A method for rotating and hanging yarn for an automatic piecing robot of a ring spinning machine to thread a wire ring

Abstract

One aspect of the present invention is to provide a spiral yarn hanging device for the automatic splicing robot of a ring spinning frame to thread the wire ring. Another aspect of the present invention is to provide a spiral yarn hanging method for the automatic splicing robot of a ring spinning frame to thread the wire ring. The present invention uses a thrust cylinder to assist in completing the pre-spinning action to ensure the consistency of the pre-spinning length. The present invention designs an annular airflow device with multiple air holes to ensure that the wire ring is blown and rotated without dead angles. The present invention designs a multifunctional pressing block to achieve high-precision positioning of the annular airflow device and left and right limiting of the yarn. And the present invention designs a spiral yarn hanging method based on the above-mentioned device to complete the blowing of the wire ring.

Description

Technical Field

[0001] The invention relates to an annular airflow device for threading a wire ring of an automatic piecing robot of a ring spinning frame and a spinning yarn hanging method for threading a wire ring using the device, belonging to the technical field of spinning automation equipment. Background Art

[0002] Completing the only breakpoint in the automation of the entire spinning process and realizing automatic piecing of ring spinning machines is a bottleneck problem that the spinning industry is striving to break through.

[0003] The existing methods for threading wire rings with joint robots at home and abroad are mainly fixed-loop yarn threading methods. First, the wire ring is rotated by blowing air, and then the wire ring positioning device is used to fix the wire ring at the front end of the chain seat. Finally, the spare yarn is pulled to thread the wire ring. For example, the Chinese patent "A robot end effector for automatic jointing of ring spinning yarn" and the Chinese patent "A ring spinning machine automatic jointing device and method" both use electromagnets as wire ring positioning devices to adsorb the wire ring at the front end of the chain. The main problems with existing wire ring threading methods and devices are:

[0004] (1) The efficiency of threading the wire ring is not high. The fixed-loop threading method usually requires blowing the wire ring to rotate, then using the positioning device to position the wire ring, and finally driving the robot end effector to pull the yarn to complete the wire ring threading action. The entire wire ring threading action is relatively cumbersome and the joint efficiency is not high.

[0005] (2) The length of the pre-spun yarn is unstable, which affects the success rate of threading the wire ring. The existing automatic splicing method requires the yarn to be spun before threading the wire ring, and usually adopts the yarn splicing method. A section of spare yarn is reserved at the end effector port, and the eddy current generated by the rotation of the bobbin is used to absorb the yarn head to complete the spinning. However, the length of the pre-spun yarn is unstable, which affects the spinning effect. Summary of the Invention

[0006] The purpose of the present invention is to provide a technology for threading a wire ring of an automatic piecing robot of a ring spinning frame.

[0007] In order to achieve the above-mentioned object, one aspect of the present invention is to provide a ring spinning frame automatic piecing robot threading wire ring yarn rotation device, characterized in that it includes an air source, a robot brake, an end effector, an annular airflow device and a pressing block, wherein:

[0008] The air source is used to provide different air pressures to the end effector and the annular airflow device;

[0009] The robot brake and the end effector are respectively located on different robot arms. The robot brake is used to close and open the brake of the spinning frame spindle;

[0010] When the annular airflow device is switched to the bead ring blowing position, the air source supplies air to the annular airflow device, and the annular airflow device uses multiple air flow ports to generate annular airflow for blowing the bead ring to rotate on the steel collar and hang the bead ring on the yarn at the joint between the pressure block and the steel collar;

[0011] The pressing block is located on the lower side of the annular airflow device. The front side of the pressing block has a groove with an inward-concave arc shape. The radius of the arc is consistent with the radius of the outer ring of the steel collar, and the groove on the front side of the pressing block fits tightly with the outer ring of the steel collar. When the annular airflow device is switched to the bead ring blowing position, the groove on the front side of the pressing block limits the yarn to prevent the bead ring from catching the yarn and continuing to rotate.

[0012] The end effector includes a front end effector and a rear end effector; the first clamp is located on the front end effector; the rear end effector is located on the thrust cylinder, and the second clamp is provided on the thrust cylinder;

[0013] When the end effector switches to the pre-spinning position, the first clamp is closed, and the air source is opened to supply air to the front end effector to form a forward vortex, so that the spare yarn inside the end effector has a forward thrust; then the second clamp is opened to clamp the spare yarn; the shaft of the thrust cylinder is driven to extend outward, so that the second clamp drives the spare yarn forward, and with the help of the forward vortex at the front end effector, the spare yarn is kept straight when moving forward; when the outward extension shaft of the thrust cylinder reaches the maximum stroke, the first clamp is opened to clamp the yarn, and then the air source and the second clamp are closed, and the outward extension shaft of the thrust cylinder is reset to complete the pre-spinning action;

[0014] When the end effector switches to the spinning-in station, the front end effector approaches the high-speed rotating bobbin. At this point, the pre-spun yarn end at the front end effector port is attracted by the eddy current generated by the bobbin's rotation. Clamp 1 closes, allowing the spare yarn to be freely unwound. The eddy current generated by the bobbin's rotation continuously extracts the spare yarn from the end effector and winds it onto the bobbin. The robot brakes the spindle, stopping the bobbin's rotation, completing the spinning-in operation and allowing the next step, threading the traveler, to proceed.

[0015] Preferably, the robot brake comprises a lifting cylinder and a duckbill brake pad;

[0016] Duckbill brake pads are used to clamp the brakes of spinning frame spindles;

[0017] The lifting cylinder is used to drive the duckbill brake pad and the brake of the spinning frame spindle stuck by the duckbill brake pad to move up and down, so as to realize the braking and rotation resumption functions of the spindle.

[0018] Preferably, when the robot brake is switched to the spindle brake opening position, the lifting cylinder is lifted, and the duckbill brake pad drives the brake of the spinning frame spindle to stop the spinning frame spindle; when the robot brake is switched to the spindle brake closing position, the lifting cylinder is lowered, and the duckbill brake pad drives the brake of the spinning frame spindle to resume the rotation of the spinning frame spindle.

[0019] Preferably, the annular airflow device has a plurality of airflow openings facing obliquely downward.

[0020] Another aspect of the present invention is to provide a method for threading a ring yarn with an automatic piecing robot of a ring spinning frame, characterized in that the method comprises the following steps:

[0021] Step 1: The end effector completes the pre-spinning of the spare yarn, and then brings the extended yarn end close to the high-speed rotating bobbin, and uses the eddy current generated by the rotation of the bobbin to absorb the yarn end, so that the spare yarn in the end effector is wound on the bobbin;

[0022] Step 2: Use the robot's brake shaft to stop the bobbin from rotating. At this time, the spare yarn is wound onto the bobbin.

[0023] Step 3: The end effector pulls the spare yarn backward for a distance to leave room, and then the annular airflow device presses the spare yarn from top to bottom and presses it forward against the steel ring;

[0024] Step 4: The annular airflow device starts to supply air, blowing the wire ring to rotate clockwise, hanging the wire ring on the yarn, and completing the wire ring threading action;

[0025] Step 5: The annular airflow device is retracted, and then the yarn is pulled by the end effector to complete the joint operation.

[0026] The present invention uses a thrust cylinder to assist in the pre-spinning process, ensuring consistent pre-spinning length. A multi-hole annular airflow device is designed to ensure seamless traveler rotation. A multifunctional pressure block is designed to achieve high-precision positioning of the annular airflow device and limit the yarn's position to the left and right. Furthermore, a rotating yarn hanging method has been designed based on this device to achieve traveler blowing.

[0027] Compared with the existing technical solutions, the present invention has the following beneficial effects:

[0028] 1. This invention incorporates a thrust cylinder device into the robot's end effector. The fixed stroke of the thrust cylinder ensures the consistency of the end effector's pre-grown head length, thereby improving the success rate of wire ring threading.

[0029] 2. The present invention designs a spiral yarn hanging method, which can provide a clockwise circular airflow to the wire ring without dead angles through the circular airflow device, thereby improving the efficiency and success rate of wire ring threading;

[0030] 3. The present invention designs a pressing block for high-precision positioning of the annular airflow device, which can tightly fit the annular airflow device to the bobbin steel collar and limit the yarn position to prevent the yarn from running when blowing the wire ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the structure of a robot brake in an embodiment of the present invention;

[0032] Figure 2 Schematic diagram of the annular airflow device structure and its pressing block in an embodiment of the present invention;

[0033] Figure 3 Schematic diagram of the structure of the end effector in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiments are only used to illustrate the present invention and are not used in limiting the scope of the present invention.In addition, should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall equally within the scope limited by the appended claims of the application.

[0035] One aspect of an embodiment of the present invention is to disclose a spinning yarn hanging device for an automatic piecing robot of a ring spinning frame to thread a wire ring, comprising an air source, a robot brake, an end effector, an annular airflow device 9 and a pressing block.

[0036] The air source is used to provide air pressures of different sizes to the end effector and the annular airflow device 9 .

[0037] The robot brake is located on the robot arm 1 and is used to close and open the brake of the spinning frame spindle. Figure 1As shown, the robot brake mainly includes a lifting cylinder 1 and a duckbill brake pad 4, and the duckbill brake pad 4 is located on the lifting cylinder 1. The duckbill brake pad 4 is used to clamp the brake of the spinning frame spindle, and then the brake of the spinning frame spindle is lifted and lowered by the up and down movement of the lifting cylinder 1. The lifting cylinder 1 is driven by a motor 2. The lifting cylinder 1 is fixed to the front side of the displacement module 3, and the motor 2 drives the lifting cylinder 1 to move forward and backward via the displacement module 3. When the lifting cylinder 1 drives the duckbill brake pad 4 to move up and down, thereby driving the brake of the spinning frame spindle clamped by the duckbill brake pad 4 to move synchronously, the robot brake is switched between the spindle brake opening position and the spindle brake closing position, thereby realizing the spindle braking and resumption of rotation functions. When the robot brake is switched to the spindle brake opening position, the lifting cylinder 1 will rise, and the duckbill brake pad 4 will drive the brake of the spinning frame spindle to stop the spinning frame spindle. When the robot brake is switched to the spindle brake closing position, the lifting cylinder 1 will fall, and the duckbill brake pad 4 will drive the brake of the spinning frame spindle to resume rotation.

[0038] like Figure 2 As shown, the annular airflow device 9 is located in front of the displacement module 2 6, and the displacement module 2 6 can realize the forward and backward movement of the annular airflow device 9. The displacement module 2 6 is located on the module 3, and the displacement module 2 6 and the annular airflow device 9 thereon can be moved left and right through the module 3. The annular airflow device 9 has multiple airflow openings facing downward. When the annular airflow device 9 is switched to the position for blowing the wire ring, the air source supplies air to the annular airflow device 9. The annular airflow device 9 uses the multiple airflow openings to generate a clockwise annular airflow, which is used to blow the wire ring to rotate clockwise on the steel collar and hang the wire ring on the yarn at the joint between the pressure block and the steel collar.

[0039] The pressure block is located on the lower side of the annular airflow device 9 and is used to position the annular airflow device 9 and limit the left and right positions of the yarn. The front side of the pressure block has a groove with an inward-concave arc shape. Its arc radius is consistent with the radius of the outer ring of the steel collar, and the groove on the front side of the pressure block will fit tightly with the outer ring of the steel collar. When the air source supplies air to the annular airflow device 9, the generated annular airflow will blow the wire ring clockwise and hook the yarn at the joint between the steel collar and the pressure block. At the same time, the groove on the front side of the pressure block will limit the yarn, preventing the wire ring from continuing to rotate after hooking the yarn. Turn off the air source and withdraw the annular airflow device 9 to complete the blowing of the wire ring.

[0040] like Figure 3As shown, the end effector is located on the robot arm 2, including the front end effector 13 and the rear end effector 11, which are used to pull the spare yarn to complete the jointing operations such as spinning, threading the wire ring, threading the yarn guide hook, and feeding the roller. The clamp 12 is located on the front end effector 13, which can realize the clamping and releasing operation of the spare yarn. The rear end effector 11 is located on the thrust cylinder 10, and the consistency of the pre-spun yarn length can be ensured by the fixed stroke of the thrust cylinder 10. A clamp 2 is provided at the thrust cylinder 10. The up, down, forward and backward movement of the front end effector 13 is realized by the displacement module 4 15 driven by the motor 3 14 and the displacement module 5 17 driven by the motor 4 16. The front end effector 13 and the rear end effector 11 switch between the pre-spun yarn station and the spinning yarn station.

[0041] When the front end effector 13 and the rear end effector 11 are switched to the pre-spinning station, the thread clamp 12 is closed, and the air source is opened to supply air to the front end effector 13 to form a forward vortex, so that the spare yarn inside the front end effector 13 and the rear end effector 11 has a forward thrust. The thread clamp 2 is opened to clamp the spare yarn. Then the shaft of the thrust cylinder 10 is driven outward, so that the thread clamp 2 drives the spare yarn forward, and with the help of the forward vortex at the front end effector 13, the spare yarn can remain straight when moving forward. When the outward extension shaft of the thrust cylinder 10 reaches the maximum stroke, the thread clamp 12 is opened to clamp the yarn, and then the air source and thread clamp 2 are closed, and the outward extension shaft of the thrust cylinder 10 is reset to complete the pre-spinning action.

[0042] When the front end effector 13 and the rear end effector 11 switch to the spinning-in station, the robot arm drives the front end effector 13 close to the high-speed rotating bobbin. At this time, the pre-spun yarn end at the port of the front end effector 13 is attracted by the eddy current generated by the bobbin's rotation. The clamp 12 is closed, placing the spare yarn in a free unwinding state. The spare yarn is continuously extracted from the front end effector 13 and the rear end effector 11 using the eddy current generated by the bobbin's rotation and wound onto the bobbin. The robot brake is driven to stop the spindle, causing the bobbin to stop rotating, completing the spinning-in operation and proceeding to the next step of threading the wire ring.

[0043] Another aspect of the embodiments of the present invention is to disclose a method for threading a yarn through a ring spinning machine automatic piecing robot, comprising the following steps:

[0044] Step 1: The front end effector 13 and the rear end effector 11 pre-spin the spare yarn. The extended yarn end is then brought close to the high-speed rotating bobbin. The eddy current generated by the rotating bobbin attracts the yarn end, causing the spare yarn in the front end effector 13 and the rear end effector 11 to be wound around the bobbin.

[0045] Step 2: The robot's brake shaft presses against the spindle brake and lifts up, stopping the bobbin from rotating. At this time, spare yarn is wound onto the bobbin.

[0046] Step 3: The front end effector 13 pulls the spare yarn backward for a distance to leave room, and then the annular airflow device 9 presses the spare yarn from top to bottom and presses it forward against the steel collar;

[0047] Step 4: The annular airflow device 9 starts to supply air, blowing the wire ring to rotate clockwise, hanging the wire ring on the yarn, and completing the wire ring threading action;

[0048] Step 5: retract the annular airflow device 9, and then the front end effector 13 and the rear end effector 11 pull the yarn to complete the yarn guide hook, feeding roller and other joint operations.

Claims

1. A spinning yarn hanging device for an automatic piecing robot of a ring spinning frame, characterized in that: It includes an air source, a robot brake, an end effector, a circular airflow device and a pressing block, wherein: The air source is used to provide different air pressures to the end effector and the annular airflow device; The robot brake and the end effector are respectively located on different robot arms. The robot brake is used to close and open the brake of the spinning frame spindle; When the annular airflow device is switched to the bead ring blowing position, the air source supplies air to the annular airflow device, and the annular airflow device uses multiple air flow ports to generate annular airflow for blowing the bead ring to rotate on the steel collar and hang the bead ring on the yarn at the joint between the pressure block and the steel collar; The pressing block is located on the lower side of the annular airflow device. The front side of the pressing block has a groove with an inward-concave arc shape. The radius of the arc is consistent with the radius of the outer ring of the steel collar, and the groove on the front side of the pressing block fits tightly with the outer ring of the steel collar. When the annular airflow device is switched to the bead ring blowing position, the groove on the front side of the pressing block limits the yarn to prevent the bead ring from catching the yarn and continuing to rotate. The end effector includes a front end effector and a rear end effector; the first clamp is located on the front end effector; the rear end effector is located on the thrust cylinder, and the second clamp is provided on the thrust cylinder; When the end effector switches to the pre-spinning position, the first clamp is closed, and the air source is opened to supply air to the front end effector to form a forward vortex, so that the spare yarn inside the end effector has a forward thrust; then the second clamp is opened to clamp the spare yarn; the shaft of the thrust cylinder is driven to extend outward, so that the second clamp drives the spare yarn forward, and with the help of the forward vortex at the front end effector, the spare yarn is kept straight when moving forward; when the outward extension shaft of the thrust cylinder reaches the maximum stroke, the first clamp is opened to clamp the yarn, and then the air source and the second clamp are closed, and the outward extension shaft of the thrust cylinder is reset to complete the pre-spinning action; When the end effector switches to the spinning-in station, the front end effector approaches the high-speed rotating bobbin. At this time, the pre-spun yarn head at the port of the front end effector is attracted by the eddy current generated by the rotation of the bobbin; the first clamp is closed to put the spare yarn in a free unwinding state, and the eddy current generated by the rotation of the bobbin is used to continuously extract the spare yarn from the end effector and wind it around the bobbin; the robot brake is driven to stop the spindle, so that the bobbin stops rotating, the spinning-in operation is completed, and the next step of threading the wire ring is carried out.

2. A spinning yarn hanging device for a ring spinning frame automatic piecing robot threading a wire ring according to claim 1, characterized in that: The robot brake comprises a lifting cylinder and a duckbill brake pad; Duckbill brake pads are used to clamp the brakes of spinning frame spindles; The lifting cylinder is used to drive the duckbill brake pad and the brake of the spinning frame spindle stuck by the duckbill brake pad to move up and down, so as to realize the braking and rotation resumption functions of the spindle.

3. A spinning yarn hanging device for threading a wire ring of an automatic piecing robot for a ring spinning frame according to claim 2, characterized in that: When the robot brake is switched to the spindle brake opening position, the lifting cylinder is lifted, and the duckbill brake pad drives the brake of the spinning frame spindle to stop the spinning frame spindle; when the robot brake is switched to the spindle brake closing position, the lifting cylinder is lowered, and the duckbill brake pad drives the brake of the spinning frame spindle to resume the rotation of the spinning frame spindle.

4. A spinning and hanging yarn device for a ring spinning frame automatic piecing robot threading a wire ring according to claim 1, characterized in that: The annular airflow device has a plurality of airflow openings that are inclined downward.

5. A method for threading yarn on a ring spinning machine automatic piecing robot, characterized in that: The spiral yarn hanging device according to claim 1 comprises the following steps: Step 1: The end effector completes the pre-spinning of the spare yarn, and then brings the extended yarn end close to the high-speed rotating bobbin, and uses the eddy current generated by the rotation of the bobbin to absorb the yarn end, so that the spare yarn in the end effector is wound around the bobbin; Step 2: Use the robot's brake shaft to stop the bobbin from rotating. At this time, the spare yarn is wound onto the bobbin. Step 3: The end effector pulls the spare yarn backward for a distance to leave room, and then the annular airflow device presses the spare yarn from top to bottom and presses it forward against the steel ring; Step 4: The annular airflow device starts to supply air, blowing the wire ring to rotate clockwise, hanging the wire ring on the yarn, and completing the wire ring threading action; Step 5: The annular airflow device is retracted, and then the yarn is pulled by the end effector to complete the joint operation.

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