower end of the rotating spindle 301 is connected to a clamping end 302. At least three annularly distributed slides are provided on the clamping end 302. A gripper block 3022 is connected to the outside of the slides of the clamping end 302, and a gripper 3021 is slidably connected inside the slides.

[0047] The gripper 3021 is connected to the gripper block 3022 connected to the outside of the slide rail via a return spring 3023. The gripper 3021 is connected to a gripping part 30212 extending out of the bottom of the gripping end 302. Multiple gripping parts 30212 open and close as the gripper 3021 moves. An inner tapered shaft 306 that can move axially is inserted inside the rotating spindle 301. The lower end of the inner tapered shaft 306 is connected to a tapered head 3062 that extends into the gripping end 302 and can open the gripper 3021. By setting multiple grippers 3021, and with the gripping parts 30212 on the multiple grippers 3021 approaching each other, it is convenient for the gripping parts 30212 to extend into the small-diameter yarn tube 202. It can also increase the gripping friction on the yarn tube 202 and improve the gripping effect.

[0048] like Figure 9As shown, the gripper 3021 includes a sliding part 30211 that moves within a slide rail, a clamping part 30212 vertically connected to the lower end of the sliding part 30211, and a spring connecting part 30213 vertically connected to the upper end of the sliding part 30211. Multiple clamping parts 30212 located within different slide rails are close to each other, and each clamping part 30212 has a tapered slope on its opposite side at its upper end. The surfaces of the opposite sides of the clamping parts 30212 are knurled to increase friction. The gripper block 3022 and the spring connecting part 30213... A return spring 3023 is provided between 0213 to provide the effect of resetting and pre-tightening the gripper 3021. During operation, the multiple clamping parts 30212 are opened by the contact between the contacting object and the conical slope, which can clamp the inner diameter of the tubular component. In this embodiment, it mainly acts on the yarn tube 102. The yarn tube 102 is surrounded by yarn, so when clamping the yarn tube 102, it can only be clamped from the inside. In addition, since the inner diameter of the yarn tube 102 is very small, the gripper 3021 in this application is used to further improve the clamping effect.

[0049] like Figures 4-8 As shown, a pulley 305 is also sleeved on the upper end of the rotating spindle 301. The pulley 305 is connected to the drive motor 202 through a belt, which can drive the rotating spindle 301 to rotate. While the rotating spindle 301 rotates, it can also drive the gripper 3021 to rotate, so that the gripper 3021 can hold the yarn tube 102 while rotating and winding the yarn.

[0050] To improve the connection between the pulley 305 and the rotating spindle 301, a connector 304 is inserted between the pulley 305 and the rotating spindle 301. The connector 304 has a convex ring structure. The wide diameter section of the connector 304 is sleeved on the upper end of the rotating spindle 301, while the pulley 305 is fixedly sleeved on the narrow diameter section of the connector 304. On the one hand, this can improve the sealing effect on the top of the rotating spindle 301 and prevent leakage of internal parts of the rotating spindle 301. On the other hand, it can also reduce the overall radial width and facilitate the upper limit of the self-locking nut, making the overall structure more compact.

[0051] To facilitate the positioning of the rotating spindle 301, a spindle bearing housing 303 is also fitted onto the rotating spindle 301. Two spindle bearings 3031 corresponding to the rotating spindle 301 are provided on the inner wall of the spindle bearing housing 303, so that the rotating spindle 301 can rotate freely. A spindle cover 3032 that abuts against the spindle bearings 3031 is connected to the upper end of the spindle bearing housing 303. A mounting plate 311 is connected to the spindle bearing housing 303. The mounting plate 311 is connected to the multi-directional displacement motor group 2 through the connecting rod 201. The multi-directional displacement motor group 2 can realize the movement of the X, Y and Z axes, so as to move the gripping component 3 in this embodiment to any position within the range and improve the applicability.

[0052] The rotating spindle 301 is also equipped with a limiting ring for lowering the spindle bearing 3031. The opening of the rotating spindle 301 has two stepped grooves. A self-locking nut for uppering the spindle bearing 3031 is threaded into the first stepped groove. The connecting piece 304 is fixedly sleeved in the second stepped groove by a bolt assembly. This can limit the self-locking nut and further reduce the radial width of the rotating spindle 301. At the same time, by stacking the layers, the fixing effect of each component is improved, and the overall stability is improved.

[0053] An inner tapered shaft 306 capable of free axial movement is inserted into the rotating spindle 301. The lower end of the inner tapered shaft 306 is connected to a tapered head 3062 extending into the clamping end 302. The tapered head 3062 engages with a tapered slope on the clamping part 30212, opening the clamping part 30212 to clamp the inner diameter of the tubular component. The rotating spindle 301 also contains multiple linear bearings 3061 sleeved on the inner tapered shaft 306 to improve the inner diameter... The tapered shaft 306 has the freedom of axial movement. The upper end of the inner tapered shaft 306 passes through the connector 304 and is connected to the shaft end connector 307. The shaft end connector 307 is fixedly connected to the tapered shaft bearing 3073, which is sleeved on the inner tapered shaft 306. At the same time, the upper end of the shaft end connector 307 is connected to the tapered shaft cover 3071. The top wall of the inner tapered shaft 306 is connected to the shaft end retaining ring 3072, which limits the position of the tapered shaft bearing 3073, by a bolt assembly.

[0054] A telescopic connecting rod 308 is also connected to the side wall of the shaft end connector 307. The other end of the telescopic connecting rod 308 is fixedly connected to a drive cylinder 203. The drive cylinder 203 drives the telescopic connecting rod 308 to move up and down, so that the inner tapered shaft 306 can move along the axial direction.

[0055] To ensure more stable and balanced vertical movement of the telescopic link 308, a linear guide bearing 309 connected to the telescopic link 308 is fixedly connected to the mounting plate 311 to improve the stability of the inner tapered shaft 306 along the axial direction.

[0056] Meanwhile, the drive motor 202 and the drive cylinder 203 are also connected to the multi-directional displacement motor unit 2 via the connecting rod 201, thereby achieving an integrated setup and facilitating operation layout.

[0057] Example 2

[0058] like Figures 1-9As shown, the gripping component 3 in this embodiment mainly functions on the spinning machine body 1 to grip and rotate the yarn tube 102. In this embodiment, the spinning machine body 1 is provided with multiple spindles 101 that are evenly distributed. The yarn tube 102 is sleeved on the spindle 101. The rotation of the spindle 101 drives the yarn tube 102 to rotate, thereby winding the yarn. The same ring plate 105 is sleeved on the multiple spindles 101, and the ring plate 105 slides on the spinning machine body 1 along the axial direction of the spindle 101. A gas ring 103 for assisting winding is connected to the ring plate 105 and sleeved on the outer ring of the spindle 101. At the same time, a yarn-introducing roller 104 is provided on the side wall of the spinning machine body 1 above the spindle 101.

[0059] During operation: When the steel ring plate 105 is raised to the high position, the gripping component 3 in this embodiment will pass through the air ring 103 to grip the yarn tube 102 under the drive of the multi-directional displacement motor group 2 (the yarn tube 102 is originally fixed on the yarn spindle 101 by the plunger).

[0060] In the initial state, the inner tapered shaft 306 has the gripper 3021 in a closed state under the action of the return spring 3023. At this time, when the inner tapered shaft 306 is driven downward by the drive cylinder 203, due to the cooperation between the tapered head 3062 and the tapered slope, multiple gripping ends 302 simultaneously open outward to clamp the inner diameter of the yarn tube 102, thereby achieving the gripping effect on small-diameter yarn tubes 102.

[0061] When the gripping component 3 in this embodiment clamps the yarn tube 102 and rises to a certain distance, the drive motor 202 drives the rotating main shaft 301 to rotate through the belt and pulley 305. After the yarn tube 102 is fed by the yarn feeder, it begins to rotate and wind; thus driving the rotation and winding of the yarn tube 102.

[0062] After the winding is completed, the gripping component 3 in this embodiment descends to put the yarn tube 102 back to its original position, and the entire mechanism disengages from the yarn tube 102 and the air ring 103, thus completing the process.

[0063] This invention features a compact and reasonable structure, and is easy to operate. The up-and-down movement of the inner tapered shaft 306 drives the opening and closing of the gripper 3021, thereby clamping the small-diameter yarn tube 102. At the same time, an external transmission method is used to drive the rotation of the main shaft 301 and the lifting and lowering of the inner tapered shaft 306, reducing interference from air pipes and electrical wires. Moreover, the small diameter of the main shaft 301 and the clamping end 302 allows for easy passage through the air ring 103. Furthermore, the multi-directional displacement motor unit 2 enables multi-position displacement adjustment, facilitating the rewinding of broken yarn tubes 102, making it convenient and practical.

[0064] In this embodiment, the inner tapered shaft 306 achieves a degree of freedom through the overlapping use of bearings, overcoming the elastic frictional resistance of the internal plunger of the spindle 101, thereby achieving rotational fixation and gripping, and effectively avoiding interference with the air circuit.

[0065] In this embodiment, the clamping end 302 is arranged in a ring shape and the outer diameter of the clamping end 302 is less than or equal to three centimeters, which facilitates the passage of the air ring 103 and can reserve a safe distance size space; the length of the inner tapered shaft 306 is less than the height difference between the roller 104 and the steel collar plate 105, so as to prevent the inner tapered shaft 306 from interfering with the steel collar plate 105 and the roller 104.

[0066] Since the entire gripping assembly 3 rotates inside the air ring 103 without any air pipes, wires, connectors, etc., interference is reduced, making it convenient and practical with strong usability.

[0067] Example 3

[0068] This embodiment utilizes the operation method of the compact mechanical rotary gripping mechanism in Embodiment 1 or Embodiment 2, including the following steps:

[0069] Step 1: After the yarn tube 102 breaks, the braking mechanism brakes the yarn tube 102 and the yarn spindle 101 to stop their rotation, making room for the gripping component 3 to connect with the yarn tube 102.

[0070] Step 2: The multi-directional displacement motor group 2 drives the gripping component 3 through the air ring 103, so that the gripper 3021 is placed inside the yarn tube 102.

[0071] Step 3: Drive the inner tapered shaft 306 downward by the drive cylinder 203. After the inner tapered shaft 306 moves downward, it opens the clamping jaws 3021 and clamps the yarn tube 102.

[0072] Step 4: After clamping the yarn tube 102, the multi-directional displacement motor group 2 drives the gripping component 3 to rise, so that the yarn tube 102 is separated from the yarn spindle 101.

[0073] Step 5: Drive the rotating spindle 301 to rotate via the drive motor 202, which in turn drives the yarn tube 102 to rotate and rewind the yarn fed by the yarn feeder; Step 6: After the yarn tube 102 is wound, the gripping component 3 disengages from the yarn tube 102 and is reset under the drive of the multi-directional displacement motor group 2, thus completing the process.

[0074] The entire operation method is simple and highly practical. It can perform the process of cutting, grabbing, rotating and rewinding yarn tubes 102 at various positions, making it highly practical.

[0075] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A compact mechanical rotary gripping mechanism, comprising a gripping assembly (3) mounted on the body (1) of a spinning frame, characterized in that, The gripping component (3) includes a rotating spindle (301); The bottom of the rotating spindle (301) is provided with a clamping end (302). The clamping end (302) has at least three slides arranged in a ring. A gripper (3021) is slidably connected in the slide. The gripper (3021) is connected to the gripper pressure block (3022) connected to the outside of the slide through a return spring (3023). A gripping part (30212) extending out of the bottom of the clamping end (302) is connected to the gripper (3021). The multiple gripping parts (30212) open and close as the gripper (3021) moves. The rotating spindle (301) has an internal tapered shaft (306) that can move axially inside. The lower end of the internal tapered shaft (306) is connected to a tapered head (3062) that extends into the clamping end (302) and can open the clamping jaws (3021). The upper end of the internal tapered shaft (306) is connected to a shaft end connector (307) that positions the upper end thereto. A telescopic connecting rod (308) is also connected to the side wall of the shaft end connector (307). The other end of the telescopic connecting rod (308) is fixedly connected to a drive cylinder (203). A spindle bearing housing (303) is movably sleeved on the outer wall of the rotating spindle (301). Two spindle bearings (3031) corresponding to the rotating spindle (301) are provided on the inner wall of the spindle bearing housing (303). A mounting plate (311) is connected to the spindle bearing housing (303). The mounting plate (311) is connected to a multi-directional displacement motor unit (2) that drives the rotating spindle (301) to move arbitrarily within a certain range through a connecting rod (201). It also includes a pulley (305) sleeved on the upper end of the rotating main shaft (301), and the pulley (305) is connected to the drive motor (202) via a belt. The drive motor (202) and the drive cylinder (203) are both connected to the multi-directional displacement motor assembly (2). The rotating spindle (301) is also provided with a limiting ring for lowering the spindle bearing (3031). The opening of the rotating spindle (301) is provided with a two-stage stepped groove. A self-locking nut (310) for uppering the spindle bearing (3031) is threaded in the first-stage stepped groove. A connector (304) is connected in the second-stage stepped groove. The connector (304) is inserted between the pulley (305) and the rotating spindle (301). The connector (304) is a convex ring structure. The wide diameter section of the connector (304) is sleeved in the second-stage stepped groove. At the same time, the pulley (305) is fixedly sleeved on the narrow diameter section of the connector (304). The gripper (3021) includes a sliding part (30211) that moves in the slide, a clamping part (30212) that is vertically connected to the lower end of the sliding part (30211), and a spring connecting part (30213) that is vertically connected to the upper end of the sliding part (30211). Multiple clamping parts (30212) located in different slides are close to each other, and a tapered slope is provided on the upper end of the opposite side of the multiple clamping parts (30212). The surfaces of the opposite sides of the multiple clamping parts (30212) are knurled.

2. The compact mechanical rotary gripping mechanism as described in claim 1, characterized in that: A linear guide bearing (309) connected to the telescopic link (308) is also fixedly connected to the mounting plate (311).

3. The compact mechanical rotary gripping mechanism as described in claim 2, characterized in that: The rotating spindle (301) is also provided with a plurality of linear bearings (3061) sleeved on the inner tapered shaft (306).

4. A compact mechanical rotary gripping mechanism as described in claim 2, characterized in that: The shaft end connector (307) is fixedly connected to a tapered shaft bearing (3073) sleeved on the inner tapered shaft (306). The upper end of the shaft end connector (307) is connected to a tapered shaft cover (3071). The top wall of the inner tapered shaft (306) is connected by a bolt assembly to a shaft end retaining ring (3072) that limits the position of the tapered shaft bearing (3073).

5. A compact mechanical rotary gripping mechanism as described in claim 4, characterized in that: The upper end of the main spindle bearing housing (303) is connected to a main spindle cover (3032) that abuts against the main spindle bearing (3031).

6. A compact mechanical rotary gripping mechanism as described in claim 1, characterized in that: It also includes a spinning frame body (1), on which a plurality of spindles (101) are arranged at equal intervals. A yarn tube (102) is sleeved on the spindle (101), and a clamp (3021) is clamped on the inner wall of the yarn tube (102). The same ring plate (105) is sleeved on the plurality of spindles (101), and the ring plate (105) slides on the spinning frame body (1) along the axial direction of the spindle (101). A gas ring (103) for auxiliary winding is connected to the ring plate (105) and sleeved on the outer ring of the spindle (101). At the same time, a yarn-introducing roller (104) is provided on the side wall of the spinning frame body (1) above the spindle (101).

7. A compact mechanical rotary gripping mechanism as described in claim 6, characterized in that: The clamping end (302) is arranged in a ring shape and the outer diameter of the clamping end (302) is less than or equal to three centimeters. The length of the inner tapered shaft (306) is less than the height difference between the roller (104) and the steel collar plate (105).

8. A method of operating the compact mechanical rotary gripping mechanism according to claim 6, characterized in that: Includes the following steps: Step 1: After the yarn tube (102) breaks, the braking mechanism brakes the yarn tube (102) and the spindle (101) to stop their rotation; Step 2: The multi-directional displacement motor unit (2) drives the gripping component (3) through the air ring (103) so that the gripper (3021) is placed inside the yarn tube (102); Step 3: Drive the inner tapered shaft (306) downward by the drive cylinder (203). After the inner tapered shaft (306) moves downward, it opens the clamping jaws (3021) and clamps the yarn tube (102). Step 4: After clamping the yarn tube (102), the multi-directional displacement motor group (2) drives the gripping component (3) to rise, so that the yarn tube (102) is separated from the yarn spindle (101); Step 5: Drive the rotating spindle (301) to rotate via the drive motor (202), which in turn drives the yarn tube (102) to rotate and rewind the yarn fed by the yarn feeder. Step 6: After the yarn tube (102) is wound, the gripping component (3) disengages from the yarn tube (102) and is reset under the drive of the multi-directional displacement motor group (2), thus completing the process.

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