Full-automatic flying shuttle thread changing platform

Abstract

The invention discloses a full-automatic flying shuttle thread changing platform. An automatic feeding and discharging device of a first station transfers flying shuttles in a material disc into a material box of a central rotary table; a shuttle cover of the flying shuttle is opened by a shuttle cover opening device at the second station in an inclined and torsion matched picking action, and the shuttle cover is subjected to two-way magnetic attraction positioning by the side wall of the material box after being opened; the old bobbin removing device at the third station is used for clamping and removing the old bobbin in the flying shuttle and pulling out the remaining thread of the old bobbin wound in a shuttle cover thread groove; the new bobbin filling device at the fourth station is used for carrying out orientation judgment and adjustment on the new bobbin in the material box and putting the new bobbin into the flying shuttle after the new bobbin is broken; track winding, threading and shuttle cover buckling actions are executed by a thread winding and threading head and shuttle cover buckling device of the fifth station; the winding tension adjusting device at the sixth station provides continuous tension for the thread end extending out of the flying shuttle; and finally, the automatic feeding and discharging device at the first station transfers the flying shuttle with the replaced spool in the material box to a material disc.

Description

Technical Field

[0001] The invention relates to the technical field of textile equipment, and in particular to a full-automatic shuttle line changing platform. Background Art

[0002] The shuttle is a thread supply component of existing textile equipment. Its function is to supply thread to the textile machine for automated knitting processing. Usually, a textile machine will store multiple thread supply shuttles. The shuttle with insufficient new thread that has been replaced faces the process problems of opening the shuttle cover, removing the new thread, inserting the new thread wheel, and rewinding the thread on the shuttle cover. The structure of the existing shuttle includes a shuttle case, a shuttle cover, and a thread pressing spring. The shuttle case is a hollow shuttle-shaped structure with an opening on one side and a cavity for placing the bobbin inside. The shuttle cover is hinged to block the open end face of the shuttle case and is elastically clamped and fixed. The hinged thread pressing spring is adjusted by adjusting the knob to pre-tighten the hinged thread pressing spring.

[0003] The existing shuttle line change is all realized manually. During the manual line change process, the following operations need to be performed in sequence:

[0004] 1. Open the shuttle cover;

[0005] 2. Remove the old bobbin with excess thread from the inside of the shuttle, and pull out the excess thread from the thread groove of the shuttle cover and the threading hole of the shuttle body to remove the old bobbin;

[0006] 3. Put the new spool into the shuttle and find the thread end inside the new spool;

[0007] 4. Wrap the thread of the new spool in the thread groove of the shuttle cover by the track winding process, and then pass the thread through the threading hole on the side wall of the shuttle shell by the threading process, and finally fasten the shuttle cover to constrain the new spool inside the shuttle;

[0008] 5. Adjust the adjustment knob of the thread pressing spring on the shuttle cover to adjust the elastic pressing force of the thread pressing spring on the winding wire inside the wire groove, and finally achieve the purpose of adjusting the tension of the shuttle.

[0009] Because the above-mentioned shuttle line changing process is complicated and cumbersome and has many steps, no equipment has been found in the prior art that can realize the automatic line changing of the shuttle. Therefore, how to improve the mechanical structure and realize automatic control to realize multiple processes such as removing the old bobbin inside the shuttle and filling the new bobbin to realize the fully automatic line changing function of the shuttle has become a technical problem that needs to be urgently solved by people in this field. Summary of the invention

[0010] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a fully automatic shuttle line changing platform, which can realize the automatic circumferential delivery of the shuttle and successively realize the six main functions of loading and unloading, opening the shuttle cover, removing the old bobbin, filling the new bobbin, winding the thread head and the shuttle cover, and adjusting the winding tension. In this way, fully automatic mechanical control replaces manual operation in the shuttle line changing process, and the structure is simple and easy to implement.

[0011] The present invention discloses a fully automatic shuttle line changing platform, which delivers shuttles in a circular direction on an XY plane, wherein the tangential direction of the circular delivery shuttle is defined as the X direction, the radial direction of the circular delivery shuttle is defined as the Y direction, and the gravity direction is defined as the Z direction. A central turntable is rotatably arranged in the middle of the shuttle line changing platform, and a plurality of material boxes for inserting and positioning shuttles are radially fixed on the central turntable, and the outer periphery of the central turntable corresponds to six device stations on the shuttle line changing platform in sequence, which include:

[0012] First station: automatic loading and unloading device; the automatic loading and unloading device includes a shuttle storage unit and a rotary delivery unit; the shuttle storage unit is lifted and lowered on the XZ vertical plane and is arranged on one side of the shuttle line changing platform in a translational manner; the fixed end of the rotary delivery unit is fixedly connected to the shuttle line changing platform, and the movable delivery end of the rotary delivery unit rotates on the XY horizontal plane to deliver new and old shuttles between the shuttle storage unit and the central turntable;

[0013] The second station: a shuttle cover opening device; the shuttle cover opening device swings on the YZ vertical plane, and swings on the XZ plane to stir the closed shuttle cover on the shuttle until the shuttle cover opens;

[0014] The third station: an old bobbin removal device; the old bobbin removal device translates in the Y direction, lifts in the Z direction, and clamps and removes the old bobbin in the shuttle in the X direction, and removes the thread on the XY plane to disconnect the winding relationship between the remaining thread of the old bobbin and the thread groove on the shuttle cover;

[0015] The fourth station: a new bobbin filling device; the new bobbin filling device delivers the new bobbin step by step along the Y direction, and presses the new bobbin into the shuttle after judging the direction of the thread head and the remaining thread is broken;

[0016] The fifth station: a winding and threading head and a shuttle cover fastening device; the winding and threading head and the shuttle cover fastening device rotate and translate on the XY plane and lift and lower in the Z direction to absorb the new thread axis head, and drag the new thread axis head to sequentially perform the actions of winding the shuttle cover groove, threading the thread axis head and pushing the shuttle cover to close;

[0017] The sixth workstation: a winding tension adjustment device; the winding tension adjustment device cooperates with the thread adsorption end of the winding and threading heads and the shuttle cover snapping device, rotates on the XY vertical plane and tensions and extracts the thread of the new spool on the XZ vertical plane; at the same time, it rotates on the XY plane and lifts and lowers the tensioning knob of the thread pressing piece on the shuttle cover in the Z direction to adjust the thread tension output by the new spool.

[0018] Preferably, in the first station:

[0019] The shuttle storage unit includes: a fixed gantry, a hollow lifting frame, a translation guide rail and a hollow back plate, wherein the fixed gantry is connected to the hollow lifting frame in a Z-direction lifting and sliding manner, a side surface of the hollow lifting frame is fixed with multiple translation guide rails along the X-direction, and the translation guide rails are connected to the hollow back plate in an X-direction sliding manner; a plurality of material trays are inserted in the hollow back plate in an X-direction sliding manner; a back support cylinder is fixed on the fixed gantry, which is telescopic in the Y-direction and penetrates the hollow back plate and the material tray and pushes the shuttle in a unidirectional manner to the rotating delivery part;

[0020] The rotary delivery part comprises: a base, a reversing motor, a turntable, a rotating frame and two groups of delivery units; the base is fixed on the platform plate of the shuttle line changing platform, the reversing motor is vertically fixed inside the base, and the turntable is coaxially fixed on the top of the base; the power input end of the turntable is coaxially fixed to the power output end of the reversing motor, the upper part of the turntable rotates to overlap the edge of the top opening surface of the turntable, and two groups of delivery units are arranged on the top of the turntable in parallel and in opposite directions;

[0021] The delivery units all include a delivery cylinder and a delivery clamp, wherein the delivery cylinder and the delivery clamp are both fixed on the top surface of the rotating frame, and the power output end of the delivery cylinder slides through the delivery clamp to provide pushing power for the shuttle clamped in the delivery clamp;

[0022] The turntable is a hollow cylindrical structure with an open top. A stepped ring is formed on the inner circumferential wall in the middle of the turntable, which is axially limited and circumferentially rotated to overlap the turntable, and the top open edge of the turntable is formed as an inclined guide slope.

[0023] The rotating frame includes a straight cylinder and a rotating plate, wherein the bottom of the straight cylinder is coaxially fixed to the rotating power output end of the reversing motor, the top of the straight cylinder is hinged to support the rotating plate, and the hinge between the straight cylinder and the rotating plate is radially penetrated and connected with a limiting wheel group that is rotatably overlapped on the step ring platform; the rotating plate is a folding plate structure, and the middle part of the small-angle surface of the rotating plate is hingedly supported by the straight cylinder, the edge of the small-angle surface of the rotating plate is rotatably connected with a roller that is rollingly supported on the guide slope of the turntable, and a group of delivery units are respectively fixed on both sides of the large-angle surface of the rotating plate.

[0024] Preferably, in the second station, the opening device includes an L-shaped seat, a rocking plate, and a prying unit, wherein the L-shaped seat is fixedly mounted on the platform plate of the shuttle line-changing platform, one end of the L-shaped seat extends upward and is hinged to support the rocking plate, and the lower part of the L-shaped seat is hingedly connected to a rocking cylinder that provides rocking power for the rocking plate; the top of the rocking plate rotates circumferentially and is axially and radially limited to connect the prying unit, and a second-station rotating motor that provides rotational power for the prying unit is fixedly mounted on the rocking plate;

[0025] The prying unit includes a rotating rod, an L-shaped prying arm and a prying pin, wherein the rotating rod penetrates and is rotatably plugged into the bridge plate, one end of the rotating rod is coaxially fixedly connected to the power output end of the second-station rotating motor, and the other end of the prying rod is radially fixed with an L-shaped prying arm; the free end of the L-shaped prying arm is fixedly plugged with the prying pin along the radial direction of the rotating rod.

[0026] Preferably, in the third station, the old spool removal device includes a T-shaped frame, a three-axis execution unit and a plane wire pulling unit, wherein the upper part of the T-shaped frame is slidably connected to the three-axis execution unit along the Y-axis, and the three-axis execution unit is used to pull the spool in the shuttle along the Z direction and clamp the fixed spool along the X direction; the plane wire pulling unit is rotatably connected to the middle part of the T-shaped frame on the XY plane, and the plane wire pulling unit cooperates with the three-axis execution unit to pull out the thread end hanging in the shuttle wire slot;

[0027] The bottom of the T-shaped frame is vertically fixed on the top surface of the shuttle line changing platform, the middle of the T-shaped frame is provided with a middle platform carrying a plane line dialing unit, and the top of the T-shaped frame radially extends along the shuttle delivery direction of the shuttle line changing platform and slides in the Y direction to carry a three-axis execution unit;

[0028] The three-axis execution unit includes a Y-direction slider, a Z-direction slider and an X-direction clamping cylinder; the Y-direction slider is connected to the upper side wall of the T-shaped frame along the Y-direction sliding guide, and a three-station lifting cylinder is fixedly arranged on the Y-direction slider along the Z-direction; the power output end of the three-station lifting cylinder is fixedly arranged with the Z-direction slider; a stirring cylinder is fixedly arranged on the top of the Z-direction slider, and an X-direction clamping cylinder is fixedly connected to the side wall of the Z-direction slider; the power output end of the stirring cylinder penetrates downwardly through the Z-direction slider and is coaxially fixedly connected with a stirring rod; the power output end of the X-direction clamping cylinder is fixedly arranged with a pneumatic clamping claw which extends downwardly to below the bottom surface of the Z-direction slider and horizontally displaces in the X-direction direction to clamp the bobbin;

[0029] The planar wire-pulling unit comprises a three-station motor frame, a wire-pulling motor and a shifting rod, wherein the three-station motor frame is fixed on the middle platform of the T-shaped frame, the wire-pulling motor is fixed on the three-station motor frame along the Z direction, and a plurality of bolt holes are circumferentially opened on the three-station motor frame; a shifting rod is radially fixed on the power output end of the wire-pulling motor, and the wire-pulling motor provides the shifting rod with wire-pulling torsional power on the XY plane.

[0030] Preferably, in the fourth station, the new bobbin filling device includes a material box and a four-station platform frame fixed on the shuttle line changing platform in sequence along the Y direction, and the new bobbin is delivered from the material box to the central turntable via the four-station platform frame;

[0031] The middle part of the four-station platform frame is provided with a bobbin direction adjustment station and a wire breaking preparation station in sequence along the Y direction from the feeding end to the discharging end, and the upper part of the four-station platform frame is connected with a fixed-distance double-arm manipulator that slides along the Y direction and rises and falls in the Z direction. The fixed-distance double-arm manipulator delivers new bobbins step by step to the bobbin direction adjustment station, the wire breaking preparation station and the central turntable in sequence; the bobbin direction adjustment station is electronically controlled to make a judgment and the fixed-distance double-arm manipulator adjusts the direction of the winding thread on the new bobbin; the wire breaking preparation station cuts the thread head with a posture that fixes the thread head direction;

[0032] The fixed-distance double-arm manipulator comprises a sliding side plate connected to the upper side wall of the four-station platform frame in the Y direction, and the sliding side plate is lifted and lowered in the Z direction and arranged at intervals in the Y direction with a front manipulator and a rear manipulator; the front manipulator comprises: a front Z-direction cylinder, a front bracket, a front downward pressure cylinder and a front X-direction cylinder; the front Z-direction cylinder is fixedly arranged on one side of the sliding side plate close to the central turntable, and the front bracket is fixedly mounted on the power output end of the front Z-direction cylinder; a front downward pressure cylinder is fixedly arranged on the top of the front bracket in the Z direction, and a front X-direction cylinder is fixedly arranged on the side wall of the front bracket; the dynamic The force output end penetrates the front bracket downward and presses the new spool into the material box; the power output end of the front X-direction cylinder is fixedly connected with a pneumatic clamp, which radially clamps and positions the new spool; the rear manipulator includes: a rear Z-direction cylinder, a steering motor and a rear X-direction cylinder; the rear Z-direction cylinder is fixedly arranged on the side of the sliding side plate close to the material box, and the steering motor is fixedly mounted on the power output end of the rear Z-direction cylinder; the power output end of the steering motor is fixedly connected to the rear X-direction cylinder, and the power output end of the rear X-direction cylinder is fixedly connected with a pneumatic clamp the same as the power output end of the front X-direction cylinder;

[0033] The bobbin direction adjustment station includes an adjustment positioning block fixedly mounted in the middle of the four-station platform frame, a material trough is provided on the adjustment positioning block, and a photoelectric inspection module is connected to one side of the adjustment positioning block in a sliding manner along the X direction; the material trough is recessed along the Z direction and the new bobbin is inserted and positioned in the Y direction, and a wire suction port is provided at both ends of the material trough in the Y direction; the outside of the wire suction port is connected to a vacuum pump, and the inside of the wire suction port is connected to the material trough; the photoelectric inspection module includes a photoelectric inspection plate driven by a motor and sliding along the X direction above the adjustment positioning block, one end of the photoelectric inspection plate is arranged along the Y direction and has two inspection slots penetrating along the Z direction, and a sensor for inspecting the direction of the thread head on the new bobbin is arranged in the inspection slot; the wire breaking preparation station includes a wire breaking positioning block fixedly mounted in the middle of the four-station platform frame, and also includes a four-station wire breaking shear that vertically penetrates the middle of the four-station platform frame and is arranged between the wire breaking preparation station and the bobbin direction adjustment station; the top surface of the wire breaking positioning block is provided with a material trough identical to that on the bobbin direction adjustment station.

[0034] Preferably, the material box includes a box body fixedly mounted on the shuttle line-changing platform and a horizontal delivery unit; a Z-direction supporting cylinder and a Y-direction pushing cylinder are fixedly mounted on the outer wall of the box body, a lifting plate is slidably fitted on the inner wall of the box body, and a discharge port connecting the top supporting area of ​​the lifting plate and the horizontal delivery unit is provided on the upper part of the box body; the bottom of the lifting plate penetrates the bottom plate of the box body in the Z direction and is fixedly connected to the power output end of the Z-direction supporting cylinder; the power output end of the Y-direction pushing cylinder slides along the Y direction to penetrate the side wall of the box body and pushes the spool lifted up on the lifting plate to the horizontal delivery unit through the discharge port;

[0035] The horizontal delivery unit includes a T-shaped slide and an X-direction pushing cylinder, wherein the feed end of the T-shaped slide is connected to the discharge port of the box and conveys the new spool in a head-to-tail arrangement in the Y direction; one side of the discharge end of the T-shaped slide is fixedly connected to the X-direction pushing cylinder, and the power output end of the X-direction pushing cylinder pushes the new spool along the X direction to the spool direction adjustment station.

[0036] Preferably, the winding and threading head and shuttle cover fastening device in the fifth station includes: the device includes a five-station platform frame, a three-axis manipulator, a suction and threading unit, a spool fastening unit and a capping unit;

[0037] The upper side wall of the five-station platform frame is connected to a three-axis manipulator in the Y-direction translation, Z-direction lifting and lowering, and XY plane twisting, and the middle part of the five-station platform frame is flipped on the YZ plane to connect the wire shaft buckle unit; the pressure cover unit is lifted and lowered in the Z direction and twisted on the XY plane to be connected to the shuttle line changing platform; the line suction unit is flipped on the XZ plane and connected to the shuttle line changing platform; the three-axis manipulator includes a translation bracket, a five-station lifting motor and a five-station rotating motor, wherein the translation bracket is connected to the top side wall of the five-station platform frame in a sliding manner along the Y direction, the top of the translation bracket is fixedly provided with a five-station lifting motor along the Z direction, and one side of the translation bracket is fixedly provided with a five-station rotating motor along the Y direction. Motor; the power output end of the five-station lifting motor is coaxially fixed with a five-station lifting screw, and the bottom end of the five-station lifting screw is coaxially sleeved and meshed with a five-station transmission rod 521; a five-station spline is made on the circumferential outer wall in the middle of the five-station transmission rod, and the bottom end of the five-station transmission rod penetrates the translation bracket downward and is radially fixed with a transmission arm; the power output end of the five-station rotary motor is coaxially fixed with a five-station worm that provides rotational power for the five-station transmission rod; a pressure rod is fixed at the free end of the transmission arm, and a positive-pressure air path and a negative-pressure air path connected to the air pump are opened inside the pressure rod, and an intake and exhaust port connected to the positive-pressure air path and the negative-pressure air path is opened at the bottom of the pressure rod;

[0038] The translation bracket is internally circumferentially rotated and axially limited with a five-station worm gear, the axis of the five-station worm gear slides axially and is circumferentially limited to insert a five-station transmission rod with a five-station spline, and the outer periphery of the five-station worm gear is meshed and connected to the five-station worm; the threading unit comprises a thread suction bracket, a thread suction motor, a thread suction rocker arm and a thread suction tube; the bottom of the thread suction bracket is fixed on the shuttle thread changing platform, and the upper part of the thread suction bracket is fixed with a thread suction motor along the Y direction; the power output end of the thread suction motor is radially fixed to the thread suction rocker arm, and the thread suction motor provides the thread suction rocker arm with flipping power in the XZ plane; the free end of the thread suction rocker arm is radially fixed to the thread suction tube, one end of the thread suction tube is connected to the air pump and the other end cooperates with the pressure rod of the three-axis manipulator to exhaust air at both ends of the threading hole on the side wall of the shuttle shell to alternately transfer the thread ends;

[0039] The bobbin fastening unit includes a fastening motor and a fastening plate, wherein the fastening motor is fixed on the middle platform of the five-station platform frame, and the fastening plate is radially fixed on the power output end of the fastening motor, and the fastening plate is driven by the fastening motor to perform torsional motion in the YZ plane; the capping unit includes a capping cylinder, a capping motor and a capping claw, and the capping cylinder is fixed on the shuttle line changing platform in the Z direction, and the power output end of the capping cylinder is lifted and lowered in the Z direction and fixedly supports the capping motor; the power output end of the capping motor is radially fixed to the capping claw, and the capping cylinder provides the capping claw with Z-direction lifting power, and the capping motor provides the capping claw with torsional power in the XY plane.

[0040] Preferably, the winding tensioning force adjustment device in the sixth station includes: a six-station platform frame, a lifting manipulator, a lifting turntable, a thread end conveying unit and a thread end X-direction supporting unit; the six-station platform frame is fixedly mounted on the shuttle line changing platform, and the upper side wall of the six-station platform frame is lifted in the Z direction and rotated in the XY plane, and is connected with a lifting manipulator for adjusting the pressing force of the thread pressing spring on the shuttle cover, and the middle side wall of the six-station platform frame slides in the Z direction and rotates in the XY plane to support the lifting turntable, and the bottom of the six-station platform frame is twisted and connected to the thread end X-direction supporting unit on the XZ plane; the thread end conveying unit is fixedly mounted on the lifting turntable, and the lifting turntable rotates to drive the thread end conveying unit to perform a horizontal twisting and pulling action, and the X-direction supporting unit cooperates with the thread end conveying unit to clamp and convey the thread end, thereby providing tensioning power for the tension adjustment of the new spool outlet line;

[0041] The lifting manipulator includes a transmission mechanism and a six-station lever. The transmission mechanism is lifted and rotatably connected to the upper side wall of the six-station platform frame, and the power output end of the transmission mechanism is coaxially fixed with the six-station lever; the bottom end of the six-station lever is provided with a Z-upward concave slot that is clamped on the outside of the tension adjustment knob of the pressing spring of the shuttle;

[0042] The lifting turntable includes a six-station lifting cylinder, a twisting cylinder, an L-shaped lifting plate and a six-station rotating frame, wherein the L-shaped lifting plate is lifted and slidably connected to the side wall of the six-station platform frame, the top of the L-shaped lifting plate is hingedly connected to the power output end of the six-station lifting cylinder through a coupling, the middle of the L-shaped lifting plate rotatably supports the six-station rotating frame on the XY plane, and one side of the L-shaped lifting plate is hingedly supported with a twisting cylinder that provides rotational power for the six-station rotating frame; the cylinder body end of the six-station lifting cylinder is hingedly connected to the upper side wall of the six-station platform frame in an XZ plane movable twisting posture; the cylinder body end of the twisting cylinder is hingedly connected to the horizontal support surface of the L-shaped lifting plate in an XY plane movable twisting posture;

[0043] The wire end conveying unit includes a six-station motor frame, a wire feeding motor and a wire drawing roller, wherein the six-station motor frame is fixed on the six-station rotating frame of the lifting turntable, the middle part of the six-station motor frame is fixedly connected to the wire feeding motor along the Y direction, and the top of the six-station motor frame is rotated and plugged into the wire drawing roller along the Y direction; the power output end of the wire feeding motor penetrates the six-station motor frame and is coaxially fixed with an active roller in the Y direction, and the active roller is parallel and spaced and arranged just below the wire drawing roller;

[0044] The thread head X-direction supporting unit comprises a U-shaped fixed frame, a U-shaped turning frame, a driven roller and a supporting cylinder, wherein the U-shaped fixed frame is fixedly arranged on the top surface of the bottom plate of the six-station platform frame with its opening upward, and the top of the U-shaped fixed frame is hingedly buckled with the U-shaped turning frame on the XZ plane; the top of the U-shaped turning frame is rotatably connected to the driven roller, and the middle part of the U-shaped turning frame is hingedly supported with the power output end of the supporting cylinder; the cylinder end of the supporting cylinder is hingedly connected to the shuttle line changing platform on the XZ plane;

[0045] The driven roller is driven by the supporting cylinder to fit on the active roller to cooperate in clamping and conveying the thread end extending from the bobbin in the shuttle; a sensor is provided in the wire drawing roller, which detects the rotational torque applied to the wire drawing roller by the thread end; the six-position lever rotates to adjust the rotation angle of the thread pressing spring tension adjustment knob, so that the bobbin thread wound on the shuttle cover maintains a standard output tension.

[0046] Preferably, a plurality of material boxes are provided and fixedly mounted on the top surface of the central turntable, and the material boxes are driven by the rotation of the central turntable to perform a rotary feeding action on the XY plane to correspond to the six device stations on the shuttle line changing platform;

[0047] The material box includes a box body, a pressing sheet and a back stopper, wherein a shuttle positioning groove which is concave downward in the Z direction and penetrates in the Y direction is opened in the middle of the top surface of the box body, a back stopper which supports and positions the shuttle cover of the box body is fixedly provided at one end in the Y direction, and a pressing sheet which presses the tip of the shuttle in the Z direction is fixedly provided on the top surface of the other end in the Y direction of the box body;

[0048] A threading clearance groove with a Z-shaped concave shape is provided on the top surface of the box body at one side corresponding to the shuttle threading hole;

[0049] The top of the back stopper protrudes upward from the top surface of the box body and is formed with a positioning slope that supports the shuttle cover in the back and is arranged along the XZ direction, and a positioning vertical surface that supports the shuttle cover laterally and is arranged along the YZ direction. The lower part of the back stopper is formed with a piston hole that is connected to the shuttle positioning groove and accommodates the axial sliding of the cylinder piston;

[0050] Magnets are embedded and fixed in the positioning slope and the positioning vertical surface. The magnet in the positioning slope absorbs the outer plane of the shuttle cover to position the shuttle cover in an open position, and the magnet in the positioning vertical surface laterally absorbs the wire pressing spring on the shuttle cover to facilitate the removal of excess wire from the shuttle cover wire groove and the hanging of new wire into the shuttle cover wire groove.

[0051] The advantages and technical effects of the present invention are:

[0052] The fully automatic shuttle line changing platform of the present invention has the following functions at each station:

[0053] 1. First station: automatic loading and unloading device, which can realize the first and last steps of the fully automated shuttle line changing platform, namely, the delivery process of the remaining line shuttle from the material tray to the line changing platform, and the return process of the new line shuttle from the line changing platform to the material tray; the automatic loading and unloading device adjusts the Z-direction alignment of the two ends of the hollow position storing the shuttle in the material tray with the back support cylinder and the delivery unit through the displacement control of the shuttle storage part in the X and Y planes, that is, the shuttle storage part delivers the shuttle in the material tray to the rotating delivery part with three-axis adjustment; in addition, the rotating delivery part is used to transfer the shuttle delivered from the material tray to the shuttle line changing platform, and transfer the shuttle delivered from the shuttle line changing platform to the material tray, so as to realize the fully automatic process of shuttle loading and unloading.

[0054] 2. The second station: the shuttle cover opening device, which can realize the automatic opening of the shuttle cover. The device is fixed on the shuttle line changing platform through an L-shaped seat, and the rocking cylinder provides the rocking plate with up and down stirring power; the rocking plate is the working rotation constraint of the rotating rod in the prying unit. During this process, the second-station rotary motor provides rotation power for the rocking arm, and finally the rocking arm applies left and right stirring power to the prying needle through the L-shaped prying arm. Therefore, the extension and reciprocating rotation of the rocking cylinder and the second-station rotary motor are coordinated to finally realize the coordinated actions of "upward picking" and "side picking" performed by the prying needle simulation personnel when manually opening the shuttle cover.

[0055] 3. The third station: the old bobbin removal device can automatically perform the actions of picking up and prying up the remaining bobbin, clamping in the X direction and transferring in the Y direction, and in the process of removing the bobbin, a plane wire pulling unit is set on the spatial connection path with the thread winding position on the shuttle cover to release the winding relationship between the thread head and the shuttle cover wire slot; the device uses the three-axis execution unit on the upper part of the T-shaped frame to perform the actions of picking up the bobbin from the shuttle and clamping the bobbin until the waste bobbin is clamped out of the shuttle, and in the process of clamping the bobbin, the plane wire pulling unit is used to pull the connection between the bobbin and the shuttle wire slot. The remaining thread is removed from the shuttle to remove the bobbin and the remaining thread ends. During this process: a. The Y-axis slider of the three-axis execution unit is used to fix the three-station lifting cylinder, which drives the Z-axis slider, the X-axis clamping cylinder and the picking cylinder to rise and fall as a whole. Finally, the picking cylinder drives the picking rod to rise to pick out the bobbin from the inside of the shuttle, and then the X-axis clamping cylinder clamps the bobbin; b. During the process of the three-axis execution unit clamping the bobbin and transferring it, the wire pulling motor drives the rod to rotate horizontally on the XY plane to pull out the remaining thread ends in the shuttle thread slot. The cooperation of points a and b realizes the fully automated processing of shuttle bobbin removal.

[0056] 4. The fourth station: a new bobbin filling device, which can realize multiple functions such as automatic material collection, automatic delivery, automatic identification of the direction of the thread ends on the bobbin, automatic thread breaking, and automatic filling and compacting of the new bobbin into the shuttle; the specific functions of each part are as follows: a. First, the new bobbin is stored in the material box. When feeding, the Z-direction top support cylinder drives the lifting plate to lift and deliver the new bobbin in a posture that fits the inner wall of the box. The lifted new bobbin is pushed to the horizontal delivery unit by the Y-direction push cylinder; b. Through the T-shaped slideway constraint guidance of the horizontal delivery unit and the power provided by the X-direction push cylinder, the new bobbin is pushed to the inside of the material trough of the bobbin direction adjustment station; c. The vacuum pump absorbs the thread ends wound on the bobbin in the material trough through the wire suction port opened on the adjustment positioning block. After the thread ends are fixed, the rear robot reaches into the material trough to clamp and lift the new bobbin upwards, thereby lengthening the thread ends of the new bobbin; and then Cooperate with the X-direction sliding of the photoelectric inspection module to check whether the sensor in the slot is located at the Y-direction front end or the Y-direction rear end of the slot. If it is at the Y-direction rear end, the new spool is transferred to the wire breaking preparation station. If it is at the Y-direction front end, the steering motor of the rear manipulator drives the spool to rotate 180° on the XY plane and then transfer it to the wire breaking preparation station; d. After the new spool is inserted into the material slot of the wire breaking preparation station, the four-station wire breaking shear cuts the connecting line between the new spool inside the wire breaking preparation station and the spool direction adjustment station. Then the new spool is grabbed by the front manipulator and delivered to the inside of the positioning material box of the shuttle line changing platform. When the new spool is filled into the positioning material box, the front Z-direction cylinder of the front manipulator drives the front bracket to rise and fall as a whole, and the pneumatic clamp of the front X-direction cylinder on the front bracket clamps and positions the new spool. Finally, the front downward pressure cylinder presses the new spool clamped on the pneumatic clamp into the material box along the Z direction. Based on the above points a, b, c, and d, the new spool is stored and transported from the inside of the material box through the horizontal delivery unit in sequence, the spool orientation is adjusted at the spool orientation adjustment station, the remaining thread ends are cut off at the wire cutting preparation station, and finally loaded into the material box fixed on the central turntable.

[0057] 5. The fifth station: a device for winding and threading the thread head and closing the shuttle cover. This device can automatically wind and thread the thread head on the new spool, and can realize the automatic closing of the shuttle cover. Specifically, the five-station platform frame provides the main support, and the pressure rod as the execution structure of the three-axis manipulator grabs / releases the thread head by exhausting air. When grabbing the thread head, the three-axis manipulator drives the pressure rod to perform Y-direction translation, Z-direction lifting and XY-plane rotation, and performs three actions: A. Wrap the grabbed thread head around the inside of the wire groove of the shuttle cover; B. The pressure rod delivers the thread end to the thread suction hole on the inner wall of the shuttle shell and exhausts the air to release the thread end; C. Use the bottom end of the pressure rod to move the open shuttle cover to make the shuttle cover initially buckled; then, the thread end is sucked by the suction and threading unit. At this time, the pressure rod should exhaust the air at the other end of the thread suction hole to release the thread end, so that the thread end can penetrate the thread suction hole; then, the new thread reel is pressed and positioned by the spool buckling unit to prevent the pressure rod from driving the thread end to wrap around the thread groove of the shuttle cover and drive the entire new thread reel out of the shuttle; finally, the initially buckled shuttle cover is finally compacted by the cover pressing unit.

[0058] 6. The sixth station: a winding tension adjustment device, which can automatically tension the thread end extending from the shuttle, and automatically adjust the tension after the thread end extends from the shuttle; when working, the device provides lifting and rotating support through the six-station platform stand manipulator, and provides lifting support for the lifting turntable; the turntable on the lifting turntable provides rotation support for the six-station motor frame, wire feeding motor, active roller and wire drawing roller, and provides a space for the new thread end extending from the shuttle when the turntable rotates to deliver the shuttle. The lifting turntable first rotates to make way and rotates to reset, and the new thread end can be hung on the wire drawing roller; the driven roller is squeezed and fitted to the active roller, and the rotation of the active roller provides stretching power for the new thread end. During the stretching process, the new thread end applies a rotational torque to the wire drawing roller, and the rotational torque value is detected by a sensor, and the rotation of the six-station lever at the bottom of the lifting manipulator is controlled according to the rotational torque value feedback, and the six-station lever is rotated to adjust the tension adjustment knob of the wire pressing spring to realize the automatic tension adjustment of the shuttle wire.

[0059] 7. Material box: The shuttle housing of the shuttle is covered and positioned by the shuttle positioning groove opened on the top surface of the box body, wherein the pressing piece on the top of the box body is used for Z-direction pressing and positioning of the tip of the shuttle housing, and the back stopper at one end of the box body is used for Y-direction positioning of the shuttle. In addition, one end of the shuttle positioning groove is open to facilitate the cylinder to push the shuttle into the shuttle positioning groove in the Y direction, and the other end of the shuttle positioning groove is open and connected to the piston hole of the back stopper, so that the shuttle is pushed out of the shuttle positioning groove by the cylinder piston; in addition, the threading clearance groove plays a clearance function in the threading process of the new shuttle spool, so that the thread head on the new spool bypasses the shuttle cover wire groove and passes through the shuttle housing through the threading hole; finally, the positioning facade and positioning slope of the back stopper provide the shuttle cover with plane and side positioning after opening, and provide plane and side suction through magnets, so that the shuttle cover can be positioned in an open posture and the blocking relationship of the pressing spring on the wire groove can be released, so as to facilitate the removal of excess wire from the wire groove and the winding of new wire into the wire groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a schematic diagram of the overall assembly three-dimensional structure of the fully automatic shuttle line changing platform in the present invention;

[0061] Figure 2 for Figure 1 A top view of

[0062] Figure 3 This is a schematic diagram of the three-dimensional structure of the automatic loading and unloading device at the first station of the present invention (45° in the forward direction);

[0063] Figure 4 This is a schematic diagram of the three-dimensional structure of the automatic loading and unloading device at the first station of the present invention (facing 45° from the back);

[0064] Figure 5 This is a half-section view of the first station and the automatic loading and unloading device of the present invention;

[0065] Figure 6 for Figure 3 A partial enlarged view of the middle A;

[0066] Figure 7 This is a half-section view of the rotary delivery part of the automatic loading and unloading device at the first station of the present invention;

[0067] Figure 8 for Figure 7 Sectional view of the middle BB section;

[0068] Fig. 9 for Figure 7 Sectional view of the CC section;

[0069] Fig.10 It is a schematic diagram of the three-dimensional structure of the shuttle cover opening device of the second station of the present invention;

[0070] Fig.11 for Fig.10 A partial enlarged view of point D in the middle;

[0071] Fig.12 It is a schematic diagram of the three-dimensional structure of the old bobbin removing device at the third station of the present invention;

[0072] Fig.13 for Fig.12 A partial enlarged view of point E in the middle;

[0073] Fig.14 This is a schematic diagram of the three-dimensional structure of the fourth station of the present invention: a new spool filling device;

[0074] Fig.15 for Fig.14 A partial enlarged view of point F in the middle;

[0075] Fig.16 The fourth station of the present invention is a schematic cross-sectional structure diagram of the front manipulator of the new spool filling device;

[0076] Fig.17 The fourth station of the present invention is a schematic diagram of the three-dimensional structure of the material box in the new spool filling device;

[0077] Fig.18 for Fig.17 Schematic diagram of the cross-sectional structure of the GG section;

[0078] Fig.19 The fourth station of the present invention: a schematic diagram of the structure of the photoelectric inspection module and the horizontal delivery unit above the bobbin orientation adjustment station in the new bobbin filling device (thread head orientation inspection state)

[0079] Fig. 20 The fourth station of the present invention: a schematic diagram of the structure of the photoelectric inspection module and the horizontal delivery unit above the bobbin adjustment station in the new bobbin filling device (the state of the new bobbin being delivered into the material slot of the adjustment positioning block)

[0080] Fig.21 The fourth station of the present invention is a schematic diagram of the three-dimensional structure of the adjustment positioning block in the new spool filling device;

[0081] Fig. 22 This is a schematic diagram of the three-dimensional structure of the fifth station of the present invention: a winding and threading head and a shuttle cover fastening device;

[0082] Fig.23 for Fig. 22 A partial enlarged view of the H in the middle;

[0083] Fig.24 The fifth station of the present invention is a schematic cross-sectional structure diagram of a three-axis manipulator in a winding and threading head and a shuttle cover fastening device;

[0084] Fig.25 This is a front three-dimensional structural diagram of the sixth station of the present invention: a winding tension force adjustment device;

[0085] Fig.26 The sixth station of the present invention: a schematic diagram of the back three-dimensional structure of the winding tension force adjustment device;

[0086] Fig. 27 The sixth station of the present invention is a schematic cross-sectional structure diagram of a lifting manipulator in a winding tensioning force adjustment device;

[0087] Fig.28 This is a schematic diagram of the front three-dimensional structure of the material box in the present invention (the shuttle positioning posture);

[0088] Fig.29 It is a schematic diagram of the three-dimensional structure of the material box in the present invention;

[0089] Fig.30 It is a front view of the material box in the present invention;

[0090] Fig.31 A half-section view of the material box of the present invention;

[0091] Fig.32 Schematic diagram of the three-dimensional structure of the shuttle in the present invention (shuttle cover closed posture);

[0092] Fig.33 It is a three-dimensional structural schematic diagram of the shuttle in the present invention (the shuttle cover is in an open position);

[0093] In the figure: 1-automatic loading and unloading device; 101-fixed gantry; 102-translation guide rail; 103-hollow lifting frame; 104-hollow back plate; 105-material tray; 106-platform plate; 107-guide rail translation motor; 108-lifting frame motor; 109-back support cylinder; 110-screw; 111-delivery cylinder; 112-turn plate; 113-turntable; 114-delivery clamp; 115-base; 116-straight cylinder; 117-limiting wheel set; 118-step ring platform; 119-reversing motor; 120-guide ramp; 121-roller.

[0094] 2-shuttle cover opening device; 201-prying unit; 202-shaking plate; 203-swinging cylinder; 204-L-type seat; 206-two-station rotating motor; 207-rotating rod; 208-L-type prying arm; 209-prying needle;

[0095] 3-Old spool removal device; 301-T-shaped frame; 302-middle platform; 303-three-axis execution unit; 304-plane wire pulling unit; 306-Y-axis slider; 307-three-station lifting cylinder; 308-pick-up cylinder; 309-Z-axis slider; 310-X-axis clamping cylinder; 311-pneumatic clamp; 312-pick-up rod; 313-spool; 314-wire pulling motor; 315-three-station motor frame; 316-pick-up rod; 317-bolt hole.

[0096] 4- New bobbin loading device; 401- Material box; 402- Four-station platform frame; 403- Bobbin direction adjustment station; 404- Fixed-distance double-arm manipulator; 405- Wire breaking preparation station; 408- Photoelectric inspection board; 409- Inspection slot; 410- Rear Z-direction cylinder; 411- Sliding side plate; 412- Steering motor; 413- Front Z-direction cylinder; 414- Front downward pressure cylinder; 415- Front bracket ;416-front X-direction cylinder;418-material trough;419-new spool;420-Z-direction supporting cylinder;421-Y-direction pushing cylinder;422-T-shaped slideway;423-lifting plate;424-discharging port;425-rear X-direction cylinder;426-wire breaking positioning block;427-four-station wire breaking shear;428-vacuum pump;429-adjusting positioning block;430-X-direction pushing cylinder;431-wire suction port.

[0097] 5-winding, threading head and shuttle cover fastening device; 501-five-station platform frame; 502-three-axis manipulator; 503-spool fastening unit; 504-capping unit; 505-suction and threading unit; 507-fastening piece; 508-fastening motor; 509-capping motor; 510-capping claw; 511-transmission arm; 512-pressure rod; 513-suction tube; 514-suction rocker arm; 515- Wire suction bracket; 516-wire suction motor; 517-capping cylinder; 518-five-station lifting motor; 519-translation bracket; 520-five-station lifting screw; 521-five-station transmission rod; 522-five-station spline; 523-five-station worm gear; 524-five-station rotating motor; 525-five-station worm; 527-positive pressure air circuit; 528-negative pressure air circuit; 529-suction and exhaust ports.

[0098] 6-winding tension adjustment device; 603-rotating shaft; 604-wire breaking unit; 605-lifting manipulator; 606-six-station platform frame; 607-six-station lifting cylinder; 608-coupling; 609-L-shaped lifting plate; 610-torsion cylinder; 611-wire feeding motor; 612-six-station rotating frame; 613-six-station motor frame; 614-wire pulling roller; 615-six-station lever; 616-wire end positioning unit; 617-six-station wire breaking Shear; 618-wire breaking motor; 619-cylinder; 620-fixed frame; 621-active roller; 622-driven roller; 623-U-shaped fixed frame; 624-U-shaped flip frame; 625-top support cylinder; 626-six-station lifting motor; 627-six-station lifting screw; 628-six-station transmission rod; 629-six-station spline; 630-six-station worm; 631-six-station rotating motor; 632-six-station worm gear; 633-slot;

[0099] 7-material box; 701-pressing tablet; 705-back stopper; 706-box body; 707-threading clearance groove; 709-positioning vertical surface; 710-positioning slope; 711-magnet; 712-piston hole; 713-shuttle positioning groove;

[0100] 8-central turntable; 9-flying shuttle; 901-shuttle cover; 902-adjusting knob; 903-thread pressing spring; 904-threading hole; 905-prying mouth; 906-wire groove. DETAILED DESCRIPTION

[0101] The embodiments of the invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the invention, and cannot be understood as limiting the invention.

[0102] A fully automatic shuttle line changing platform of the present invention, the shuttle line changing platform delivers a shuttle 9 in a circular direction on an XY plane, wherein the tangential direction of the circular delivery shuttle is defined as the X direction, the radial direction of the circular delivery shuttle is defined as the Y direction, and the gravity direction is defined as the Z direction. A central turntable 8 is rotatably arranged in the middle of the shuttle line changing platform, and a plurality of material boxes 7 for inserting and positioning shuttles are radially fixed on the central turntable, and the outer periphery of the central turntable corresponds to the six device stations on the shuttle line changing platform in sequence, which include:

[0103] First station: automatic loading and unloading device 1; the automatic loading and unloading device includes a shuttle storage unit and a rotary delivery unit; the shuttle storage unit is lifted and lowered on the XZ vertical plane and is arranged on one side of the shuttle line changing platform in a translational manner; the fixed end of the rotary delivery unit is fixedly connected to the shuttle line changing platform, and the movable delivery end of the rotary delivery unit rotates on the XY horizontal plane to deliver new and old shuttles between the shuttle storage unit and the central turntable;

[0104] The second station: the shuttle cover opening device 2; the shuttle cover opening device swings on the YZ vertical plane, and swings on the XZ plane to stir the closed shuttle cover 901 on the shuttle until the shuttle cover opens;

[0105] The third station: the old bobbin removal device 3; the old bobbin removal device translates in the Y direction, lifts in the Z direction, and clamps and removes the old bobbin in the shuttle in the X direction, and removes the thread on the XY plane to disconnect the winding relationship between the remaining thread of the old bobbin and the thread groove 906 on the shuttle cover;

[0106] Fourth station: new bobbin filling device 4; the new bobbin filling device delivers new bobbins 419 step by step along the Y direction, and presses the new bobbins after judging the direction of the thread ends and the remaining thread breakage into the shuttle;

[0107] The fifth station: a winding, threading head and a shuttle cover fastening device 5; the winding, threading head and the shuttle cover fastening device rotates and translates in the XY plane and lifts and lowers in the Z direction to absorb the new thread axis head, and drags the new thread axis head to sequentially perform the actions of winding the shuttle cover groove, threading the thread axis head and pushing the shuttle cover to close;

[0108] The sixth workstation: a winding tension adjustment device 6; the winding tension adjustment device cooperates with the thread adsorption end of the winding and threading head and the shuttle cover snapping device, rotates on the XY vertical plane and tensions and extracts the thread of the new spool on the XZ vertical plane; at the same time, it rotates on the XY plane and lifts and lowers the tensioning knob of the thread pressing piece on the shuttle cover in the Z direction to adjust the thread tension output by the new spool.

[0109] Preferably, in the first station:

[0110] The shuttle storage unit includes: a fixed gantry 101, a hollow lifting frame 103, a translation guide rail 102 and a hollow back plate 104, wherein the fixed gantry is connected to the hollow lifting frame in a Z-direction lifting and sliding manner, and a plurality of translation guide rails are fixedly arranged on one side of the hollow lifting frame in an X-direction, and the translation guide rails are connected to the hollow back plate in an X-direction sliding manner; a plurality of material trays 105 are inserted in an X-direction sliding manner on the hollow back plate; a back support cylinder 109 is fixedly arranged on the fixed gantry, which is telescopic in a Y-direction and penetrates the hollow back plate and the material tray and pushes the shuttle unidirectionally to the rotating delivery part;

[0111] The rotary delivery part includes: a base 115, a reversing motor 119, a turntable 113, a rotating frame and two groups of delivery units; the base is fixed on the platform plate 106 of the shuttle line changing platform, the reversing motor is fixed vertically inside the base, and the turntable is coaxially fixed on the top of the base; the power input end of the turntable is coaxially fixed to the power output end of the reversing motor, the upper part of the turntable rotates to overlap the edge of the top opening surface of the turntable, and two groups of delivery units are arranged on the top of the turntable in parallel and in opposite directions;

[0112] The delivery units each include a delivery cylinder 111 and a delivery clamp 114, wherein the delivery cylinder and the delivery clamp are both fixed on the top surface of the rotating frame, and the power output end of the delivery cylinder slides through the delivery clamp to provide a pushing power for the shuttle clamped in the delivery clamp;

[0113] The turntable is a hollow cylindrical structure with an open top. A stepped ring platform 118 is formed on the circumferential inner wall of the middle part of the turntable, which is axially limited and circumferentially rotated to overlap the turntable, and the top open edge of the turntable is formed as an inclined guide slope 120.

[0114] The rotating frame includes a straight cylinder 116 and a rotating plate 112, wherein the bottom of the straight cylinder is coaxially fixed to the rotating power output end of the reversing motor, the top of the straight cylinder is hinged to support the rotating plate, and the hinge between the straight cylinder and the rotating plate is radially penetrated and connected with a limiting wheel group 117 that is rotatably overlapped on the step ring platform; the rotating plate is a folding plate structure, the middle part of the small-angle surface of the rotating plate is hingedly supported by the straight cylinder, the edge of the small-angle surface of the rotating plate is rotatably connected with a roller 121 that is rollingly supported on the guide slope of the turntable, and a group of delivery units are respectively fixed on both sides of the large-angle surface of the rotating plate.

[0115] Preferably, in the second station, the opening device includes an L-shaped seat 204, a rocking plate 202, and a prying unit 201, wherein the L-shaped seat is fixedly mounted on the platform plate of the shuttle line-changing platform, one end of the L-shaped seat extends upward and is hinged to support the rocking plate, and the lower part of the L-shaped seat is hingedly connected to a rocking cylinder 203 that provides rocking power for the rocking plate; the top of the rocking plate rotates circumferentially and is axially and radially limited to connect the prying unit, and a second-station rotating motor 206 that provides rotational power for the prying unit is fixedly mounted on the rocking plate;

[0116] The prying unit includes a rotating rod 207, an L-shaped prying arm 208 and a prying pin 209, wherein the rotating rod penetrates and is rotatably plugged into the bridge plate, one end of the rotating rod is coaxially fixedly connected to the power output end of the second-station rotating motor, and the other end of the prying rod is radially fixed with an L-shaped prying arm; the free end of the L-shaped prying arm is fixedly plugged with the prying pin along the radial direction of the rotating rod.

[0117] Preferably, in the third station, the old spool removal device includes a T-shaped frame 301, a three-axis execution unit 303 and a plane wire pulling unit 304, wherein the upper part of the T-shaped frame is connected to the three-axis execution unit by sliding along the Y-axis, and the three-axis execution unit is used to pull the spool 313 in the shuttle along the Z direction and clamp the fixed spool along the X direction; the plane wire pulling unit is connected to the middle part of the T-shaped frame by rotating on the XY plane, and the plane wire pulling unit cooperates with the three-axis execution unit to pull out the thread end hung in the shuttle wire slot;

[0118] The bottom of the T-shaped frame is vertically fixed to the top surface of the shuttle line changing platform, and the middle of the T-shaped frame is provided with a middle platform 302 carrying a plane line dialing unit, and the top of the T-shaped frame radially extends along the shuttle delivery direction of the shuttle line changing platform and slides in the Y direction to carry a three-axis execution unit;

[0119] The three-axis execution unit includes a Y-direction slider 306, a Z-direction slider 309 and an X-direction clamping cylinder 310; the Y-direction slider is connected to the upper side wall of the T-shaped frame along the Y-direction sliding guide, and a three-station lifting cylinder 307 is fixedly arranged on the Y-direction slider along the Z-direction; the power output end of the three-station lifting cylinder is fixedly arranged with the Z-direction slider; a stirring cylinder 308 is fixedly arranged on the top of the Z-direction slider, and an X-direction clamping cylinder is fixedly connected to the side wall of the Z-direction slider; the power output end of the stirring cylinder penetrates downwardly through the Z-direction slider and is coaxially fixedly connected with a stirring rod 312; the power output end of the X-direction clamping cylinder is fixedly arranged with a pneumatic clamping claw 311 which extends downwardly to below the bottom surface of the Z-direction slider and horizontally displaces in the X-direction direction to clamp the bobbin;

[0120] The planar wire-pulling unit comprises a three-station motor frame 315, a wire-pulling motor 314 and a shifting rod 316, wherein the three-station motor frame is fixed on the middle platform of the T-shaped frame, the wire-pulling motor is fixed on the three-station motor frame along the Z direction, and a plurality of bolt holes 317 are circumferentially opened on the three-station motor frame; a shifting rod is radially fixed on the power output end of the wire-pulling motor, and the wire-pulling motor provides the shifting rod with wire-pulling torsional power on the XY plane.

[0121] Preferably, in the fourth station, the new bobbin filling device includes a material box 401 and a four-station platform frame 402 which are fixed on the shuttle line changing platform in sequence along the Y direction, and the new bobbin is delivered from the material box to the central turntable via the four-station platform frame;

[0122] The middle part of the four-station platform frame is provided with a bobbin direction adjustment station 403 and a wire breaking preparation station 405 in sequence along the Y direction from the feeding end to the discharging end, and the upper part of the four-station platform frame is connected with a fixed-distance double-arm manipulator 404 which slides along the Y direction and rises and falls in the Z direction. The fixed-distance double-arm manipulator delivers new bobbins step by step to the bobbin direction adjustment station, the wire breaking preparation station and the central turntable in sequence; the bobbin direction adjustment station is electrically controlled to judge and the fixed-distance double-arm manipulator adjusts the direction of the winding thread end on the new bobbin; the wire breaking preparation station cuts the thread end with a posture of fixing the thread end direction;

[0123] The fixed-distance double-arm manipulator includes a sliding side plate 411 which is slidably connected to the upper side wall of the four-station platform frame in the Y direction, and a front manipulator and a rear manipulator are arranged on the upper side plate of the sliding side plate which is lifted and lowered in the Z direction and spaced apart in the Y direction; the front manipulator includes: a front Z-direction cylinder 413, a front bracket 415, a front downward pressure cylinder 414 and a front X-direction cylinder 416; the front Z-direction cylinder is fixedly arranged on one side of the sliding side plate close to the central turntable, and the front bracket is fixedly mounted on the power output end of the front Z-direction cylinder; a front downward pressure cylinder is fixedly arranged on the top of the front bracket in the Z direction, and a front X-direction cylinder is fixedly arranged on the side wall of the front bracket; the front downward pressure cylinder The power output end of the cylinder penetrates the front bracket downward and presses the new spool into the material box; the power output end of the front X-direction cylinder is fixedly connected with a pneumatic clamp, which radially clamps and positions the new spool; the rear manipulator includes: a rear Z-direction cylinder 410, a steering motor 412 and a rear X-direction cylinder 425; the rear Z-direction cylinder is fixedly arranged on the side of the sliding side plate close to the material box, and the steering motor is fixedly connected to the power output end of the rear Z-direction cylinder; the power output end of the steering motor is fixedly connected to the rear X-direction cylinder, and the power output end of the rear X-direction cylinder is fixedly connected with a pneumatic clamp the same as the power output end of the front X-direction cylinder;

[0124] The bobbin orientation adjustment station includes an adjustment positioning block 429 fixedly mounted in the middle of the four-station platform frame, a material slot 418 is provided on the adjustment positioning block, and a photoelectric inspection module is connected to one side of the adjustment positioning block in a sliding manner along the X direction; the material slot is recessed along the Z direction and a new bobbin is inserted and positioned in a Y direction posture, and a wire suction port 431 is provided at both ends of the Y direction of the material slot; the outside of the wire suction port is connected to a vacuum pump 428, and the inside of the wire suction port is connected to the material slot; the photoelectric inspection module includes a photoelectric detection module driven by a motor and sliding along the X direction above the adjustment positioning block An inspection board 408, one end of which is arranged along the Y direction and has two inspection slots 409 extending through it along the Z direction, wherein a sensor for inspecting the direction of the thread head on a new bobbin is arranged in the inspection slot; the wire breaking preparation station comprises a wire breaking positioning block 426 fixedly mounted in the middle of the four-station platform frame, and also comprises a four-station wire breaking shear 427 which vertically penetrates the middle of the four-station platform frame and is arranged between the wire breaking preparation station and the bobbin direction adjustment station; a material trough which is the same as that on the bobbin direction adjustment station is provided on the top surface of the wire breaking positioning block.

[0125] Preferably, the material box includes a box body fixed on the shuttle line-changing platform and a horizontal delivery unit; a Z-direction supporting cylinder 420 and a Y-direction pushing cylinder 421 are fixed on the outer wall of the box body, a lifting plate 423 is slidably fitted on the inner wall of the box body, and a discharge port 424 connecting the top supporting area of ​​the lifting plate and the horizontal delivery unit is provided on the upper part of the box body; the bottom of the lifting plate penetrates the bottom plate of the box body in the Z direction and is fixedly connected to the power output end of the Z-direction supporting cylinder; the power output end of the Y-direction pushing cylinder slides along the Y direction to penetrate the side wall of the box body and pushes the spool lifted up on the lifting plate to the horizontal delivery unit through the discharge port;

[0126] The horizontal delivery unit includes a T-shaped slide 422 and an X-direction pushing cylinder 430, wherein the feed end of the T-shaped slide is connected to the discharge port of the box and conveys the new spool in a head-to-tail arrangement in the Y direction; one side of the discharge end of the T-shaped slide is fixedly connected to the X-direction pushing cylinder, and the power output end of the X-direction pushing cylinder pushes the new spool along the X direction to the spool direction adjustment station.

[0127] Preferably, the winding and threading head and shuttle cover fastening device in the fifth station includes: the device includes a five-station platform frame 501, a three-axis manipulator 502, a suction and threading unit 505, a bobbin fastening unit 503 and a capping unit 504;

[0128] The upper side wall of the five-station platform frame is connected to a three-axis manipulator in the Y-direction translation, Z-direction lifting and lowering, and XY-plane twisting, and the middle part of the five-station platform frame is flipped on the YZ plane to connect the wire shaft buckling unit; the pressure cover unit is lifted and lowered in the Z direction and twisted on the XY plane to be connected to the shuttle line changing platform; the line suction unit is flipped on the XZ plane and connected to the shuttle line changing platform; the three-axis manipulator includes a translation bracket 519, a five-station lifting motor 518 and a five-station rotating motor 524, wherein the translation bracket is connected to the top side wall of the five-station platform frame in a sliding manner along the Y direction, the top of the translation bracket is fixedly provided with a five-station lifting motor along the Z direction, and one side of the translation bracket is fixedly provided with a five-station rotating motor along the Y direction. Motor; the power output end of the five-station lifting motor is coaxially fixed with a five-station lifting screw 520, and the bottom end of the five-station lifting screw is coaxially sleeved and meshed with a transmission rod; a five-station spline 522 is made on the circumferential outer wall of the middle part of the transmission rod, and the bottom end of the transmission rod penetrates the translation bracket downward and is radially fixed with a transmission arm 511; the power output end of the five-station rotating motor is coaxially fixed with a five-station worm 525 that provides rotational power for the transmission rod; a pressure rod 512 is fixed at the free end of the transmission arm, and a positive-pressure air path 527 and a negative-pressure air path 528 connected to the air pump are opened inside the pressure rod, and an air intake and exhaust port 529 connected to the positive-pressure air path and the negative-pressure air path is opened at the bottom of the pressure rod;

[0129] The translation bracket is internally circumferentially rotated and axially limited with a five-station worm gear 523, the axis of the five-station worm gear slides axially and is circumferentially limited to insert a transmission rod with a five-station spline, and the outer periphery of the five-station worm gear is meshed and connected to the five-station worm; the threading unit comprises a thread suction bracket 515, a thread suction motor 516, a thread suction rocker arm 514 and a thread suction tube 513; the bottom of the thread suction bracket is fixed on the shuttle thread changing platform, and the upper part of the thread suction bracket is fixed with a thread suction motor along the Y direction; the power output end of the thread suction motor is radially fixed to the thread suction rocker arm, and the thread suction motor provides the thread suction rocker arm with its flipping power in the XZ plane; the free end of the thread suction rocker arm is radially fixed to the thread suction tube, one end of the thread suction tube is connected to the air pump and the other end cooperates with the pressure rod of the three-axis manipulator to exhaust air at both ends of the threading hole 904 on the side wall of the shuttle shell to alternately transfer the thread head;

[0130] The bobbin snap-fitting unit includes a snap-fitting motor 508 and a snap-fitting plate 507, wherein the snap-fitting motor is fixed on the middle platform of the five-station platform frame, and the snap-fitting plate is radially fixed to the power output end of the snap-fitting motor, and the snap-fitting plate is driven by the snap-fitting motor to perform torsional motion in the YZ plane; the capping unit includes a capping cylinder 517, a capping motor 509 and a capping claw 510, and the capping cylinder is fixed on the shuttle line changing platform in the Z direction, and the power output end of the capping cylinder is lifted and lowered in the Z direction and fixedly supports the capping motor; the power output end of the capping motor is radially fixed to the capping claw, and the capping cylinder provides the capping claw with Z-direction lifting power, and the capping motor provides the capping claw with torsional power in the XY plane.

[0131] Preferably, the winding tensioning force adjustment device in the sixth station includes: a six-station platform frame 606, a lifting manipulator 605, a lifting turntable, a thread end conveying unit and a thread end X-direction supporting unit; the six-station platform frame is fixedly mounted on the shuttle line changing platform, and a lifting manipulator for adjusting the pressing force of the thread pressing spring 903 on the shuttle cover is connected on the upper side wall of the six-station platform frame, which is lifted in the Z direction and rotates in the XY plane; the middle side wall of the six-station platform frame slides in the Z direction and rotates in the XY plane to support the lifting turntable, and the bottom of the six-station platform frame is twisted and connected to the thread end X-direction supporting unit on the XZ plane; the thread end conveying unit is fixedly mounted on the lifting turntable, and the lifting turntable rotates to drive the thread end conveying unit to perform a horizontal twisting and pulling action, and the X-direction supporting unit cooperates with the thread end conveying unit to clamp and convey the thread end, thereby providing tensioning power for the tension adjustment of the new spool outlet;

[0132] The lifting manipulator includes a transmission mechanism and a six-station lever 615. The transmission mechanism is lifted and rotatably connected to the upper side wall of the six-station platform frame, and the power output end of the transmission mechanism is coaxially fixed with the six-station lever; the bottom end of the six-station lever is provided with a Z-upward concave slot 633 that is clamped on the outside of the tension adjustment knob 902 of the pressing spring of the shuttle;

[0133] The lifting turntable includes a six-station lifting cylinder 607, a twisting cylinder 610, an L-shaped lifting plate 609 and a six-station rotating frame 612, wherein the L-shaped lifting plate is lifting and slidingly connected to the side wall of the six-station platform frame, the top of the L-shaped lifting plate is hingedly connected to the power output end of the six-station lifting cylinder through a coupling 608, the middle part of the L-shaped lifting plate rotatably supports the six-station rotating frame on the XY plane, and one side of the L-shaped lifting plate is hingedly supported with a twisting cylinder that provides rotational power for the six-station rotating frame; the cylinder end of the six-station lifting cylinder is hingedly connected to the upper side wall of the six-station platform frame in an XZ plane movable twisting posture; the cylinder end of the twisting cylinder is hingedly connected to the horizontal support surface of the L-shaped lifting plate in an XY plane movable twisting posture;

[0134] The wire end conveying unit includes a six-station motor frame 613, a wire feeding motor 611 and a wire drawing roller 614, wherein the six-station motor frame is fixed on the six-station rotating frame of the lifting turntable, the middle part of the six-station motor frame is fixedly connected to the wire feeding motor along the Y direction, and the top of the six-station motor frame is rotated and plugged into the wire drawing roller along the Y direction; the power output end of the wire feeding motor penetrates the six-station motor frame and is coaxially fixed with an active roller 621 in the Y direction, and the active roller is parallel and spaced and arranged just below the wire drawing roller;

[0135] The thread head X-direction supporting unit comprises a U-shaped fixed frame 623, a U-shaped turning frame 624, a driven roller 622 and a supporting cylinder 625, wherein the U-shaped fixed frame is fixedly mounted on the top surface of the bottom plate of the six-station platform frame with its opening upward, and the top of the U-shaped fixed frame is hingedly buckled to the U-shaped turning frame in the XZ plane; the top of the U-shaped turning frame is rotatably connected to the driven roller, and the middle of the U-shaped turning frame is hingedly supported with the power output end of the supporting cylinder; the cylinder end of the supporting cylinder is hingedly connected to the shuttle line changing platform in the XZ plane;

[0136] The driven roller is driven by the supporting cylinder to fit on the active roller to cooperate in clamping and conveying the thread end extending from the bobbin in the shuttle; a sensor is provided in the wire drawing roller, which detects the rotational torque applied to the wire drawing roller by the thread end; the six-position lever rotates to adjust the rotation angle of the thread pressing spring tension adjustment knob, so that the bobbin thread wound on the shuttle cover maintains a standard output tension.

[0137] Preferably, a plurality of material boxes are provided and fixedly mounted on the top surface of the central turntable, and the material boxes are driven by the rotation of the central turntable to perform a rotary feeding action on the XY plane to correspond to the six device stations on the shuttle line changing platform;

[0138] The material box 7 includes a box body 706, a pressing sheet 701 and a back stopper 705, wherein a shuttle positioning groove 713 which is concave downward in the Z direction and penetrates in the Y direction is opened in the middle of the top surface of the box body, a back stopper for supporting and positioning the shuttle cover is fixedly provided at one end of the box body in the Y direction, and a pressing sheet for pressing the tip of the shuttle in the Z direction is fixedly provided on the top surface of the other end of the box body in the Y direction;

[0139] A threading clearance groove 707 with a Z-shaped concave shape is provided on one side of the top surface of the box body corresponding to the shuttle threading hole;

[0140] The top of the back stopper protrudes upward from the top surface of the box body and is formed with a positioning slope 710 that supports the shuttle cover in the back and is arranged along the XZ direction, and a positioning vertical surface 709 that supports the shuttle cover in the side and is arranged along the YZ direction. The lower part of the back stopper is formed with a piston hole 712 that is connected to the shuttle positioning groove and accommodates the axial sliding of the cylinder piston;

[0141] Magnets 711 are embedded and fixed in the positioning slope and the positioning vertical surface. The magnet in the positioning slope absorbs the outer plane of the shuttle cover to position the shuttle cover in an open position, and the magnet in the positioning vertical surface laterally absorbs the wire pressing spring on the shuttle cover to facilitate the removal of excess wire from the shuttle cover wire groove and the hanging of new wire into the shuttle cover wire groove.

[0142] In order to more clearly illustrate the specific implementation mode of the present invention, an embodiment is provided below:

[0143] The fully automatic shuttle line changing platform of the present invention has the following coordination process for each workstation:

[0144] S1. The automatic loading and unloading device of the first station transfers the shuttle in the material tray to the inside of the material box of the central turntable; then the central turntable rotates 60° counterclockwise to transfer the material box to the second station;

[0145] S2. The shuttle cover opening device of the second station opens the shuttle cover by tilting, twisting and picking. After the shuttle cover is opened, it is positioned by two-way magnetic attraction on the side wall of the material box; then the central turntable rotates 60° counterclockwise to transfer the material box to the third station;

[0146] S3. The old bobbin removal device of the third station removes the old bobbin from the shuttle and removes the old bobbin from the shuttle cover slot; the central turntable then rotates 60° counterclockwise to transfer the material box to the fourth station;

[0147] S4. The new bobbin filling device at the fourth station adjusts the orientation of the new bobbin in the material box and puts it into the shuttle after the wire is broken; then the central turntable rotates 60° counterclockwise to transfer the material box to the fifth station;

[0148] S5. The winding, threading and shuttle cover fastening device of the fifth station first absorbs the thread end of the new spool and performs a track winding action on the shuttle cover groove, so that the thread end of the new spool is wound into the groove, and the new spool is pressed and positioned in the process; then the thread end is alternately absorbed to realize the threading function in the threading hole of the shuttle shell, and finally the shuttle cover is fastened and fixed; then the central turntable rotates 60° counterclockwise to transfer the material box to the sixth station;

[0149] S6. The winding tension adjustment device of the sixth station provides continuous tension for the thread end extending from the shuttle, and implements the inspection of the tension. During this process, the adjustment knob of the thread pressing spring on the shuttle cover is adjusted to adjust the tension of the shuttle thread, and finally the thread is cut; then the central turntable rotates 60° counterclockwise to transfer the material box to the first station;

[0150] S7. The automatic loading and unloading device of the first station transfers the shuttle with the replaced bobbin in the material box to the material tray. During this process, a discharge cylinder with prior art technology is fixed on the central turntable. The discharge cylinder penetrates the back of the supporting material box to push the new bobbin inside the material box into the automatic loading and unloading device.

[0151] In summary, the full-automatic line change of the shuttle is completed by the sequential cycle of steps S1 to S7.

[0152] The fully automatic shuttle line changing platform of the present invention has the following internal operation process of each station:

[0153] 1. First station: automatic loading and unloading device, such as Figures 3 to 9 As shown: when the shuttle storage part is working, the lifting frame motor 108 on the fixed gantry drives the screw to rotate, thereby providing lifting power for the hollow lifting frame; the guide rail translation motor 107 on the fixed gantry, its power output end rotates and damping fits on the back bottom of the hollow back plate, providing the hollow back plate with sliding power on the translation guide rail; in addition, the material tray adopts a mature product in the existing technology, and the middle part of the material plate is made with multiple Z-direction penetrating material troughs for placing the shuttles. When taking materials, the power output end of the back support cylinder extends into the material trough to push the shuttle out to the delivery clamp of the rotating delivery part.

[0154] When the rotating delivery part is working, the reversing motor provides rotational power for the straight cylinder and the rotating plate. In addition, the bottom of the rotating plate slides with the guide slope on the top of the turntable through rollers to adjust the delivery inclination angle of the delivery unit. When the shuttle is reloaded into the material tray after the line is changed, the delivery cylinder provides a pushing force to push the shuttle in the delivery clamp back into the material trough of the material tray.

[0155] In addition, preferably, since the material trough inside the material plate in the prior art is an inclined structure, how to take out the shuttle from the material trough and place it on the processing position of the shuttle line changing platform becomes the key technical problem to be solved in this application. After the rotary delivery part receives the shuttle at an inclined low position, it is driven by the reversing motor to rotate 180°, and then cooperates with the inclination offset of the turntable (caused by the constraint of the guide slope on the top surface of the turntable), and finally delivers the shuttle horizontally to the processing position of the shuttle line changing platform in a horizontal posture; similarly, after the rotary delivery part receives the shuttle that has completed the line change at a horizontal high position, it is driven by the reversing motor to rotate 180°, and then cooperates with the inclination offset of the turntable, and finally delivers the shuttle to the inside of the material trough of the material tray in an inclined posture. In the above process, the material tray is driven by the shuttle storage part to rise and fall and slide horizontally on the X and Y planes to ensure that a certain material trough of the material plate is aligned with the movement axis of the back support cylinder and the delivery cylinder.

[0156] 2. Second station: Shuttle cover opening device, such as Fig.10 and Fig.11As shown: when opening the cover, the top of the L-shaped seat serves as the fulcrum of the rocking plate, and cooperates with the extension and contraction of the rocking cylinder to enable the prying needle to perform the tilt adjustment action on the XY plane; the second-station rotary motor drives the rotating rod and the L-shaped prying arm to enable the prying needle to perform the rotation adjustment action on the XZ plane. Through the above-mentioned coordination of the actions in the XY plane and the XZ plane, the prying needle simulates the human hand to insert the prying needle into the prying opening 905 of the shuttle cover, and then performs the prying action of rocking and lifting to pry up the shuttle cover and the pressing spring on the shuttle. In this process, the shuttle is fixed on the shuttle line changing platform through the material box.

[0157] 3. The third station: the old spool removal device, such as Fig.12 and Fig.13 As shown: When preparing for work, the central turntable in the middle of the shuttle line changing platform delivers the shuttle to the bobbin removal station in a circular direction. Before removal, the shuttle cover is in an open state, and the bobbin is placed flat in the cavity inside the shuttle. The remaining line of the bobbin is hung in the wire groove of the shuttle cover, and then processed by the old bobbin removal device. The working principle is as follows:

[0158] S3.1. The Y-direction slider drives the entire three-axis actuator to move along the Y-direction until the propelling rod moves radially to the top of one end of the spool;

[0159] S3.2. The lifting cylinder drives the Z-axis slide, the X-axis clamping cylinder, the stirring cylinder and the stirring rod to move downward as a whole until the bottom end of the stirring rod is inserted into the gap between the inner wall of the shuttle and the end of the spool;

[0160] S3.3. The lifting cylinder drives the Z-axis slide, X-axis clamping cylinder and the stirring cylinder to move downward. At the same time, the stirring cylinder drives the stirring rod to rise, and the end of the bobbin is picked out of the shuttle. After the pneumatic clamp descends to the height of the bobbin being picked out above the shuttle, the lifting cylinder descends to the lowest position.

[0161] S3.4. The X-axis clamping cylinder is started to drive the starting clamping claws to move in opposite directions on both sides of the bobbin to clamp the bobbin; then the three-axis execution unit resets and transfers the bobbin, and during the transfer of the bobbin, the remaining thread end of the bobbin is wound in the wire groove of the shuttle;

[0162] S3.5. The thread-pulling motor starts, driving the lever to rotate on the XY plane. The lever pulls the remaining thread that has been tensioned in step S4, so that the remaining thread end is pulled out of the thread slot of the shuttle.

[0163] 4. The fourth station: new spool filling device, such as Figures 14 to 21 The workflow for transferring the new spool from the material box to the material box is as follows:

[0164] S4.1. The new spools piled in the material box are first lifted by the lifting plate driven by the Z-direction supporting cylinder. The top surface of the lifting plate cooperates with the inner wall of the material box to lift the new spools arranged in the Y direction to the same height as the material box outlet. At this time, the new spools not arranged in the Y direction fall back into the material box;

[0165] S4.2. The Y-axis push cylinder pushes the new spool on the lifting plate to the inside of the T-shaped slideway;

[0166] S4.3. The new spool at the discharge end of the T-shaped slideway is pushed by the X-direction push cylinder into the trough of the adjustment positioning block, that is, the new spool enters the spool direction adjustment station;

[0167] S4.4. The vacuum pump is started, and the thread end at the axis of the new spool is sucked out from the thread suction port; then the rear manipulator is started, and the rear Z-direction cylinder drives the steering motor and the rear X-direction cylinder to move to the top of the new spool at the spool direction adjustment station, and the rear manipulator is driven by the lateral slide to adjust the three axes to clamp and lift the new spool upward. At this time, the thread end of the new spool is still sucked by the thread suction port, and a thread will be pulled out between the thread end and the new spool in the Z direction; then the photoelectric inspection module is started, the photoelectric inspection board is translated, and the inspection slot is clamped on the thread pulled out between the new spool and the thread suction port, so as to judge whether the thread end of the new spool appears in the Y-direction front end or the Y-direction rear end; if the thread end extends in the Y-direction front end, the steering motor is started to drive the rear X-direction cylinder to clamp the new spool and rotate it horizontally 180°, so that the thread end faces the Y-direction rear end, and the new spool is delivered to the wire breaking preparation station (at this time, the thread end is still being sucked by the vacuum pump through the thread suction port);

[0168] S4.5. After the new spool falls into the trough of the wire-breaking positioning block, the four-station wire-breaking shear is started to shorten the line between the wire suction port and the new spool, and then the disconnected wire ends are sucked away and discarded through the wire suction port by the vacuum pump;

[0169] S4.6. The front manipulator is started, and the new spool is clamped by the three-axis adjustment of the lateral slide, the front Z-direction cylinder, and the front X-direction cylinder, and the new spool is delivered from the wire breaking preparation station to the shuttle that is clamped and positioned inside the material box. In this process, in order to ensure that the shuttle is pressed into the shuttle, the bottom of the power output end of the front downward pressure cylinder presses down the top surface of the new spool;

[0170] By looping through the above steps S4.1 to S4.6, the new spools are delivered one by one from the stacked state inside the material box to the inside of the material box.

[0171] 5. Fifth station: winding, threading head and shuttle cover fastening device, such as Figure 22 to Figure 24 As shown: The specific process is as follows:

[0172] S5.1 The rotating frame in the middle of the shuttle line changing platform delivers the material box with the shuttle embedded inside to the fifth process of the shuttle automatic line changing of the present invention in a circumferential direction. At this time, the shuttle cover of the shuttle is in an open state, the new bobbin in the shuttle is embedded in the inner cavity of the shuttle shell, and the thread head on the new bobbin is placed at the front end of the shuttle (the radial outer end in the circumferential delivery direction);

[0173] S5.2 The three-axis manipulator starts, driving the pressure rod to move to the front end of the shuttle. At the same time, the negative pressure air circuit provides negative pressure to push the thread end on the new spool into the pressure rod through the suction and exhaust ports, so that the three-axis manipulator can grasp and fix the thread end.

[0174] S5.3 The three-axis manipulator drags the thread end to the open shuttle cover position, and then simulates the human hand movements to lift, translate, and rotate, and wind the thread end inside the thread groove on the shuttle cover; in this process, since the thread end needs to be dragged, the spool buckling unit is started at this time, and the buckling motor drives the buckling piece to flip and buckle on the new spool to perform radial positioning of the new spool. At this time, when the thread end is dragged again, the new spool can only perform a circumferential rotation pay-off action in the shuttle cavity, and cannot perform a radial displacement action, so as to prevent the new spool from detaching from the shuttle;

[0175] After the pressure rod of the S5.4 three-axis manipulator grabs the thread end and completes the winding track on the shuttle cover, it moves the thread end to the threading hole on the inner wall of the shuttle shell, and then the negative pressure air circuit is disconnected, and the positive pressure air circuit is ventilated to blow the thread end adsorbed and fixed at the suction and exhaust ports out of the pressure rod; at the same time, the thread suction motor drives the thread suction tube to flip to the threading hole on the outer wall of the shuttle shell and starts the air pump. The air pump generates negative pressure to adsorb the thread end detached from the pressure rod. In this process, the thread end will detach from the pressure rod and penetrate the thread suction hole, and finally be positioned inside the thread suction tube, thus completing the threading process after winding;

[0176] After S5.5 threading is completed, the three-axis manipulator drives the pressure rod to rotate and move the open shuttle cover to a nearly horizontal initial fastening posture; finally, the pressing motor drives the pressing claw to rotate on the XY plane to just above the shuttle cover, and then the pressing cylinder starts to drive the pressing claw downward to compact the shuttle cover, and then the pressing motor and the pressing cylinder drive the pressing claw to reset; this completes the fifth process of the shuttle line changing platform, namely the fully automated processing of thread winding, threading and shuttle cover fastening.

[0177] 6. Sixth station: winding tension adjustment device, such as Figure 25 to Figure 27 As shown: The workflow is as follows:

[0178] S6.1. The lifting turntable moves downward, and the turntable drives the thread end conveying unit to rotate and make way;

[0179] S6.2. The central turntable rotates 60° counterclockwise to deliver the shuttle processed at the fifth station to the sixth station of the present application. During this process, the suction and threading unit at the fifth station always adsorbs the thread extending from the shuttle;

[0180] S6.3. After the turntable is in place, the turntable drives the wire end conveying unit to rotate and hang the wire, and controls the lifting turntable to move upward to ensure that the new wire end is hung on the wire drawing roller and the active roller;

[0181] S6.4. The supporting cylinder of the X-axis supporting unit is started to push the driven roller to radially squeeze and fit on the active roller, so as to realize radial clamping of the middle section of the new line between the active roller and the driven roller;

[0182] S6.5. Start the wire feeding motor, so that the active roller and the driven roller cooperate to draw the new wire from the shuttle. During this process, the new wire applies a rotational torque to the wire drawing roller, and the tension of the new wire extending from the shuttle is detected by the sensor;

[0183] S6.6. The lifting manipulator starts, driving the six-station lever to translate and rotate, so that the slot at the bottom of the six-station lever is connected to the outside of the tension adjustment knob of the wire pressing spring, and according to the wire tension detected by the sensor in step S5, the six-station lever is feedback-controlled to rotate to adjust the tension adjustment knob of the wire pressing spring, and finally the tension adjustment of the new wire of the shuttle is realized;

[0184] S6.7. The cylinder 619 is started to drive the six-station wire cutting shear 617 to penetrate into the new wire hanging position along the Y direction, and then the wire cutting motor 618 is started to drive the six-station wire cutting shear to cut the new wire. The wire end positioning unit 616 of the fifth station absorbs the cut new wire end and discards it. Finally, the turntable is started to transfer the shuttle with tension adjustment to the next station, thus completing the entire process of the sixth station in this application: shuttle wire tension adjustment.

[0185] In addition, the present invention preferably has a rotating shaft 603 fixed in the Z direction in the middle of the shuttle line-changing platform, the outer periphery of which is rotatably sleeved on the central turntable in the XY plane, and a wire-breaking unit 604 is provided on the top of the rotating shaft, which is used to cut the new wire extended from the shuttle and wound on the wire-head conveying unit after the adjustment of the wire head tension force is completed. The wire-breaking unit includes a fixed frame 620, a six-station wire-breaking shear, a cylinder and a wire-breaking motor 618, wherein the fixed frame is fixed on the top of the rotating shaft, the fixed frame is fixedly connected to the cylinder, the power output end of the cylinder fixedly supports the wire-breaking motor, and the power output end of the wire-breaking motor is movably connected to the six-station wire-breaking shear.

[0186] In addition, in the process of the shuttle line changing platform rotating and delivering the shuttle from the fifth station to the sixth station, the thread end of the new line extending from the shuttle is adsorbed and fixed by the thread suction and threading unit of the fifth station. When the tension adjustment of the thread end of the new line in the sixth station is completed, the new line between the shuttle and the thread end positioning unit is cut by the wire cutting shear of the sixth station, thus completing the shuttle processing of the sixth station. This ensures that in the initial state of the sixth station, the thread end conveying unit is hung on the middle section of the thread end of the new line during the rotation of the lifting turntable.

[0187] In addition, the present invention preferably has a six-station lifting manipulator with the same transmission structure as the five-station three-axis manipulator, specifically comprising: a translation bracket, a six-station lifting motor 626 and a six-station rotating motor 631, wherein the translation bracket is slidably connected to the top side wall of the six-station platform frame along the Y direction, the top of the translation bracket is fixedly provided with a six-station lifting motor along the Z direction, and one side of the translation bracket is fixedly provided with a six-station rotating motor along the Y direction; the power output end of the six-station lifting motor is coaxially fixedly connected with a six-station lifting screw Rod 627, the bottom end of the six-station lifting screw is coaxially mounted and meshed with a six-station transmission rod 628; a six-station spline 629 is made on the circumferential outer wall of the middle part of the transmission rod, and the bottom end of the transmission rod penetrates downwardly through the lifting manipulator and has a slot, and the power output end of the six-station rotating motor is coaxially fixed with a six-station worm 630 that provides rotational power for the transmission rod; the six-station spline 629 is axially sliding and circumferentially limited on the outside and is equipped with a six-station worm gear 632 that is meshed with the six-station worm.

[0188] 7. Material box, such as Figure 28 to Figure 31 As shown:

[0189] The shuttle line changing platform is used for shuttle positioning when the shuttle performs fully automatic line changing. The positioning posture of the material box when each station is positioned and the shuttle line changing process are as follows:

[0190] S7.1. The shuttle carrying the old spool is pushed by the cylinder into the shuttle positioning groove of the box body for positioning. During this process, the two sides and the bottom of the shuttle are positioned by the inner wall of the shuttle positioning groove, the root of the shuttle is limited by the back stopper, and the tip of the shuttle is pressed and positioned by the pressing sheet;

[0191] S7.2. Transfer the shuttle positioning material box to the five workstations of opening the cover, taking out the wire, changing the wire, threading and adjusting the tension, so as to carry out the multiple processes of opening the cover of the shuttle, removing the old spool inside the shuttle, removing the old thread ends in the wire groove of the shuttle cover, placing the new spool inside the shuttle, winding the new thread axis end around the wire groove and finally passing it through the threading hole, closing the shuttle cover and adjusting the tension of the new wire.

[0192] S7.3. Push the new spool out of the shuttle positioning groove. During this process, the cylinder piston axially penetrates the piston hole into the shuttle positioning groove and pushes the shuttle out from the other end of the shuttle positioning groove.

[0193] Finally, all the parts not described in the present invention adopt mature products and mature technical means in the prior art.

[0194] In the description of this specification, reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in the embodiment or example of the invention.

[0195] Although embodiments of the invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A fully automatic shuttle line changing platform, which delivers shuttles in a circular direction on an XY plane, wherein the tangential direction of the circular delivery shuttle is defined as the X direction, the radial direction of the circular delivery shuttle is defined as the Y direction, and the gravity direction is defined as the Z direction, characterized in that: The central part of the shuttle line changing platform is rotatably provided with a central turntable, on which a plurality of material boxes for inserting and positioning the shuttles are radially fixed, and the outer periphery of the central turntable corresponds to the six device stations on the shuttle line changing platform in sequence, including: First station: automatic loading and unloading device; the automatic loading and unloading device includes a shuttle storage unit and a rotating delivery unit; the shuttle storage unit is lifted and lowered on the XZ vertical plane and is arranged on one side of the shuttle line changing platform in a translational manner; the fixed end of the rotating delivery unit is fixedly connected to the shuttle line changing platform, and the movable delivery end of the rotating delivery unit rotates on the XY horizontal plane to deliver new and old shuttles between the shuttle storage unit and the central turntable; The second station: a shuttle cover opening device; the shuttle cover opening device swings on the YZ vertical plane, and swings on the XZ plane to stir the closed shuttle cover on the shuttle until the shuttle cover opens; The third station: an old bobbin removal device; the old bobbin removal device translates in the Y direction, lifts in the Z direction, and clamps and removes the old bobbin in the shuttle in the X direction, and removes the thread on the XY plane to disconnect the winding relationship between the remaining thread of the old bobbin and the thread groove on the shuttle cover; The fourth station: a new bobbin filling device; the new bobbin filling device delivers the new bobbin step by step along the Y direction, and presses the new bobbin into the shuttle after judging the direction of the thread head and the remaining thread is broken; The fifth station: a winding and threading head and a shuttle cover fastening device; the winding and threading head and the shuttle cover fastening device rotate and translate on the XY plane and lift and lower in the Z direction to absorb the new thread axis head, and drag the new thread axis head to sequentially perform the actions of winding the shuttle cover groove, threading the thread axis head and pushing the shuttle cover to close; The sixth workstation: a winding tension adjustment device; the winding tension adjustment device cooperates with the thread adsorption end of the winding and threading heads and the shuttle cover snapping device, rotates on the XY vertical plane and tensions and extracts the thread of the new spool on the XZ vertical plane; at the same time, it rotates on the XY plane and lifts and lowers the tensioning knob of the thread pressing piece on the shuttle cover in the Z direction to adjust the thread tension output by the new spool.

2. The fully automatic shuttle line changing platform according to claim 1, characterized in that: In the first station: The shuttle storage unit comprises: a fixed gantry, a hollow lifting frame, a translation guide rail and a hollow back plate, wherein the fixed gantry is connected to the hollow lifting frame in a Z-direction lifting and sliding manner, a side surface of the hollow lifting frame is fixed with a plurality of translation guide rails in an X-direction, and the translation guide rails are connected to the hollow back plate in an X-direction sliding manner; a plurality of material trays are inserted in the hollow back plate in an X-direction sliding manner; a back support cylinder is fixed on the fixed gantry, which is telescopic in a Y-direction and penetrates the hollow back plate and the material tray and pushes the shuttle in a unidirectional manner to the rotating delivery part; The rotary delivery part comprises: a base, a reversing motor, a turntable, a rotating frame and two groups of delivery units; the base is fixed on the platform plate of the shuttle line changing platform, the reversing motor is vertically fixed inside the base, and the turntable is coaxially fixed on the top of the base; the power input end of the turntable is coaxially fixed to the power output end of the reversing motor, the upper part of the turntable rotates to overlap the edge of the top opening surface of the turntable, and two groups of delivery units are arranged on the top of the turntable in parallel and in opposite directions; The delivery units each include a delivery cylinder and a delivery clamp, wherein the delivery cylinder and the delivery clamp are both fixed on the top surface of the rotating frame, and the power output end of the delivery cylinder slides through the delivery clamp to provide a pushing power for the shuttle clamped in the delivery clamp; The turntable is a hollow cylindrical structure with an open top. A stepped ring is formed on the circumferential inner wall of the middle part of the turntable, which is axially limited and circumferentially rotated to overlap the turntable, and the top open edge of the turntable is formed as an inclined guide slope. The rotating frame includes a straight cylinder and a rotating plate, wherein the bottom of the straight cylinder is coaxially fixed to the rotating power output end of the reversing motor, the top of the straight cylinder is hinged to support the rotating plate, and the hinge between the straight cylinder and the rotating plate is radially penetrated and connected with a limiting wheel group that is rotatably overlapped on the step ring platform; the rotating plate is a folding plate structure, the middle part of the small-angle surface of the rotating plate is hingedly supported by the straight cylinder, the edge of the small-angle surface of the rotating plate is rotatably connected to a roller supported on the guide slope of the turntable, and a group of delivery units are respectively fixed on both sides of the large-angle surface of the rotating plate.

3. The fully automatic shuttle line changing platform according to claim 1, characterized in that: In the second station, the opening device includes an L-shaped seat, a rocking plate, and a prying unit, wherein the L-shaped seat is fixed on the platform plate of the shuttle line changing platform, one end of the L-shaped seat extends upward and is hinged to support the rocking plate, and the lower part of the L-shaped seat is hingedly connected to a rocking cylinder that provides rocking power for the rocking plate; the top of the rocking plate rotates circumferentially and is axially and radially limited to connect the prying unit, and a two-station rotating motor is fixed on the rocking plate to provide rotational power for the prying unit; The prying unit includes a rotating rod, an L-shaped prying arm and a prying pin, wherein the rotating rod penetrates and is rotatably plugged into the bridge plate, one end of the rotating rod is coaxially fixedly connected to the power output end of the second-station rotating motor, and the other end of the prying rod is radially fixed with an L-shaped prying arm; the free end of the L-shaped prying arm is fixedly plugged with the prying pin along the radial direction of the rotating rod.

4. The fully automatic shuttle line changing platform according to claim 1, characterized in that: In the third station, the old bobbin removal device includes a T-shaped frame, a three-axis execution unit and a plane wire pulling unit, wherein the upper part of the T-shaped frame is slidably connected to the three-axis execution unit along the Y-axis, and the three-axis execution unit is used to pull the bobbin in the shuttle along the Z direction and clamp the fixed bobbin along the X direction; the plane wire pulling unit is rotatably connected to the middle part of the T-shaped frame on the XY plane, and the plane wire pulling unit cooperates with the three-axis execution unit to pull out the thread end hanging in the shuttle wire slot; The bottom of the T-shaped frame is vertically fixed to the top surface of the shuttle line changing platform, the middle of the T-shaped frame is provided with a middle platform carrying a plane line dialing unit, and the top of the T-shaped frame radially extends along the shuttle delivery direction of the shuttle line changing platform and slides in the Y direction to carry a three-axis execution unit; The three-axis execution unit includes a Y-direction slider, a Z-direction slider and an X-direction clamping cylinder; the Y-direction slider is connected to the upper side wall of the T-shaped frame along the Y-direction sliding guide, and the Y-direction slider is fixedly provided with a lifting cylinder along the Z-direction; the power output end of the three-station lifting cylinder is fixedly provided with a Z-direction slider; the top of the Z-direction slider is fixedly provided with a stirring cylinder, and the side wall of the Z-direction slider is fixedly connected with an X-direction clamping cylinder; the power output end of the stirring cylinder penetrates downwardly through the Z-direction slider and is coaxially fixedly provided with a stirring rod; the power output end of the X-direction clamping cylinder is fixedly provided with a pneumatic clamping claw that extends downward to below the bottom surface of the Z-direction slider and horizontally displaces in the X direction to clamp the bobbin; The planar wire-pulling unit comprises a three-station motor frame, a wire-pulling motor and a shifting rod, wherein the three-station motor frame is fixed on the middle platform of the T-shaped frame, the wire-pulling motor is fixed on the three-station motor frame along the Z direction, and a plurality of bolt holes are circumferentially opened on the three-station motor frame; a shifting rod is radially fixed on the power output end of the wire-pulling motor, and the wire-pulling motor provides the shifting rod with wire-pulling torsional power on the XY plane.

5. The fully automatic shuttle line changing platform according to claim 1, characterized in that: In the fourth station, the new bobbin filling device includes a material box and a four-station platform frame fixed on the shuttle line changing platform in sequence along the Y direction, and the new bobbin is delivered from the material box to the central turntable via the four-station platform frame; The middle part of the four-station platform frame is provided with a bobbin direction adjustment station and a wire breaking preparation station in sequence along the Y direction from the feeding end to the discharging end, and the upper part of the four-station platform frame is connected with a fixed-distance double-arm manipulator that slides along the Y direction and lifts in the Z direction, and the fixed-distance double-arm manipulator delivers new bobbins step by step to the bobbin direction adjustment station, the wire breaking preparation station and the central turntable in sequence; the bobbin direction adjustment station is electrically controlled to make a judgment and the fixed-distance double-arm manipulator adjusts the direction of the winding thread end on the new bobbin; the wire breaking preparation station cuts the thread end with a posture that fixes the thread end direction; The fixed-distance double-arm manipulator includes a sliding side plate that is slidably connected to the upper side wall of the four-station platform frame in the Y direction, and a front manipulator and a rear manipulator are arranged on the sliding side plate, which are lifted and lowered in the Z direction and arranged at intervals in the Y direction; the front manipulator includes: a front Z-direction cylinder, a front bracket, a front downward pressure cylinder and a front X-direction cylinder; the front Z-direction cylinder is fixedly mounted on one side of the sliding side plate close to the central turntable, and the front bracket is fixedly mounted on the power output end of the front Z-direction cylinder; a front downward pressure cylinder is fixedly mounted on the top of the front bracket in the Z direction, and a front X-direction cylinder is fixedly mounted on the side wall of the front bracket; The power output end penetrates the front bracket downward and presses the new spool into the material box; the power output end of the front X-direction cylinder is fixedly connected with a pneumatic clamp, which radially clamps and positions the new spool; the rear manipulator includes: a rear Z-direction cylinder, a steering motor and a rear X-direction cylinder; the rear Z-direction cylinder is fixedly arranged on the side of the sliding side plate close to the material box, and the steering motor is fixedly connected to the power output end of the rear Z-direction cylinder; the power output end of the steering motor is fixedly connected to the rear X-direction cylinder, and the power output end of the rear X-direction cylinder is fixedly connected with a pneumatic clamp identical to the power output end of the front X-direction cylinder; The bobbin direction adjustment station includes an adjustment positioning block fixedly mounted in the middle of the four-station platform frame, a material trough is provided on the adjustment positioning block, and a photoelectric inspection module is connected to one side of the adjustment positioning block in a sliding manner along the X direction; the material trough is recessed along the Z direction and the new bobbin is inserted and positioned in the Y direction, and a wire suction port is provided at both ends of the material trough in the Y direction; the outside of the wire suction port is connected to a vacuum pump, and the inside of the wire suction port is connected to the material trough; the photoelectric inspection module includes a photoelectric inspection plate driven by a motor and sliding along the X direction above the adjustment positioning block, one end of the photoelectric inspection plate is arranged along the Y direction and has two inspection slots penetrating along the Z direction, and a sensor for inspecting the direction of the thread head on the new bobbin is provided in the inspection slot; the wire breaking preparation station includes a wire breaking positioning block fixedly mounted in the middle of the four-station platform frame, and also includes a four-station wire breaking shear that vertically penetrates the middle of the four-station platform frame and is arranged between the wire breaking preparation station and the bobbin direction adjustment station; the top surface of the wire breaking positioning block is provided with a material trough identical to that on the bobbin direction adjustment station.

6. The fully automatic shuttle line changing platform according to claim 5, characterized in that: The material box includes a box body fixedly mounted on the shuttle line-changing platform and a horizontal delivery unit; a Z-direction supporting cylinder and a Y-direction pushing cylinder are fixedly mounted on the outer wall of the box body, a lifting plate is slidably fitted on the inner wall of the box body, and a discharge port connecting the top supporting area of ​​the lifting plate and the horizontal delivery unit is provided on the upper part of the box body; the bottom of the lifting plate penetrates the bottom plate of the box body in the Z direction and is fixedly connected to the power output end of the Z-direction supporting cylinder; the power output end of the Y-direction pushing cylinder slides along the Y direction to penetrate the side wall of the box body and pushes the spool lifted up on the lifting plate to the horizontal delivery unit through the discharge port; The horizontal delivery unit includes a T-shaped slide and an X-direction pushing cylinder, wherein the feed end of the T-shaped slide is connected to the discharge port of the box body and conveys the new spool in a head-to-tail arrangement in the Y direction; one side of the discharge end of the T-shaped slide is fixedly connected to the X-direction pushing cylinder, and the power output end of the X-direction pushing cylinder pushes the new spool along the X direction to the spool direction adjustment station.

7. The fully automatic shuttle line changing platform according to claim 1, characterized in that: The winding and threading head and shuttle cover buckling device in the fifth station includes: the device includes a five-station platform frame, a three-axis manipulator, a suction and threading unit, a bobbin buckling unit and a capping unit; The upper side wall of the five-station platform frame is connected to a three-axis manipulator in the Y-direction translation, Z-direction lifting and lowering, and XY plane twisting, and the middle part of the five-station platform frame is flipped on the YZ plane to connect the wire shaft buckle unit; the pressure cover unit is lifted and lowered in the Z direction and twisted on the XY plane to be connected to the shuttle line changing platform; the wire suction unit is flipped on the XZ plane and connected to the shuttle line changing platform; the three-axis manipulator includes a translation bracket, a five-station lifting motor and a five-station rotating motor, wherein the translation bracket is connected to the top side wall of the five-station platform frame by sliding along the Y direction, the top of the translation bracket is fixed with a five-station lifting motor along the Z direction, and one side of the translation bracket is fixed with a five-station rotating motor along the Y direction Rotating motor; the power output end of the five-station lifting motor is coaxially fixedly connected with a five-station lifting screw, and the bottom end of the five-station lifting screw is coaxially sleeved and meshingly connected with a five-station transmission rod; a five-station spline is made on the circumferential outer wall in the middle of the five-station transmission rod, and the bottom end of the five-station transmission rod penetrates downwardly through the translation bracket and is radially fixedly connected with a transmission arm; the power output end of the five-station rotating motor is coaxially fixedly connected with a five-station worm that provides rotational power for the five-station transmission rod; a pressure rod is fixedly provided at the free end of the transmission arm, and a positive-pressure air path and a negative-pressure air path connected to an air pump are provided inside the pressure rod, and an intake and exhaust port connected to the positive-pressure air path and the negative-pressure air path is provided at the bottom of the pressure rod; The translation bracket has a five-station worm gear that rotates circumferentially and is axially limited and overlapped, and the five-station transmission rod with a five-station spline is axially slidable and circumferentially limited at the axis center of the five-station worm gear, and the outer periphery of the five-station worm gear is meshed and connected to the five-station worm; the thread suction unit includes a thread suction bracket, a thread suction motor, a thread suction rocker arm and a thread suction tube; the bottom of the thread suction bracket is fixed on the shuttle thread changing platform, and the upper part of the thread suction bracket is fixed with a thread suction motor along the Y direction; the power output end of the thread suction motor is radially fixed to the thread suction rocker arm, and the thread suction motor provides the thread suction rocker arm with flipping power in the XZ plane; the free end of the thread suction rocker arm is radially fixed to the thread suction tube, one end of the thread suction tube is connected to the air pump and the other end cooperates with the pressure rod of the three-axis manipulator to exhaust air at both ends of the threading hole on the side wall of the shuttle case to alternately transfer the thread ends; The spool fastening unit includes a fastening motor and a fastening plate, wherein the fastening motor is fixed on the middle platform of the five-station platform frame, and the fastening plate is radially fixed on the power output end of the fastening motor, and the fastening plate is driven by the fastening motor to perform torsional movement in the YZ plane; the capping unit includes a capping cylinder, a capping motor and a capping claw, wherein the capping cylinder is fixed on the shuttle line changing platform in the Z direction, and the power output end of the capping cylinder is lifted and lowered in the Z direction and fixedly supports the capping motor; the power output end of the capping motor is radially fixed to the capping claw, and the capping cylinder provides the capping claw with Z-direction lifting power, and the capping motor provides the capping claw with torsional power in the XY plane.

8. The fully automatic shuttle line changing platform according to claim 1, characterized in that: The winding tensioning force adjustment device in the sixth station includes: a six-station platform frame, a lifting manipulator, a lifting turntable, a thread end conveying unit and a thread end X-direction supporting unit; the six-station platform frame is fixedly mounted on the shuttle line changing platform, and the upper side wall of the six-station platform frame is lifted in the Z direction and rotated in the XY plane, and is connected with a lifting manipulator for adjusting the pressing force of the thread pressing spring on the shuttle cover, and the middle side wall of the six-station platform frame slides in the Z direction and rotates in the XY plane to support the lifting turntable, and the bottom of the six-station platform frame is twisted and connected to the thread end X-direction supporting unit on the XZ plane; the thread end conveying unit is fixedly mounted on the lifting turntable, and the lifting turntable rotates to drive the thread end conveying unit to perform a horizontal twisting and pulling action, and the X-direction supporting unit cooperates with the thread end conveying unit to clamp and convey the thread end, thereby providing tensioning power for the tension adjustment of the new spool outlet line; The lifting manipulator includes a transmission mechanism and a six-station lever, the transmission mechanism is lifted and rotatably connected to the upper side wall of the six-station platform frame, and the power output end of the transmission mechanism is coaxially fixed with the six-station lever; the bottom end of the six-station lever is provided with a Z-upward concave slot and is clamped on the outside of the tension adjustment knob of the shuttle's pressing spring; The lifting turntable comprises a six-station lifting cylinder, a torsion cylinder, an L-shaped lifting plate and a six-station rotating frame, wherein the L-shaped lifting plate is lifting and slidingly connected to the side wall of the six-station platform frame, the top of the L-shaped lifting plate is hingedly connected to the power output end of the six-station lifting cylinder through a coupling, the middle part of the L-shaped lifting plate rotatably supports the six-station rotating frame on the XY plane, and one side of the L-shaped lifting plate is hingedly supported with a torsion cylinder that provides rotational power for the six-station rotating frame; the cylinder body end of the six-station lifting cylinder is hingedly connected to the upper side wall of the six-station platform frame in an XZ plane movable torsion posture; the cylinder body end of the torsion cylinder is hingedly connected to the horizontal support surface of the L-shaped lifting plate in an XY plane movable torsion posture; The wire end conveying unit comprises a six-station motor frame, a wire feeding motor and a wire drawing roller, wherein the six-station motor frame is fixedly mounted on the six-station rotating frame of the lifting turntable, the middle of the six-station motor frame is fixedly connected to the wire feeding motor along the Y direction, and the top of the six-station motor frame is rotated and plugged into the wire drawing roller along the Y direction; the power output end of the wire feeding motor penetrates the six-station motor frame and is coaxially fixed with an active roller in the Y direction, and the active roller is parallel and spaced and arranged just below the wire drawing roller; The thread head X-direction supporting unit comprises a U-shaped fixed frame, a U-shaped turning frame, a driven roller and a supporting cylinder, wherein the U-shaped fixed frame is fixedly mounted on the top surface of the bottom plate of the six-station platform frame with its opening upward, and the top of the U-shaped fixed frame is hingedly buckled with the U-shaped turning frame in the XZ plane; the top of the U-shaped turning frame is rotatably connected to the driven roller, and the middle part of the U-shaped turning frame is hingedly supported with the power output end of the supporting cylinder; the cylinder end of the supporting cylinder is hingedly connected to the shuttle line changing platform in the XZ plane; The driven roller is driven by the supporting cylinder to fit on the active roller to cooperate in clamping and conveying the thread end extending from the bobbin in the shuttle; a sensor is provided in the wire pulling roller, which detects the rotational torque applied to the wire pulling roller by the thread end; the six-position lever rotates to adjust the rotation angle of the thread pressing spring tension adjustment knob, so that the bobbin thread wound on the shuttle cover maintains a standard output tension.

9. The fully automatic shuttle line changing platform according to claim 1, characterized in that: The material boxes are provided in plurality and are respectively fixed on the top surface of the central turntable, and the material boxes are driven by the rotation of the central turntable to perform a rotary feeding action on the XY plane to correspond to the six device stations on the shuttle line changing platform; The material box comprises a box body, a pressing sheet and a back stopper, wherein a shuttle positioning groove which is concave downward in the Z direction and penetrates in the Y direction is opened in the middle of the top surface of the box body, a back stopper which supports and positions the shuttle cover is fixedly arranged at one end of the box body in the Y direction, and a pressing sheet which presses the tip of the shuttle in the Z direction is fixedly arranged on the top surface of the other end of the box body in the Y direction; A threading clearance groove concave downward is provided on the top surface of the box body on one side corresponding to the shuttle threading hole; The top of the back stopper protrudes upward from the top surface of the box body and is formed with a positioning slope that supports the shuttle cover in the back and is arranged along the XZ direction, and a positioning vertical surface that supports the shuttle cover laterally and is arranged along the YZ direction. The lower part of the back stopper is formed with a piston hole that is connected to the shuttle positioning groove and accommodates the axial sliding of the cylinder piston; The positioning slope and the positioning vertical surface are both embedded and fixed with magnets, wherein the magnet in the positioning slope surface attracts the outer plane of the shuttle cover to position the shuttle cover in an open position, and the magnet in the positioning vertical surface laterally attracts the wire pressing spring on the shuttle cover to facilitate the removal of excess wire from the shuttle cover wire groove and the hanging of new wire into the shuttle cover wire groove.

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