A mobile intelligent creel yarn changing device

Abstract

The application relates to the technical field of textiles, in particular to a mobile intelligent creel yarn changing device, which comprises a base, a plurality of warping machine modules are arranged on the base in the same direction, a carrier seat is slidably arranged on the base along the arrangement direction of the warping machine modules, a sliding part for driving the carrier seat to slide is arranged on the base, a storage cylinder plate is arranged on the carrier seat, the storage cylinder plate is used for storing yarn cylinders, and a yarn changing mechanism is arranged on the carrier seat and used for replacing the yarn cylinders on the warping machine modules with the yarn cylinders on the storage cylinder plate. The application has the effects of automatic yarn changing and reducing the labor intensity of workers.

Description

Technical Field

[0001] This application relates to the field of textile technology, and in particular to a mobile intelligent yarn changing device. Background Technology

[0002] The yarn frame is usually divided into two rows, standing in a straight line next to the spinning machine. The yarn bobbins are inserted obliquely into the bobbin frame of the spinning frame. The yarn on the bobbins is pulled onto the spinning machine to be woven into various fabrics. In order to reduce the waste of yarn during weaving, it is necessary to ensure that the yarn on the bobbins is of consistent length, so the yarn needs to be warped.

[0003] Warping is the process of winding a certain number of warp yarns onto a yarn bobbin at a specified length on a warping machine. When preparing for warping, the warping machine's yarn frame needs to go through the processes of loading and unloading yarn. Loading yarn involves winding the yarn onto an empty yarn bobbin, while unloading yarn involves removing the wound yarn bobbin.

[0004] Currently, factories typically operate multiple warping machines together, processing a number of yarn bobbins at a time. Traditionally, the yarn bobbins need to be replaced manually after winding. However, due to the large number of yarn bobbins and the time lag in worker replacement, the yarn length wound on different warping machines varies. Therefore, workers need to frequently inspect the yarn rack to replace the yarn bobbins in a timely manner, which significantly increases the labor intensity of workers and has its shortcomings. Summary of the Invention

[0005] To address the issue of high labor intensity caused by frequent yarn bobbin changes, this application provides a mobile intelligent yarn changing device.

[0006] The mobile intelligent yarn changing device provided in this application adopts the following technical solution: A mobile intelligent yarn changing device includes a base, on which a plurality of warping machine modules are arranged in the same direction. A carrier seat is slidably disposed on the base along the arrangement direction of the warping machine modules. A sliding component is provided on the base to drive the carrier seat to slide. A yarn bobbin storage plate is provided on the carrier seat for storing yarn bobbins. A yarn changing mechanism is provided on the carrier seat for replacing the yarn bobbins on the warping machine modules with the yarn bobbins on the storage plate.

[0007] By adopting the above technical solution, the sliding component drives the carrier to slide back and forth along the arrangement direction of the warping machine module. During this process, the yarn changing mechanism removes the wound yarn bobbins from the warping machine module and replaces them with empty yarn bobbins from the storage plate. This enables frequent replacement of yarn bobbins on multiple warping machine modules. Workers only need to replace the empty yarn bobbins on the storage plate on time, which helps to reduce the labor intensity of workers.

[0008] Optionally, the storage plate has a spiral groove that connects the beginning and end, a chain is slidably arranged in the spiral groove, multiple sprockets that mesh with the chain are rotatably arranged on the storage plate, a chain motor electrically connected to the control system is arranged on the storage plate, the sprockets are coaxially arranged on the output shaft of the chain motor, multiple uprights are spaced apart on the chain links, a support plate that slides with the top of the storage plate is arranged on the uprights, and the yarn bobbin is sleeved on the uprights.

[0009] By adopting the above technical solution, the yarn changing mechanism removes the empty yarn bobbin from the upright, then removes the wound yarn bobbin from the warping machine module and replaces the empty yarn bobbin on the warping machine module. After that, the wound yarn bobbin is placed on the upright where the empty yarn bobbin was previously removed. Finally, the control system starts the chain motor, which drives the chain to slide in the spiral groove through the sprocket, so that the upright on the subsequent chain link moves to the position where the yarn changing mechanism takes out the yarn bobbin.

[0010] Optionally, the sliding component includes a slide rail disposed on the base, a roller rotatably disposed on the carrier, the roller rollingly engaging with the slide rail, and a sliding motor electrically connected to the control system disposed on the carrier, the sliding motor driving the roller to rotate.

[0011] By adopting the above technical solution, the control system starts the sliding motor, which drives the roller to rotate. The reaction force between the roller and the slide rail causes the load to slide along the length of the slide rail.

[0012] Optionally, the yarn changing mechanism includes a yarn changing seat slidably disposed on the carrier, the sliding direction of the yarn changing seat being perpendicular to the length direction of the slide rail. A transverse motor electrically connected to the control system is disposed on the carrier, a lead screw is coaxially disposed on the output shaft of the transverse motor, the yarn changing seat is threadedly connected to the lead screw, a guide rail parallel to the axis of the lead screw is disposed on the carrier, the yarn changing seat is slidably engaged with the guide rail, a column is disposed on the yarn changing seat, a lifting seat is slidably disposed on the column along its axis, a lifting component for driving the lifting seat to slide is disposed on the column, and a gripper assembly for gripping the yarn bobbin is disposed on the lifting seat.

[0013] By adopting the above technical solution, the lifting component drives the lifting seat to slide along the axis of the column. During this process, the gripper assembly on the lifting seat picks up the empty yarn bobbin on the storage plate. Then, the control system starts the transverse motor, which drives the lead screw to rotate. The lead screw drives the carrier to approach the warping machine module. The gripper assembly on the lifting seat picks up the yarn bobbin on the warping machine module and then replaces the empty yarn bobbin on the warping machine module. After that, the transverse motor drives the carrier to reset through the lead screw. Finally, the lifting component drives the lifting seat to descend, and the gripper assembly places the yarn bobbin on the column.

[0014] Optionally, the lifting seat includes an inner cylinder and an outer seat. The inner cylinder is slidably sleeved on the column, and the outer seat is rotatably mounted on the inner cylinder. A rotating gear ring is coaxially mounted on the inner cylinder, and a rotary motor electrically connected to the control system is mounted on the outer seat. A rotating gear that meshes with the rotating gear ring is mounted on the output shaft of the rotary motor.

[0015] By adopting the above technical solution, after the gripper assembly grips the empty yarn bobbin and the yarn bobbin of the wound yarn, the control system starts the rotary motor. The rotary motor drives the rotary gear to rotate. The rotary gear drives the outer seat to rotate around the axis of the inner cylinder through the reaction force of meshing with the rotary gear ring, thereby realizing the positional conversion between the yarn bobbin and the yarn bobbin of the wound yarn.

[0016] Optionally, the lifting component includes a lifting motor disposed on the inner cylinder and electrically connected to the control system, the column has a polygonal cross-section, a rack is disposed on the column along its length, and a lifting gear that meshes with the rack is disposed on the output shaft of the lifting motor.

[0017] By adopting the above technical solution, the control system starts the lifting motor, which drives the lifting gear to rotate in the forward direction. The reaction force of the lifting gear meshing with the rack drives the inner cylinder to rise along the axis of the column, thereby realizing the lifting of the outer seat.

[0018] Optionally, the gripper assembly includes outer edge arms symmetrically arranged on both sides of the outer seat, a steering cylinder rotatably mounted on the outer edge arm, a gripping element for gripping the yarn bobbin mounted on the steering cylinder, a steering gear ring coaxially mounted on the steering cylinder, a steering motor electrically connected to the control system mounted on the outer edge arm, and a steering gear meshing with the steering gear ring mounted on the output shaft of the steering motor.

[0019] By adopting the above technical solution, after the clamping part clamps the yarn bobbin, the control system starts the steering motor, which drives the steering gear ring to rotate. The steering gear ring rotates 90 degrees, which facilitates the replacement of the empty yarn bobbin on the warping machine module.

[0020] Optionally, the clamping component includes a mounting block disposed on the steering cylinder, an image sensor electrically connected to the control system disposed on the mounting block, a cylinder-retrieving tube disposed on the mounting block, a support rod slidably disposed on the cylinder-retrieving tube, a rod groove for the support rod to slide on the cylinder-retrieving tube, an arc plate disposed on the support rod, a tension spring disposed between the arc plate and the cylinder-retrieving tube, a drive rod slidably disposed on the cylinder-retrieving tube along the direction from the mounting block to the cylinder-retrieving tube, a through groove for the drive rod to slide and communicating with the rod groove, an inclined drive groove disposed on the drive rod, the support rod being used to abut against the drive groove, the drive groove being inclined towards the support rod along the direction from the mounting block to the cylinder-retrieving tube, a permanent magnet disposed on the drive rod, and an electromagnet electrically connected to the control system disposed on the cylinder-retrieving tube.

[0021] By adopting the above technical solution, the image sensor feeds back the position of the upright to the control system via an electrical signal. Then, the tube on the mounting block is inserted into the upright. The control system energizes the electromagnet, and the electromagnet attracts the permanent magnet. The permanent magnet drives the drive rod to rise, and the drive groove on the drive rod pushes the support rod. The support rod drives the arc plate to press against the inner wall of the empty yarn tube. The tension spring is stretched and deformed, thereby realizing the clamping of the empty yarn tube.

[0022] Optionally, the mounting block is provided with a pusher cylinder electrically connected to the control system, and a pusher plate is slidably provided on the bobbin, the pusher plate being disposed on the piston rod of the pusher cylinder, the pusher plate being used to push the yarn bobbin.

[0023] By adopting the above technical solution, when the image sensor feeds back the installation position of the yarn bobbin on the warping machine module to the control system, the control system starts the pusher cylinder. The pusher cylinder drives the pusher plate through its piston rod to push the empty yarn bobbin to the installation position on the warping machine module.

[0024] In summary, this application includes at least one of the following beneficial technical effects: 1. The sliding component drives the carrier to slide back and forth along the arrangement direction of the warping machine module. During this process, the yarn changing mechanism removes the wound yarn bobbins on the warping machine module and replaces them with empty yarn bobbins on the storage plate. This enables frequent replacement of yarn bobbins on multiple warping machine modules. Workers only need to replace the empty yarn bobbins on the storage plate on time, which helps to reduce the labor intensity of workers. 2. The yarn changing mechanism removes the empty yarn bobbin from the upright, then removes the wound yarn bobbin from the warping machine module and replaces the empty yarn bobbin on the warping machine module. After that, the wound yarn bobbin is placed on the upright where the empty yarn bobbin was previously removed. Finally, the control system starts the chain motor. The chain motor drives the chain to slide in the spiral groove through the sprocket, so that the upright on the subsequent chain link moves to the position where the yarn changing mechanism takes out the yarn bobbin. 3. The sensor feeds back the position of the upright to the control system via an electrical signal. Then, the tube on the mounting block is inserted into the upright. The control system energizes the electromagnet, and the electromagnet attracts the permanent magnet. The permanent magnet drives the drive rod to rise. The drive groove on the drive rod pushes the support rod. The support rod drives the arc plate to press against the inner wall of the empty yarn tube. The tension spring is stretched and deformed, thereby realizing the clamping of the empty yarn tube. Attached Figure Description

[0025] Figure 1 This is a structural schematic diagram of an embodiment of this application.

[0026] Figure 2 This is a structural schematic diagram showing the positional relationship between the carrier, column, and cylinder changing seat in an embodiment of this application.

[0027] Figure 3 yes Figure 2 Enlarged view of part A in the middle.

[0028] Figure 4 This is a structural schematic diagram showing the positional relationship between the outer arm, outer seat, and column in an embodiment of this application.

[0029] Figure 5 This is a cross-sectional view showing the positional relationship between the mounting block, the pusher cylinder, and the take-up tube in an embodiment of this application.

[0030] Figure 6 This is a cross-sectional view showing the positional relationship of the tension spring, the arc plate, and the drive rod in an embodiment of this application.

[0031] Explanation of reference numerals in the attached diagram: 0. Yarn bobbin; 1. Base; 2. Warping machine module; 3. Carrier; 4. Sliding component; 41. Slide rail; 42. Roller; 43. Sliding motor; 5. Bobbin storage plate; 6. Yarn changing mechanism; 61. Bobbin changing seat; 62. Horizontal movement motor; 63. Lead screw; 64. Guide rail; 65. Column; 66. Lifting seat; 661. Inner cylinder; 662. Outer seat; 663. Rotating gear ring; 664. Rotating motor; 665. Rotating gear; 67. Lifting component; 671. Lifting motor; 672. Rack; 673. Lifting gear; 68. Gripper assembly; 681. Outer arm; 682. Steering cylinder; 68 3. Clamping component; 68301. Mounting block; 68302. Image sensor; 68303. Spool; 68304. Support rod; 68305. Rod groove; 68306. Arc plate; 68307. Tension spring; 68308. Drive rod; 68309. Through groove; 68310. Drive groove; 68311. Permanent magnet; 68312. Electromagnet; 684. Steering gear ring; 685. Steering motor; 686. Steering gear; 7. Spiral groove; 8. Chain; 9. Sprocket; 10. Chain motor; 11. Upright pole; 12. Support plate; 13. Pushing electric cylinder; 14. Push plate; 15. Pushing cylinder. Detailed Implementation

[0032] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0033] This application discloses a mobile intelligent yarn changing device.

[0034] Reference Figure 1 A mobile intelligent yarn changing device includes a base 1, on which several warping machine modules 2 are arranged in the same direction. Each warping machine module 2 includes three warping machine units arranged vertically. Each warping machine module 2 unit is equipped with a pusher cylinder 15 that is electrically connected to and controls the control system. The pusher cylinder 15 is used to push the yarn bobbin 0. A carrier seat 3 is slidably arranged on the base 1 along the arrangement direction of the warping machine modules 2. A sliding component 4 is arranged on the base 1 to drive the carrier seat 3 to slide.

[0035] Reference Figure 1 , Figure 2 and Figure 3 The sliding component 4 includes two parallel slide rails 41 bolted to the base 1. Rollers 42 are rotatably arranged on the carrier 3. The rollers 42 roll with the slide rails 41. A sliding motor 43 electrically connected to the control system is bolted to the carrier 3. The sliding motor 43 drives the rollers 42 to rotate. A storage plate 5 is bolted to the carrier 3. A spiral groove 7 with the beginning and end connected and in a planar spiral shape is opened on the storage plate 5. A chain 8 is slidably arranged in the spiral groove 7.

[0036] Reference Figure 1 , Figure 2 and Figure 3 Multiple sprockets 9 that mesh with the chain 8 are rotatably arranged on the storage plate 5. A chain motor 10 that is electrically connected to the control system is bolted to the storage plate 5. The sprockets 9 are coaxially welded to the output shaft of the chain motor 10. Multiple uprights 11 are evenly spaced welded on the chain links of the chain 8. A support plate 12 that slides with the top of the storage plate 5 is welded on the uprights 11. The yarn bobbin 0 is sleeved on the uprights 11 and rests on the support plate 12.

[0037] Reference Figure 1 , Figure 2 and Figure 4 A yarn changing mechanism 6 is arranged on the carrier 3. The yarn changing mechanism 6 is used to replace the yarn bobbin 0 on the warping machine module 2 with the yarn bobbin 0 on the storage plate 5.

[0038] The control system starts the sliding motor 43, which drives the roller 42 to rotate. The reaction force between the roller 42 and the slide rail 41 drives the carrier 3 to slide back and forth along the length of the slide rail 41. During this process, the yarn changing mechanism 6 takes out the empty yarn bobbin 0 from the upright 11, then takes off the yarn bobbin 0 that has been wound on the warping machine module 2, and replaces the empty yarn bobbin 0 on the warping machine module 2.

[0039] The wound yarn bobbin 0 is then placed on the upright 11. The control system then starts the chain motor 10. The chain motor 10 drives the chain 8 to slide in the spiral groove 7 through the sprocket 9. The chain 8 drives the upright 11 to slide along the spiral groove 7, so that the empty yarn bobbin 0 on the upright 11 moves to the position where the yarn changing mechanism 6 picks up the empty yarn bobbin 0.

[0040] Reference Figure 1 , Figure 2 and Figure 4 The yarn changing mechanism 6 includes a yarn changing seat 61 slidably arranged on the carrier 3. The sliding direction of the yarn changing seat 61 is perpendicular to the length direction of the slide rail 41. A transverse motor 62 electrically connected to the control system is bolted to the carrier 3. A lead screw 63 is coaxially welded to the output shaft of the transverse motor 62. The yarn changing seat 61 is threadedly connected to the lead screw 63. A guide rail 64 parallel to the axis of the lead screw 63 is welded to the carrier 3. The yarn changing seat 61 and the guide rail 64 are slidably engaged.

[0041] Reference Figure 1 , Figure 2 and Figure 4 A vertical column 65 with a polygonal cross-section is welded onto the cylinder base 61. A lifting seat 66 is slidably arranged on the column 65 along its axis. The lifting seat 66 includes an inner cylinder 661 and an outer seat 662. The inner cylinder 661 is slidably sleeved on the column 65. The outer seat 662 is coaxially rotatably arranged on the inner cylinder 661. A rotating gear ring 663 is coaxially bolted to the inner cylinder 661. A rotary motor 664 electrically connected to the control system is bolted to the outer seat 662. A rotary gear 665 that meshes with the rotating gear ring 663 is welded to the output shaft of the rotary motor 664.

[0042] Reference Figure 1 , Figure 2 and Figure 4 The column 65 is provided with a lifting component 67 that drives the lifting seat 66 to slide. The lifting component 67 includes a lifting motor 671 that is bolted to the inner cylinder 661 and electrically connected to the control system. A rack 672 is welded to the column 65 along its length. A lifting gear 673 that meshes with the rack 672 is welded to the output shaft of the lifting motor 671. A gripper assembly 68 for gripping the yarn tube 0 is provided on the lifting seat 66.

[0043] Reference Figure 4 , Figure 5 and Figure 6The gripper assembly 68 includes outer edge arms 681 symmetrically welded to both sides of the outer seat 662. A horizontal steering cylinder 682 is rotatably connected to the outer edge arms 681. A steering gear ring 684 is coaxially welded to the steering cylinder 682. A steering motor 685 electrically connected to the control system is bolted to the outer edge arms 681. A steering gear 686 that meshes with the steering gear ring 684 is welded to the output shaft of the steering motor 685. A gripping member 683 for gripping the yarn bobbin 0 is arranged on the steering cylinder 682.

[0044] The control system starts the lifting motor 671, which drives the lifting gear 673 to rotate in the opposite direction. The reaction force of the lifting gear 673 meshing with the rack 672 drives the inner cylinder 661 to descend along the axis of the column 65. The clamping part 683 on the steering cylinder 682 clamps the empty yarn tube 0 on the upright 11. Then the control system starts the lifting motor 671 again, which drives the lifting gear 673 to rotate in the forward direction. The steering cylinder 682 drives the empty yarn tube 0 to rise.

[0045] The control system starts the steering motor 685, which drives the steering gear 686 to rotate. The steering gear 686 drives the steering cylinder 682 to rotate 90 degrees around its axis through the steering ring 684. Then the control system starts the transverse motor 62, which drives the lead screw 63 to rotate in the forward direction. The lead screw 63 drives the bobbin changing seat 61 to approach the warping machine module 2. The clamping part 683 on the side of the outer seat 662 that has not clamped the empty bobbin 0 clamps the bobbin 0 that has been wound on the warping machine module 2.

[0046] The control system restarts the transverse motor 62, which drives the lead screw 63 to rotate in the opposite direction. The lead screw 63 drives the changing cylinder seat 61 away from the warping machine module 2. Then the control system starts the rotary motor 664, which drives the rotary gear 665 to rotate in the forward direction. The rotary gear 665, through the reaction force of the rotary gear ring 663, causes the outer seat 662 to rotate 180 degrees around the axis of the inner cylinder 661.

[0047] The control system restarts the transverse motor 62, and the bobbin changing seat 61 approaches the warping machine module 2. The empty yarn bobbin 0 held by the clamping part 683 is placed on the winding shaft on the warping machine module 2. The control system controls the transverse motor 62 to drive the bobbin changing seat 61 to reset. Then the control system starts the lifting motor 671, which drives the lifting gear 673 to rotate in the opposite direction. The steering cylinder 682 drives the wound yarn bobbin 0 to descend, and the wound yarn bobbin 0 is placed on the upright 11.

[0048] Reference Figure 4 , Figure 5 and Figure 6The clamping component 683 includes a mounting block 68301 welded to one end of the steering cylinder 682 facing away from the outer edge arm 681. An image sensor 68302 electrically connected to the control system is bolted to the mounting block 68301. A cylinder-retrieving tube 68303 is bolted to the mounting block 68301. A support rod 68304 is slidably arranged on the cylinder-retrieving tube 68303. A rod groove 68305 for sliding of the support rod 68304 is opened on the cylinder-retrieving tube 68303. An arc plate 68306 is welded to one end of the support rod 68304 facing away from the cylinder-retrieving tube 68303. The surface of the side of the arc plate 68306 facing away from the support rod 68304 is rough.

[0049] Reference Figure 4 , Figure 5 and Figure 6 A tension spring 68307 is welded between the arc plate 68306 and the tube 68303. A drive rod 68308 is slidably arranged on the tube 68303 along the direction from the mounting block 68301 to the tube 68303. A through groove 68309 is provided on the tube 68303 for the drive rod 68308 to slide and communicate with the rod groove 68305. An inclined drive groove 68310 is provided on the drive rod 68308. The end of the support rod 68304 is used to slide and abut against the bottom of the drive groove 68310. The drive groove 68310 is inclined towards the support rod 68304 along the direction from the mounting block 68301 to the tube 68303.

[0050] Reference Figure 4 , Figure 5 and Figure 6 A permanent magnet 68311 is attached to one end of the drive rod 68308 facing the mounting block 68301. An electromagnet 68312, which is electrically connected to the control system, is bolted to the bobbin 68303. The magnetic poles of the electromagnet 68312 and the permanent magnet 68311 are opposite to each other. A pusher cylinder 13, which is electrically connected to the control system, is bolted to the mounting block 68301. A pusher plate 14 is slidably arranged on the bobbin 68303. The pusher plate 14 is bolted to the piston rod of the pusher cylinder 13. The pusher plate 14 is used to push the yarn bobbin 0.

[0051] Image sensor 68302 feeds back the position of upright 11 and the position of yarn bobbin 0 on warping machine module 2 to control system via electrical signals. When the bobbin take-up tube 68303 on mounting block 68301 is inserted into upright 11, control system energizes electromagnet 68312. Electromagnet 68312 is attracted to the magnetism of permanent magnet 68311. Permanent magnet 68311 drives drive rod 68308 to rise. Drive groove 68310 on drive rod 68308 pushes support rod 68304. Support rod 68304 drives arc plate 68306 to press against the inner wall of empty yarn bobbin 0. Tension spring 68307 is stretched and deformed.

[0052] When the empty yarn bobbin 0 is aligned with the installation position of the yarn bobbin 0 on the warping machine module 2, the control system starts the push cylinder 13. The piston rod of the push cylinder 13 pushes the empty yarn bobbin 0 to be inserted into the winding shaft on the warping machine module 2 through the push plate 14. Then the control system changes the current direction of the electromagnet 68312. The electromagnet 68312 and the permanent magnet 68311 repel each other. The permanent magnet 68311 drives the drive rod 68308 to slide. The tension spring 68307 restores its deformation and drives the support rod 68304 to be inserted into the drive groove 68310 again.

[0053] The implementation principle of a mobile intelligent yarn changing device in this application embodiment is as follows: the control system starts the sliding motor 43, the sliding motor 43 drives the roller 42 to rotate, and the reaction force between the roller 42 and the slide rail 41 drives the carrier 3 to slide back and forth along the length direction of the slide rail 41. During this process, the yarn changing mechanism 6 takes out the empty yarn bobbin 0 on the upright 11, then takes off the yarn bobbin 0 that has been wound on the warping machine module 2, and replaces the empty yarn bobbin 0 on the warping machine module 2.

[0054] The wound yarn bobbin 0 is then placed on the upright 11. The control system then starts the chain motor 10. The chain motor 10 drives the chain 8 to slide in the spiral groove 7 through the sprocket 9. The chain 8 drives the upright 11 to slide along the spiral groove 7, so that the empty yarn bobbin 0 on the upright 11 moves to the position where the yarn changing mechanism 6 picks up the empty yarn bobbin 0.

[0055] The control system starts the lifting motor 671, which drives the lifting gear 673 to rotate in the opposite direction. The reaction force of the lifting gear 673 meshing with the rack 672 drives the inner cylinder 661 to descend along the axis of the column 65. The clamping part 683 on the steering cylinder 682 clamps the empty yarn tube 0 on the upright 11. Then the control system starts the lifting motor 671 again, which drives the lifting gear 673 to rotate in the forward direction. The steering cylinder 682 drives the empty yarn tube 0 to rise.

[0056] The control system starts the steering motor 685, which drives the steering gear 686 to rotate. The steering gear 686 drives the steering cylinder 682 to rotate 90 degrees around its axis through the steering ring 684. Then the control system starts the transverse motor 62, which drives the lead screw 63 to rotate in the forward direction. The lead screw 63 drives the bobbin changing seat 61 to approach the warping machine module 2. The clamping part 683 on the side of the outer seat 662 that has not clamped the empty bobbin 0 clamps the bobbin 0 that has been wound on the warping machine module 2.

[0057] The control system restarts the transverse motor 62, which drives the lead screw 63 to rotate in the opposite direction. The lead screw 63 drives the changing cylinder seat 61 away from the warping machine module 2. Then the control system starts the rotary motor 664, which drives the rotary gear 665 to rotate in the forward direction. The rotary gear 665, through the reaction force of the rotary gear ring 663, causes the outer seat 662 to rotate 180 degrees around the axis of the inner cylinder 661.

[0058] The control system restarts the transverse motor 62, and the bobbin changing seat 61 approaches the warping machine module 2. The empty yarn bobbin 0 held by the clamping part 683 is placed on the winding shaft on the warping machine module 2. The control system controls the transverse motor 62 to drive the bobbin changing seat 61 to reset. Then the control system starts the lifting motor 671, which drives the lifting gear 673 to rotate in the opposite direction. The steering cylinder 682 drives the wound yarn bobbin 0 to descend, and the wound yarn bobbin 0 is placed on the upright 11.

[0059] Image sensor 68302 feeds back the position of upright 11 and the position of yarn bobbin 0 on warping machine module 2 to control system via electrical signals. When the bobbin take-up tube 68303 on mounting block 68301 is inserted into upright 11, control system energizes electromagnet 68312. Electromagnet 68312 is attracted to the magnetism of permanent magnet 68311. Permanent magnet 68311 drives drive rod 68308 to rise. Drive groove 68310 on drive rod 68308 pushes support rod 68304. Support rod 68304 drives arc plate 68306 to press against the inner wall of empty yarn bobbin 0. Tension spring 68307 is stretched and deformed.

[0060] When the empty yarn bobbin 0 is aligned with the installation position of the yarn bobbin 0 on the warping machine module 2, the control system starts the push cylinder 13. The piston rod of the push cylinder 13 pushes the empty yarn bobbin 0 to be inserted into the winding shaft on the warping machine module 2 through the push plate 14. Then the control system changes the current direction of the electromagnet 68312. The electromagnet 68312 and the permanent magnet 68311 repel each other. The permanent magnet 68311 drives the drive rod 68308 to slide. The tension spring 68307 restores its deformation and drives the support rod 68304 to be inserted into the drive groove 68310 again.

[0061] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A mobile intelligent yarn changing device, comprising a base (1), wherein a plurality of warping machine modules (2) are arranged in the same direction on the base (1), characterized in that: A carrier seat (3) is slidably arranged on the base (1) along the arrangement direction of the warping machine module (2). A sliding component (4) is provided on the base (1) to drive the carrier seat (3) to slide. A bobbin storage plate (5) is provided on the carrier seat (3) for storing yarn bobbins (0). A yarn changing mechanism (6) is provided on the carrier seat (3) for replacing the yarn bobbins (0) on the warping machine module (2) with the yarn bobbins (0) on the bobbin storage plate (5). The sliding component (4) includes a slide rail (41) disposed on the base (1), a roller (42) is rotatably disposed on the carrier (3), the roller (42) rolls with the slide rail (41), and a sliding motor (43) electrically connected to the control system is disposed on the carrier (3), the sliding motor (43) drives the roller (42) to rotate; The yarn changing mechanism (6) includes a yarn changing seat (61) slidably disposed on the carrier (3). The sliding direction of the yarn changing seat (61) is perpendicular to the length direction of the slide rail (41). A transverse motor (62) electrically connected to the control system is disposed on the carrier (3). A lead screw (63) is coaxially disposed on the output shaft of the transverse motor (62). The yarn changing seat (61) is threadedly connected to the lead screw (63). The carrier (3) is provided with... There is a guide rail (64) parallel to the axis of the lead screw (63), the bobbin changing seat (61) is slidably engaged with the guide rail (64), the bobbin changing seat (61) is provided with a column (65), the column (65) is slidably provided with a lifting seat (66) along its axis, the column (65) is provided with a lifting component (67) for driving the lifting seat (66) to slide, and the lifting seat (66) is provided with a gripper assembly (68) for gripping the yarn bobbin (0); The lifting seat (66) includes an inner cylinder (661) and an outer seat (662). The inner cylinder (661) is slidably sleeved on the column (65), and the outer seat (662) is rotatably mounted on the inner cylinder (661). A rotating gear ring (663) is coaxially mounted on the inner cylinder (661), and a rotary motor (664) electrically connected to the control system is mounted on the outer seat (662). A rotary gear (665) meshing with the rotating gear ring (663) is mounted on the output shaft of the rotary motor (664). The gripper assembly (68) includes outer edge arms (681) symmetrically arranged on both sides of the outer seat (662). A steering cylinder (682) is rotatably arranged on the outer edge arm (681). A gripping member (683) for gripping the yarn bobbin (0) is arranged on the steering cylinder (682). A steering gear ring (684) is coaxially arranged on the steering cylinder (682). A steering motor (685) electrically connected to the control system is arranged on the outer edge arm (681). A steering gear (686) meshing with the steering gear ring (684) is arranged on the output shaft of the steering motor (685). The clamping component (683) includes a mounting block (68301) disposed on the steering cylinder (682). An image sensor (68302) electrically connected to the control system is disposed on the mounting block (68301). A cylinder-retrieving tube (68303) is disposed on the mounting block (68301). A support rod (68304) is slidably disposed on the cylinder-retrieving tube (68303). A rod groove (68305) is formed on the cylinder-retrieving tube (68303) for sliding of the support rod (68304). An arc plate (68306) is disposed on the support rod (68304). A tension spring (68307) is disposed between the arc plate (68306) and the cylinder-retrieving tube (68303). The cylinder-retrieving tube (68303) extends along the mounting block (68301) to the... A drive rod (68308) is slidably arranged in the direction of the tube (68303). The tube (68303) has a through groove (68309) for the drive rod (68308) to slide and communicate with the rod groove (68305). The drive rod (68308) has an inclined drive groove (68310). The support rod (68304) is used to abut against the drive groove (68310). The drive groove (68310) is inclined towards the support rod (68304) along the direction from the mounting block (68301) to the tube (68303). A permanent magnet (68311) is provided on the drive rod (68308). An electromagnet (68312) electrically connected to the control system is provided on the tube (68303).

2. The mobile intelligent yarn changing device according to claim 1, characterized in that: The storage plate (5) has a spiral groove (7) that connects the beginning and end. A chain (8) is slidably arranged in the spiral groove (7). Multiple sprockets (9) that mesh with the chain (8) are rotatably arranged on the storage plate (5). A chain motor (10) that is electrically connected to the control system is arranged on the storage plate (5). The sprockets (9) are coaxially arranged on the output shaft of the chain motor (10). Multiple uprights (11) are spaced apart on the links of the chain (8). A support plate (12) that slides with the top of the storage plate (5) is arranged on the upright (11). The yarn bobbin (0) is sleeved on the upright (11).

3. The mobile intelligent yarn changing device according to claim 1, characterized in that: The lifting component (67) includes a lifting motor (671) disposed on the inner cylinder (661) and electrically connected to the control system. The column (65) has a polygonal cross-section. A rack (672) is disposed on the column (65) along its length direction. A lifting gear (673) that meshes with the rack (672) is disposed on the output shaft of the lifting motor (671).

4. The mobile intelligent yarn changing device according to claim 1, characterized in that: The mounting block (68301) is provided with a pusher cylinder (13) electrically connected to the control system. The yarn take-up tube (68303) is slidably provided with a pusher plate (14). The pusher plate (14) is located on the piston rod of the pusher cylinder (13). The pusher plate (14) is used to push the yarn bobbin (0).

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