A kind of air-electric hybrid ring spinning automatic head forming mechanical device

Abstract

A kind of air-electric hybrid ring spinning automatic head forming mechanical device belongs to ring spinning technology field, the present application is to solve the deficiency of spare yarn spindle head forming method.There is machine frame, yarn supply device, end effector and six degrees of freedom mechanical arm, the yarn supply device includes spare yarn tube, tensioning pneumatic gripper, limit ring and adjusting steering gear, spare yarn tube, tensioning pneumatic gripper, limit ring, adjusting steering gear and six degrees of freedom mechanical arm are respectively arranged on machine frame, end effector is connected with the end of six degrees of freedom mechanical arm, end effector integrates steel ring positioning device, steel ring threading device, broken yarn device and yarn clamping device, only need to be installed on a six degrees of freedom collaborative mechanical arm to complete most of the required action of automatic head forming, simplifies automatic head forming device, and reduces cost.

Description

Technical Field

[0001] This invention belongs to the field of automatic splicing technology for ring spinning, and particularly relates to an automatic yarn-forming machine for ring spinning using a gas-electric hybrid method. Background Technology

[0002] Spinning is an important process in the textile industry. During the spinning process using ring spinning machines, yarn breakage often occurs, which directly affects the spinning production efficiency. At present, the yarn breakage splicing action in my country still relies on a large number of machine stoppers to perform the splicing action. This splicing method poses potential dangers to workers and also increases the labor costs of enterprises. Achieving automatic splicing of broken ends in ring spinning has always been a goal pursued by the textile machinery industry at home and abroad.

[0003] Existing automatic splicing methods both domestically and internationally are mainly divided into two types: original spindle location splicing and spare spindle splicing. Original spindle location splicing requires finding the broken yarn on the original broken spindle and re-completing the splicing action, which is cumbersome. Chinese invention patent CN108842239A discloses "An Automatic Splicing Robot and Method for Ring Spinning Machines," which eliminates the need for original spindle location splicing by using a spare spindle to supply yarn to the broken spindle, completing the splicing action. This is currently the main method used for automatic splicing. Chinese invention patents CN113174668A ("An Automatic Splicing Device and Method for Ring Spinning Machines") and CN113174669A ("A Robot End-Edge Actuator for Automatic Splicing of Ring Spinning Machines") both belong to the spare spindle splicing method. The main problem with existing automatic splicing methods and devices is:

[0004] (1) The existing automatic connector and head-generating device has low structural integration and requires multiple mechanisms to be discretely distributed to complete the task. When performing head-generating actions, it is easy to interfere with the components.

[0005] (2) Existing yarn-making methods and devices all use independent mechanisms to restrict and pull the yarn, which can easily lead to problems such as yarn falling off or yarn breaking in actual operation.

[0006] (3) The yarn feeding device in the existing yarn feeding technology is unstable and is prone to breaking the yarn during the yarn feeding stage. Summary of the Invention

[0007] The purpose of this invention is to provide an automatic yarn-generating machine for gas-electric hybrid ring spinning, to overcome the shortcomings of existing methods for generating yarn from spare spindles. The technical solution adopted by this invention is as follows:

[0008] An automatic yarn feeding machine for pneumatic-electric hybrid ring spinning includes a frame, a yarn feeding device, an end effector, and a six-degree-of-freedom robotic arm. The yarn feeding device includes a spare yarn tube, a tensioning pneumatic gripper, a limit ring, and an adjustment servo motor. The spare yarn tube, tensioning pneumatic gripper, limit ring, adjustment servo motor, and six-degree-of-freedom robotic arm are respectively mounted on the frame. The end effector is connected to the end of the six-degree-of-freedom robotic arm.

[0009] The end effector includes a housing, a wire ring positioning device, a wire ring threading device, a yarn clamping device, and a yarn breaking device. The wire ring positioning device includes a crank, a connecting rod, a slider, an air intake pipe, and an air jet pipe. A guide rail is set on the housing at the front and rear. The slider slides in cooperation with the guide rail. The positioning servo is connected to the housing. One end of the crank is connected to the output shaft of the positioning servo. The other end of the crank is hinged to the slider in sequence through the connecting rod. The air jet pipe and the air intake pipe are fixed on the left side of the slider. The front part of the air intake pipe bends to the upper right, and the front part of the air jet pipe bends downward. The air intake hole at the front end of the air jet pipe is located to the upper right of the air blowing hole at the front end of the air intake pipe. When positioning the wire ring, the air jet pipe faces the upper left side of the wire ring, and the air intake pipe is located above the wire ring.

[0010] The wire threading device includes a rocker arm, a fork, a yarn outlet tube, and a yarn inlet tube. The yarn outlet tube and the yarn inlet tube are coaxially arranged on the right side of the housing. The yarn outlet tube is located to the right of the air intake tube. One end of the rocker arm is connected to the output shaft of the positioning servo motor, and the other end of the rocker arm is connected to the upper end of the fork. The lower end of the fork is lower than the yarn outlet tube. When the rocker arm swings horizontally, the fork moves in an arc between the right side of the yarn outlet tube and the left side of the air intake tube.

[0011] The yarn-cutting device consists of a cutting cylinder and a blade. The blade is connected to the piston rod of the cutting cylinder. The cutting cylinder is fixed on the outer casing. An inlet is provided on one side of the yarn outlet tube. The cutting cylinder controls the blade to insert into the inlet to cut the spare yarn or retract.

[0012] The yarn clamping device includes a needle-shaped cylinder, a soft rubber pad, and a fixing clip. The fixing clip is disposed on one side of the outer casing between the yarn outlet tube and the yarn inlet tube, and the fixing clip is provided with several guide posts. The needle-shaped cylinder is disposed on the other side of the outer casing between the yarn outlet tube and the yarn inlet tube. The piston rod of the needle-shaped cylinder is provided with a soft rubber pad, which slides in cooperation with several guide posts. The extension and retraction of the piston rod of the needle-shaped cylinder controls the soft rubber pad to clamp or separate from the fixing clip.

[0013] The tensioning pneumatic gripper is located between the spare yarn tube and the limit ring. One end of the spring steel wire is connected to the output end of the adjustment servo motor, and the other end of the spring steel wire is equipped with a ring. The spare yarn passes through the spare yarn tube, the tensioning pneumatic gripper, the limit ring and the ring of the spring steel wire in sequence, enters the yarn inlet tube, and exits forward from the front end of the yarn outlet tube.

[0014] Furthermore, it also includes a spindle braking device, which includes a brake servo and a brake wrench. The brake servo is fixed on the frame, and the installation height of the brake servo is adapted to the braking height of the rotating spindle. The brake wrench is connected to the output end of the brake servo.

[0015] Furthermore, the diameter of the spring steel wire is 1mm to 3mm, and the spring steel wire is either piano wire or stainless steel wire.

[0016] Furthermore, the positioning servo is electrically connected to the upper monitoring display screen via an RS485 data connector.

[0017] Furthermore, the ventilation time of the cutting cylinder is less than or equal to 1.5 seconds.

[0018] Furthermore, the blade is made of tungsten carbide.

[0019] Furthermore, the end effector is connected to the six-degree-of-freedom robotic arm via an end flange.

[0020] Furthermore, the rack is a movable rack.

[0021] Furthermore, it also includes a yarn-repairing pneumatic gripper, which is fixed on the frame and has a flexible finger as its output end.

[0022] Furthermore, it also includes an air source, which consists of a high-pressure gas cylinder and a vacuum pump. The tensioning pneumatic gripper, the yarn-repairing pneumatic gripper, the cutting cylinder, the jet pipe, and the needle cylinder are respectively connected to the high-pressure gas cylinder, and the suction pipe is connected to the vacuum pump.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] 1. The end effector proposed in this invention only needs to be installed on a six-degree-of-freedom collaborative robotic arm to complete most of the actions required for automatic head generation, which simplifies the automatic head generation device and reduces costs.

[0025] 2. The end effector proposed in this invention has a high degree of integration and can complete a series of complex actions such as air blowing and yarn winding, steel wire positioning and steel wire threading without mechanical station switching, thus improving work efficiency while ensuring accuracy.

[0026] 3. This invention proposes a passive yarn feeding method to ensure the tight winding of the yarn on the broken yarn spindle during the yarn feeding and winding stage, thus ensuring the winding degree of the yarn spindle while feeding the yarn. Attached Figure Description

[0027] Figure 1 This is an isometric view of the present invention;

[0028] Figure 2 This is a schematic diagram of the end effector.

[0029] Figure 3 This is an isometric view of the invention from another perspective;

[0030] Figure 4 This is a schematic diagram of the spindle braking device.

[0031] Figure 5 Schematic diagram for positioning and threading the wire loop

[0032] Figure 6 This is a schematic diagram showing the arrangement of the intake and exhaust pipes;

[0033] Figure 7 A schematic diagram of the yarn clamping device;

[0034] Figure 8 This is a schematic diagram of the yarn breaking device;

[0035] Figure 9 This is a schematic diagram of the working state of the air-blowing yarn of the present invention;

[0036] Figure 10 This is a schematic diagram of the positioning wire ring and the working state of threading the wire ring according to the present invention;

[0037] Figure 11 This is a schematic diagram illustrating the working state of splicing the spare yarn with the broken yarn inside the front roller in this invention.

[0038] In the diagram, 1. Six-DOF robotic arm, 2. End flange, 3. End effector, 4. Spare yarn tube, 5. Tensioning pneumatic gripper, 6. Limit ring, 7. Adjustment servo, 8. Spring steel wire, 9. Yarn inlet tube, 10. Flexible finger, 11. Yarn replenishment pneumatic gripper, 12. Yarn outlet tube, 13. Brake servo, 14. Brake wrench, 15. Positioning servo, 16. Crank, 17. Connecting rod, 18. Slider, 19. Guide rail, 20. Intake pipe, 21. Jet pipe, 22. Rocker arm, 23. Shift fork, 24. Needle cylinder, 25. Soft rubber pad, 26. Guide post, 27. Cutting cylinder, 28. Blade, 29. Cutting edge, 30. Spare yarn, 31. Rotating spindle, 32. 33. Steel ring plate, 34. Steel wire traveler, 35. Steel ring, 36. Yarn threading segment, 37. Yarn breakage suction nozzle, 38. Front roller. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0040] The connections mentioned in this invention are divided into fixed connections and detachable connections. Fixed connections, also known as non-detachable connections, include but are not limited to conventional fixed connection methods such as folded connections, riveted connections, adhesive connections, and welded connections. Detachable connections include but are not limited to conventional disassembly methods such as bolted connections, snap-fit ​​connections, pin connections, and hinged connections. When a specific connection method is not explicitly defined, it is assumed that at least one existing connection method can be found to achieve this function, and those skilled in the art can choose according to their needs. For example, a welded connection can be chosen for fixed connections, and a bolted connection can be chosen for detachable connections.

[0041] The present invention will be further described in detail below with reference to the accompanying drawings. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0042] Example: Figures 1 to 11 As shown, an automatic yarn feeding machine for pneumatic-electric hybrid ring spinning includes a frame, a yarn feeding device, an end effector 3, and a six-degree-of-freedom robotic arm 1. The yarn feeding device includes a spare yarn tube 4, a tensioning pneumatic gripper 5, a limit ring 6, and an adjustment servo motor 7. The spare yarn tube 4, the tensioning pneumatic gripper 5, the limit ring 6, the adjustment servo motor 7, and the six-degree-of-freedom robotic arm 1 are respectively mounted on the frame. The end effector 3 is connected to the end of the six-degree-of-freedom robotic arm 1.

[0043] The end effector 3 includes a housing, a wire loop positioning device, a wire loop threading device, a yarn clamping device, and a yarn breaking device. The wire loop positioning device includes a crank 16, a connecting rod 17, a slider 18, an air intake pipe 20, and an air jet pipe 21. A guide rail 19 is arranged on the housing. The slider 18 is slidably engaged with the guide rail 19. The positioning servo 15 is connected to the housing. One end of the crank 16 is connected to the output shaft of the positioning servo 15. The other end of the crank 16 is hinged to the slider 18 in sequence through the connecting rod 17. The air jet pipe 21 and the air intake pipe 20 are fixed to the left side of the slider 18. The front part of the air intake pipe 20 is bent to the upper right, and the front part of the air jet pipe 21 is bent downward. The air intake hole at the front end of the air jet pipe 21 is located to the upper right of the air blowing hole at the front end of the air intake pipe 20. When positioning the wire loop 33, the air jet pipe 21 faces the upper left side of the steel ring 34, and the air intake pipe 20 is located above the steel ring 34.

[0044] The wire loop threading device includes a rocker arm 22, a fork 23, a yarn outlet tube 12, and a yarn inlet tube 9. The yarn outlet tube 12 and the yarn inlet tube 9 are coaxially arranged on the right side of the housing. The yarn outlet tube 12 is located to the right of the air intake tube 20. One end of the rocker arm 22 is connected to the output shaft of the positioning servo motor 15, and the other end of the rocker arm 22 is connected to the upper end of the fork 23. The lower end of the fork 23 is lower than the yarn outlet tube 12. When the rocker arm 22 swings horizontally, the fork 23 moves in an arc between the right side of the yarn outlet tube 12 and the left side of the air intake tube 20.

[0045] The yarn cutting device consists of a cutting cylinder 27 and a blade 28. The blade 28 is connected to the piston rod of the cutting cylinder 27. The cutting cylinder 27 is fixed on the outer casing. An inlet 29 is provided on one side of the yarn outlet tube 12. The cutting cylinder 27 controls the blade 28 to insert into the inlet 29 to cut the spare yarn 30 or retract it.

[0046] The yarn clamping device includes a needle-shaped cylinder 24, a soft rubber pad 25, and a fixing clip. The fixing clip is disposed on one side of the outer casing between the yarn outlet tube 12 and the yarn inlet tube 9. The fixing clip is provided with a plurality of guide posts 26. The needle-shaped cylinder 24 is disposed on the other side of the outer casing between the yarn outlet tube 12 and the yarn inlet tube 9. The piston rod of the needle-shaped cylinder 24 is provided with a soft rubber pad 25. The soft rubber pad 25 is slidably engaged with the plurality of guide posts 26. The extension and retraction of the piston rod of the needle-shaped cylinder 24 controls the soft rubber pad 25 to clamp or separate from the fixing clip.

[0047] The tensioning pneumatic gripper 5 is located between the spare yarn tube 4 and the limiting ring 6. One end of the spring steel wire 8 is connected to the output end of the adjusting servo motor 7, and the other end of the spring steel wire 8 is provided with a ring. The spare yarn 30 passes through the spare yarn tube 4, the tensioning pneumatic gripper 5, the limiting ring 6 and the ring of the spring steel wire 8 in sequence, enters the yarn inlet tube 9, and exits forward from the front end of the yarn outlet tube 12.

[0048] It also includes a spindle braking device, which includes a brake servo motor 13 and a brake wrench 14. The brake servo motor 13 is fixed on the frame and its installation height is adapted to the braking height of the rotating spindle 31. The brake wrench 14 is connected to the output end of the brake servo motor 13.

[0049] The diameter of the spring steel wire 8 is 1-3mm, and the spring steel wire 8 can be piano wire or stainless steel wire. The spring steel wire 8 is selected with a relatively thin diameter and high elasticity to facilitate passive and compliant tension adjustment during the tension adjustment process.

[0050] The positioning servo motor 15 is electrically connected to the upper-level monitoring display screen via an RS485 data connector. During actual control, the servo motor current is read in real time via the RS485 bus. When the servo motor is stationary but the current fluctuates, it indicates that the tension of the spare yarn 30 exceeds the predetermined value, and the tension of the spare yarn 30 needs to be readjusted.

[0051] The ventilation time of the cutting cylinder 27 is less than or equal to 1.5 seconds. In order to prevent the blade 28 from blocking the spare yarn 30 and affecting the yarn output of the yarn output tube 12, the ventilation time of the cutting cylinder 27 should not exceed 1.5 seconds, so as to avoid the long sealing time affecting the ejection of the spare yarn 30.

[0052] Blade 28 is a tungsten carbide blade.

[0053] The end effector 3 is connected to the six-degree-of-freedom robotic arm 1 via the end flange 2.

[0054] The rack is a movable rack.

[0055] It also includes a pneumatic yarn-replenishing gripper 11, which is fixed on the frame. The output end of the pneumatic yarn-replenishing gripper 11 is a flexible finger 10. After each yarn-making operation, the length of the spare yarn 30 extended by the end effector 3 is different. It is difficult to guarantee the yarn length by relying solely on the pneumatic nozzle control. The yarn tube 12 after overlapping is brought close to the pneumatic yarn-replenishing gripper 11, and the spare yarn 30 is clamped by the flexible finger 10 of the pneumatic yarn-replenishing gripper 11. The end of the six-degree-of-freedom robotic arm 1 is raised to a fixed height, pulling the spare yarn 30 out a certain distance. Then the pneumatic yarn-replenishing gripper 11 is released, thus completing the yarn-replenishing operation. In this way, the length of the reserved spare yarn 30 is consistent for each yarn-making operation.

[0056] It also includes an air source, which consists of a high-pressure gas cylinder and a vacuum pump. The rear end of the tensioning pneumatic gripper 5, the yarn-repairing pneumatic gripper 11, the cutting cylinder 27, the air jet pipe 21, and the needle cylinder 24 are respectively connected to the high-pressure gas cylinder, and the rear end of the suction pipe 20 is connected to the vacuum pump.

[0057] This invention relates to the re-spinning of broken yarn on a ring spinning machine. The ring spinning machine includes a back roller, a middle roller, a front roller 37, a guide hook, an air ring, a ring rail 34, traveler 33, and a spindle. The ring rail 34 is mounted on a ring plate 32. The roving is sequentially drafted through the back roller, middle roller, and front roller 37, and drawn to a specified linear density. The roving then passes through the guide hook, the air ring, and the traveler 33 mounted on the ring rail 34, and finally winds onto the spindle. The roving is drawn to its finest point at the front roller 37, which is also where yarn breakage is most likely to occur. When a yarn breakage occurs, the broken yarn is sucked away by a breakage suction nozzle 36. The specific structure and operation of the ring spinning machine are existing technologies and will not be described in detail here.

[0058] The six-degree-of-freedom robotic arm 1 is used to realize the position movement of the end effector 3. The wire loop positioning device is used to position the wire loop 33. The positioning method of the wire loop positioning device is non-contact positioning. When the wire loop 33 needs to be positioned, the positioning servo motor 15 drives the jet pipe 21 and the suction pipe 20 to move forward through the slider 18, so that the front part of the jet pipe 21 is horizontally facing the left side of the upper end face of the steel ring 34. The airflow blown out by the jet pipe 21 acts on the steel ring 34 and forms a circulation, which can blow the wire loop 33 to slide on the steel ring 34, so that the wire loop 33 stops on the front side of the steel ring 34, near the suction port of the suction pipe 20. The suction force generated by the suction pipe 20 can pull the wire loop 33 and form a yarn threading gap between the outer end of the wire loop 33 and the outer periphery of the steel ring 34. The wire loop positioning device positions the wire loop 33 by a combination of suction and blowing, so that the wire loop 33 stops in the designated yarn threading area.

[0059] While the positioning servo motor 15 drives the jet pipe 21 and the intake pipe 20 to move forward, the positioning servo motor 15 drives the rocker arm 22 to swing, thereby moving the shift fork 23 from the right end to the left end of the arc motion path. During the movement, the shift fork 23 pushes the spare yarn 30 to the left, and the spare yarn 30 forms a loop-passing yarn segment 35 between the shift fork 23 and the yarn outlet tube. The wire loop-passing device is used to clamp the loop-passing yarn segment 35 formed by the spare yarn 30. At the front of the jet pipe 21, horizontally facing the upper end of the steel collar 34, the yarn outlet tube 12 is located on the right side of the steel collar 34, so that the loop-passing... The yarn segment 35 fits snugly against the outer front of the ring 34. The six-degree-of-freedom robotic arm 1 moves the end effector 3 upward, allowing the threading yarn segment 35 to be threaded through the threading gap into the ring 33. After the spare yarn 30 is threaded through the ring 33, the six-degree-of-freedom robotic arm 1 continues to move the end effector 3 upward, sequentially passing through the air ring and the yarn guide hook, and finally feeding it into the front roller 37 to splice the broken yarn end, thus completing the new yarn splicing method. Air is supplied to the cutting cylinder 27, causing the piston rod of the cutting cylinder 27 to extend, and the blade 28 inserts into the cutting edge 29 to cut the spare yarn 30. This invention, through reasonable motion design and layout planning, makes the device suitable for operation in confined spaces, improving the success rate of positioning and threading the ring 33 after a yarn breakage on the ring spinning machine.

[0060] The cutting method used in this invention is in-tube cutting. The inlet 29 is located near the end of the yarn outlet tube 12. When it is necessary to cut the spare yarn 30, air is supplied to the cutting cylinder 27, and the spare yarn 30 is cut by the blade 28. After a series of tasks such as threading the wire ring 33, air ring, and yarn guide hook are completed, the spare yarn 30 is carried by the yarn outlet tube 12 to the front roller 37. It overlaps with the broken yarn end in the front roller 37 to complete the twisting. The spare yarn 30 is cut at the end of the yarn outlet tube, completing the yarn splicing task. The internal flow channel of the yarn outlet tube 12 is a Venturi tube flow channel structure. When the spare yarn 30 is cut, air is supplied to the cutting cylinder 27 and the needle cylinder 24. After the spare yarn 30 is cut, sufficient reserved length is ensured to blow out the spare yarn 30.

[0061] The yarn clamping device includes a needle-shaped cylinder 24, a soft rubber pad 25, and a fixing clip. The fixing clip is connected to the outer shell and has several guide posts 26. The soft rubber pad 25 is slidably engaged with several guide posts 26. The soft rubber pad 25 is connected to the piston rod of the needle-shaped cylinder 24. When the front end of the spare yarn 30 needs to be clamped, air is supplied to the needle-shaped cylinder 24 so that the soft rubber pad 25 and the fixing clip clamp the spare yarn 30, thereby locking the length of the spare yarn 30.

[0062] The spindle braking device includes a brake servo motor 13 and a brake wrench 14. The brake wrench 14 is connected to the output end of the brake servo motor 13. When braking is required, the brake servo motor 13 drives the brake wrench 14 to push the paddle, thereby braking the broken yarn spindle. When releasing the brake, the brake servo motor 13 drives the brake wrench 14 to push the paddle in the opposite direction, thus releasing the spindle. The paddle of the spindle is located between the two dials of the brake wrench 14, and the locking and releasing of the spindle can be achieved by a single rotating element.

[0063] The yarn feeding device adopts a passive yarn feeding method. The spare yarn 30 is fed to the yarn inlet tube 9 through the limiting ring 6 to provide spare yarn 30 for subsequent yarn production. The tensioning pneumatic gripper 5 is located between the spare yarn tube 4 and the limiting ring 6. When it is necessary to adjust the tension of the spare yarn 30, the tensioning pneumatic gripper 5 clamps the spare yarn 30. One end of the spring steel wire 8 is connected to the output end of the adjusting servo motor 7, and the other end of the spring steel wire 8 is processed into a ring structure. The spare yarn 30 passes through the spare yarn tube 4, the tensioning pneumatic gripper 5, the limiting ring 6, and the ring structure of the spring steel wire 8 in sequence before entering the yarn inlet tube 9. The tension of the spare yarn 30 can be adjusted by the adjusting servo motor 7 driving the spring steel wire 8 to swing. After the spare yarn 30 passes through the ring, the adjusting servo motor 7 can drive the spring steel wire 8 to swing, which can realize the tensioning of the spare yarn 30.

[0064] During the air-blowing and winding process, a section of spare yarn 30 is first ejected from the yarn outlet tube 12. Simultaneously, the needle-shaped cylinder 24 clamps the spare yarn 30 to ensure that a fixed length of spare yarn 30 is ejected from the yarn outlet tube 12. Then, the six-degree-of-freedom robotic arm 1 moves the yarn outlet tube 12 closer to the rotating spindle 31, so that the spare yarn 30 ejected from the yarn outlet tube 12 is tangential to the rotating spindle 31. Since the spare yarn 30 is clamped by the needle-shaped cylinder 24, it will wrap around the rotating spindle 31. Finally, the air supply to the needle-shaped cylinder 24 is stopped, and the spare yarn 30 is pulled out by the rotating spindle 31, where it begins to wind multiple times. When the spare yarn 30 has finished winding, the brake servo motor 13 rotates, driving the brake lever 14 to stop the rotating spindle 31 and driving the servo motor to move the spring steel wire 8, tauting the spare yarn 30.

[0065] In the wire loop 33 threading stage, the wire loop 33 is first positioned. The suction pipe 20 and the jet pipe 21 extend under the drive of the positioning servo motor 15. Then, driven by the end of the six-degree-of-freedom robotic arm 1, the jet pipe 21 is positioned tangent to the steel ring 34, and the suction pipe 20 is located diagonally above the steel ring 34. By blowing and sucking air, the wire loop 33, which is placed above the steel ring 34, is positioned directly below the suction pipe 20, completing the positioning of the wire loop 33. The rocker arm 22 and the shift fork 23 rotate under the drive of the positioning servo motor 15, forming a section of spare yarn 30 between the yarn outlet tube 12 and the shift fork 23. Then, the robotic arm moves to lift, passing the spare yarn 30 through the wire loop 33, completing the wire loop 33 threading action.

[0066] The rotation of the rocker arm 22 is simultaneous with the extension of the air intake pipe 20 and the air jet pipe 21. After the threading area is formed, the robotic arm is lowered to a position tangent to the steel ring 34. That is, the positioning of the steel wire loop 33 and the positioning of the threading spare yarn 30 are completed simultaneously. Figure 9 and Figure 10 The images show the positions and working states of each mechanism when the rocker arm 22 is in its original position and when it is rotating.

[0067] During the roller yarn breakage splicing stage, the six-degree-of-freedom robotic arm 1 moves the spare yarn 30, which has completed tasks such as threading the steel wire ring 33, the air ring, and the guide hook, close to the front roller 37 of the ring spinning machine's compact spinning device. The spare yarn 30, which has completed the initial spinning, is brought close to the yarn breakage suction nozzle 36, so that the spare yarn 30 and the yarn breakage at the front roller 37 are spliced ​​together by the compact spinning device and the spindle. At this time, air is supplied to the cutting cylinder 27, and the cutting action is completed by the blade 28. Then, the six-degree-of-freedom robotic arm 1 is pulled back, and air is supplied to the yarn outlet tube 12 at the same time, so that a section of spare yarn 30 is ejected from the yarn outlet tube 12 to facilitate the subsequent yarn replenishment action.

[0068] Specifically, to avoid excessive spare yarn 30 being ejected from the yarn outlet tube 12 and becoming entangled with other spindles and mechanical devices, the air supply time of the yarn outlet tube 12 in this operation process should not exceed 2 seconds.

[0069] After the yarn generation action is completed, the six-degree-of-freedom robotic arm 1 drives the end effector 3 to move, so that the yarn tube 12 is close to the yarn replenishment pneumatic gripper 11. The yarn replenishment pneumatic gripper 11 and the flexible fingers 10 clamp the spare yarn 30. The six-degree-of-freedom robotic arm 1 then lifts up to a fixed height, thereby ensuring that the length of the reserved spare yarn 30 is approximately consistent in each yarn generation action.

[0070] The steel wire ring positioning device and the steel wire ring threading device are integrated into a single design. A single servo motor drives the shift fork 23 mechanism and the nozzle simultaneously, which simplifies the complexity of the mechanical device and improves its stability while avoiding mechanical interference during movement.

[0071] The present invention provides an automatic yarn-forming machine for pneumatic-electric hybrid ring spinning. Its end effector can be installed at the end of a robotic arm. Different action tasks are completed by rotating the joints of the robotic arm. The auxiliary device can be installed on the robotic arm mounting base or the prototype. Through the movement of the robotic arm, the end effector, and the auxiliary mechanical device, a series of actions can be realized, such as yarn-forming after yarn breakage, positioning of the traveler, yarn tension adjustment, threading of the traveler, wrapping of the air ring and yarn guide hook, splicing, and processing of the yarn-forming yarn. This greatly simplifies the mechanical structure and operational complexity of the automatic splicing device and reduces the number of mechanisms that need to be repositioned during the moving splicing process.

[0072] Compared with the prior art, the automatic yarn-generating machine of the gas-electric hybrid ring spinning proposed in this invention has the following beneficial effects:

[0073] 1. The end effector proposed in this invention only needs to be installed on a six-degree-of-freedom collaborative robotic arm to complete most of the actions required for automatic head generation, which simplifies the automatic head generation device and reduces costs.

[0074] 2. The end effector proposed in this invention has a high degree of integration and can complete a series of complex actions such as air blowing and yarn winding, steel wire positioning and steel wire threading without mechanical station switching, thus improving work efficiency while ensuring accuracy.

[0075] 3. This invention proposes a passive yarn feeding method to ensure the tight winding of the yarn on the broken yarn spindle during the yarn feeding and winding stage, thus ensuring the winding degree of the yarn spindle while feeding the yarn.

[0076] The above embodiments are merely illustrative examples of the present invention and do not limit its scope of protection. Those skilled in the art can make partial changes to them, as long as they do not exceed the spirit and essence of the present invention, they are all within the scope of protection of the present invention.

Claims

1. An automatic yarn-generating machine for gas-electric hybrid ring spinning, characterized in that: The device includes a frame, a yarn supply device, an end effector (3), and a six-degree-of-freedom robotic arm (1). The yarn supply device includes a spare yarn tube (4), a tensioning pneumatic gripper (5), a limit ring (6), and an adjustment servo motor (7). The spare yarn tube (4), the tensioning pneumatic gripper (5), the limit ring (6), the adjustment servo motor (7), and the six-degree-of-freedom robotic arm (1) are respectively mounted on the frame. The end effector (3) is connected to the end of the six-degree-of-freedom robotic arm (1). The end effector (3) includes a housing, a wire loop positioning device, a wire loop threading device, a yarn clamping device, and a yarn breaking device; the wire loop positioning device includes a crank (16), a connecting rod (17), a slider (18), an air intake pipe (20), and an air jet pipe (21). A guide rail (19) is arranged on the housing, and the slider (18) slides with the guide rail (19). The positioning servo (15) is connected to the housing, and one end of the crank (16) is connected to the output shaft of the positioning servo (15). 6) The other end is hinged to the slider (18) in sequence via the connecting rod (17). The jet pipe (21) and the suction pipe (20) are fixed on the left side of the slider (18). The front part of the suction pipe (20) bends to the upper right, and the front part of the jet pipe (21) bends downward. The suction hole at the front end of the jet pipe (21) is located to the upper right of the blowing hole at the front end of the suction pipe (20). When positioning the wire ring (33), the jet pipe (21) faces the upper left side of the steel ring (34), and the suction pipe (20) is located above the steel ring (34). The wire threading device includes a rocker arm (22), a fork (23), a yarn outlet tube (12), and a yarn inlet tube (9). The yarn outlet tube (12) and the yarn inlet tube (9) are coaxially arranged on the right side of the outer casing. The yarn outlet tube (12) is located on the right side of the air intake tube (20). One end of the rocker arm (22) is connected to the output shaft of the positioning servo motor (15), and the other end of the rocker arm (22) is connected to the upper end of the fork (23). The lower end of the fork (23) is lower than the yarn outlet tube (12). When the rocker arm (22) swings horizontally, the fork (23) moves in a slight arc between the right side of the yarn outlet tube (12) and the left side of the air intake tube (20). The yarn cutting device consists of a cutting cylinder (27) and a blade (28). The blade (28) is connected to the piston rod of the cutting cylinder (27). The cutting cylinder (27) is fixed on the outer shell. An inlet (29) is provided on one side of the yarn outlet tube (12). The cutting cylinder (27) controls the blade (28) to insert into the inlet (29) to cut the spare yarn (30) or retract it. The yarn clamping device includes a needle cylinder (24), a soft rubber pad (25), and a fixing clip. The fixing clip is set on one side of the outer shell between the yarn outlet tube (12) and the yarn inlet tube (9). The fixing clip is provided with a plurality of guide posts (26). The needle cylinder (24) is set on the other side of the outer shell between the yarn outlet tube (12) and the yarn inlet tube (9). The piston rod of the needle cylinder (24) is provided with a soft rubber pad (25). The soft rubber pad (25) slides and cooperates with the plurality of guide posts (26). The extension and retraction of the piston rod of the needle cylinder (24) controls the soft rubber pad (25) to clamp or separate from the fixing clip. The tensioning pneumatic gripper (5) is located between the spare yarn tube (4) and the limiting ring (6). One end of the spring steel wire (8) is connected to the output end of the adjusting servo motor (7). The other end of the spring steel wire (8) is provided with a ring. The spare yarn (30) passes through the spare yarn tube (4), the tensioning pneumatic gripper (5), the limiting ring (6) and the ring of the spring steel wire (8) in sequence, enters the yarn inlet tube (9), and exits forward from the front end of the yarn outlet tube (12). The yarn supply device adopts a passive yarn supply method. The spare yarn (30) is fed to the yarn inlet tube (9) through the limiting ring (6) to provide spare yarn (30) for subsequent yarn production. The tensioning pneumatic gripper (5) is located between the spare yarn tube (4) and the limiting ring (6). When it is necessary to adjust the tension of the spare yarn (30), the tensioning pneumatic gripper (5) clamps the spare yarn (30). One end of the spring steel wire (8) is connected to the output end of the adjustment servo motor (7). The other end of 8) is processed into a ring structure. The spare yarn (30) passes through the ring structure of spare yarn tube (4), tensioning pneumatic gripper (5), limit ring (6) and spring steel wire (8) in sequence and enters the yarn tube (9). The tension of the spare yarn (30) can be adjusted by adjusting the servo motor (7) to drive the spring steel wire (8) to swing. After the spare yarn (30) passes through the ring, the spring steel wire (8) can be driven to swing by adjusting the servo motor (7) to achieve tension of the spare yarn (30). When blowing air to wind the yarn, firstly, a section of spare yarn (30) is ejected from the yarn outlet tube (12), and at the same time, the needle-shaped cylinder (24) clamps the spare yarn (30) to ensure that a fixed length of spare yarn (30) is ejected from the yarn outlet tube (12). Then, the six-degree-of-freedom robotic arm (1) drives the yarn outlet tube (12) to approach the rotating spindle (31), so that the spare yarn (30) ejected from the yarn outlet tube (12) is tangential to the rotating spindle (31). Because the spare yarn (30) is clamped by the needle-shaped cylinder (24), When clamped, the spare yarn (30) will wrap around the rotating spindle (31). Finally, the supply of air to the needle cylinder (24) is stopped, and the spare yarn (30) is pulled out by the rotating spindle (31). The spare yarn (30) begins to wrap around the rotating spindle (31) multiple times. When the spare yarn (30) is finished wrapping, the brake servo motor (13) rotates, driving the brake wrench (14) to stop the rotating spindle (31), and driving the servo motor to drive the spring steel wire (8) to move, so that the spare yarn (30) is straightened. During the roller yarn breakage splicing stage, the six-degree-of-freedom robotic arm (1) drives the spare yarn (30) that has completed the tasks of threading the wire loop (33), the air loop, and the guide hook to approach the front roller (37) of the ring spinning machine's compact spinning device. The spare yarn (30) that has been completed at the beginning is brought close to the yarn breakage suction nozzle (39), so that the spare yarn (30) that has been completed at the beginning and the broken yarn at the front roller (37) are spliced ​​together by the compact spinning device and the spindle. At this time, air is supplied to the cutting cylinder (27), and the cutting action is completed by the blade (28). Then the six-degree-of-freedom robotic arm (1) is pulled back, and air is supplied to the yarn outlet tube (12) at the same time, so that a section of spare yarn (30) is sprayed out of the yarn outlet tube (12) to facilitate the subsequent yarn replenishment action. After the yarn generation action is completed, the six-degree-of-freedom robotic arm (1) drives the end effector (3) to move, so that the yarn tube (12) is close to the yarn replenishment pneumatic gripper (11). The yarn replenishment pneumatic gripper (11) and the flexible finger (10) clamp the spare yarn (30). The six-degree-of-freedom robotic arm (1) then lifts up to a fixed height, thereby ensuring that the length of the reserved spare yarn (30) for each yarn generation action is close to the same.

2. The automatic yarn-generating machine for gas-electric hybrid ring spinning according to claim 1, characterized in that: It also includes a spindle braking device, which includes a brake servo (13) and a brake wrench (14). The brake servo (13) is fixed on the frame, and the installation height of the brake servo (13) is adapted to the braking height of the rotating spindle (31). The brake wrench (14) is connected to the output end of the brake servo (13).

3. The automatic yarn-generating machine for gas-electric hybrid ring spinning according to claim 1, characterized in that: The diameter of the spring steel wire (8) is 1 to 3 mm. The spring steel wire (8) is piano wire or stainless steel wire.

4. The automatic yarn-generating machine for gas-electric hybrid ring spinning according to claim 1, characterized in that: The positioning servo (15) is electrically connected to the upper monitoring display screen via an RS485 data connector.

5. The automatic yarn-generating machine for gas-electric hybrid ring spinning according to claim 1, characterized in that: The ventilation time of the cutting cylinder (27) is less than or equal to 1.5 seconds.

6. The automatic yarn-generating machine for gas-electric hybrid ring spinning according to claim 1, characterized in that: The blade (28) is a tungsten carbide blade.

7. The automatic yarn-generating machine for gas-electric hybrid ring spinning according to claim 1, characterized in that: The end effector (3) is connected to the six-degree-of-freedom robotic arm (1) via the end flange (2).

8. The automatic yarn-generating machine for gas-electric hybrid ring spinning according to claim 1, characterized in that: The rack is a movable rack.

9. The automatic yarn-generating machine for gas-electric hybrid ring spinning according to any one of claims 1-8, characterized in that: It also includes a yarn-repairing pneumatic gripper (11), which is fixed on the frame and has a flexible finger (10) as its output end.

10. The automatic yarn-generating machine for a gas-electric hybrid ring spinning system according to claim 9, characterized in that: It also includes an air source, which consists of a high-pressure gas cylinder and a vacuum pump. The tensioning pneumatic gripper (5), the yarn-repairing pneumatic gripper (11), the cutting cylinder (27), the jet pipe (21) and the needle cylinder (24) are respectively connected to the high-pressure gas cylinder, and the suction pipe (20) is connected to the vacuum pump.

Images