Yarn inserting robot for bobbin winder

Abstract

The invention discloses a yarn inserting robot of a bobbin winder, and relates to the technical field of yarn inserting robot equipment. The yarn inserting robot of the bobbin winder comprises a vehicle body assembly, a guide wheel assembly is arranged at the bottom end of the vehicle body assembly and installed on a rail assembly, a guide assembly and a drag chain assembly are arranged on one side of the rail assembly and act on the guide wheel assembly, and a power assembly is arranged on the guide wheel assembly. Material frames are symmetrically arranged on the two sides of the vehicle body assembly, yarn grabbing assemblies are arranged above the material frames, a machining table is arranged between the two material frames, end finding platforms are symmetrically arranged on the machining table, a containing platform is arranged on one sides of the end finding platforms, end finding assemblies are arranged on the end finding platforms, and a rotating platform is arranged on the other sides of the end finding platforms. A yarn feeding assembly is arranged above the rotating platform, the end finding assembly is connected with an air blowing system, the air blowing system is arranged on one side of the end finding platform, and a control device is arranged on the vehicle body assembly. The bobbin yarn end finding device can automatically find the end of the bobbin yarn and is high in practicability.

Description

Technical Field

[0001] The invention relates to the technical field of yarn inserting robot equipment, in particular to a yarn inserting robot for a winding machine. Background Art

[0002] Textile machinery refers to various mechanical equipment needed to process natural fibers or chemical fibers into textiles. Although the machinery for producing chemical fibers includes a variety of chemical machinery, it is now considered to be an extension of textile machinery and belongs to the broad sense of textile machinery. The processes required to process different fibers such as cotton, linen, silk, and wool into textiles are not the same, and some are completely different. Therefore, the machines required are also of various types, but the design principles of some machines are similar. Even for the same type of equipment, the structure of the machines is similar. However, due to the different properties of the raw materials and the final requirements for the fabric, they are generally not universal. The winding machine is a special equipment for the textile industry. As the last process of spinning and the first process of weaving, the winding machine plays a "bridge" role that connects the upper and lower levels, and therefore occupies an important position in the textile field.

[0003] In the past, most of the bobbins used in winding machines were mainly inserted manually, which not only had low work efficiency, but also had a serious shortage of workers in factories due to rising wages, resulting in increased textile costs. A winding machine inserting machine is now designed to solve the above problems. Summary of the invention

[0004] In view of the deficiencies of the existing problems, the present invention provides a yarn inserting robot for a winding machine to solve the existing problems raised in the above background technology.

[0005] To solve the above problems, the present invention is implemented through the following technical solutions: a yarn inserting robot for a winding machine, comprising a body component, a track component, a guide component, a guide wheel component, a power component, a material frame, a yarn grabbing component, a head finding platform, a head finding component, a yarn feeding component and a blowing system, wherein a guide wheel component is arranged at the bottom end of the body component, the guide wheel component is installed on the track component, a guide component and a drag chain component are arranged on one side of the track component, the guide component and the drag chain component act on the guide wheel component, a power component is arranged on the guide wheel assembly, material frames are symmetrically arranged on both sides of the body component, a yarn grabbing component is arranged above the material frame, a processing table is arranged between the two material frames, a head finding platform is symmetrically arranged on the processing table, a placing platform is arranged on one side of the head finding platform, a head finding component is arranged on the head finding platform, a rotating platform is arranged on the other side of the head finding platform, and a yarn feeding component is arranged above the rotating platform, the head finding component comprises a conveying channel device, a yarn picking head device, a negative pressure yarn suction head device, a monitoring component and a secondary A yarn suction head device, the head finding assembly is connected with a blowing system, the blowing system is arranged on one side of the head finding platform, a control device is arranged on the body assembly, the power assembly, the yarn grabbing assembly, the head finding assembly, the yarn feeding assembly and the blowing system are electrically connected to the control device, the yarn feeding assembly comprises a lifting bracket, a guide wheel bracket is arranged at the top of the lifting bracket, a lifting column is arranged in the lifting bracket and the guide wheel bracket, a guide wheel mechanism is arranged in the guide wheel bracket, a lifting mechanism is arranged in the lifting column, a turntable motor is arranged at the top of the lifting column, a turntable body is arranged on the turntable motor, a slide is connected to the turntable body, a slide rod is arranged on the slide, a driving mechanism is arranged at the rear end of the slide rod, a fine-tuning mechanism is arranged at the front end of the slide, a first mounting plate is connected to the bottom end of the fine-tuning mechanism, a visual camera device is arranged on the front side of the first mounting plate, a plurality of gripper assemblies are arranged on the rear side of the first mounting plate, and the monitoring assembly comprises a fixed frame and a monitoring probe, and the outer surface of the monitoring probe is arranged on the outer surface of the fixed frame.

[0006] Preferably, the guide wheel assembly includes a pulley, a first guide wheel and a second guide wheel, the pulleys are respectively installed on the front and rear sides of the bottom end of the vehicle body assembly, the first guide wheel and the second guide wheel are symmetrically arranged at the central position of the bottom end of the vehicle body assembly, the first guide wheel and the second guide wheel are installed on the track assembly, the power assembly includes a first drive device and a brake device, the first drive device and the brake device are fixed at the bottom end of the vehicle body assembly, the first drive device is connected to the first guide wheel, and the brake device is connected to the second guide wheel.

[0007] Preferably, the yarn grabbing assembly includes a robotic arm device and a yarn grabbing device, the robotic arm device is arranged above the material frame, the robotic arm device is provided with a yarn grabbing device, the robotic arm device includes a fixed arm, the fixed arm is installed on the first rotating axis of a first rotating motor on the processing table, a second rotating motor is arranged at the front end of the fixed arm, a mobile arm is installed on the second rotating axis of the second rotating motor, a transverse rotating motor is arranged at the bottom end of the mobile arm, a second driving device is arranged on the transverse rotating axis of the transverse rotating motor, the second driving device is fixed on the first slider, the first slider is installed in a moving track, a longitudinal rotating motor is arranged at the bottom end of the moving track, and the yarn grabbing device is arranged on the longitudinal rotating axis of the longitudinal rotating motor.

[0008] Preferably, the yarn grabbing device includes a clamping plate, which is fixed at the bottom end of the moving track, a pair of third rotating motors are respectively provided on the front and rear sides of the clamping plate, a clamping rod is provided on the third rotating shaft of the third rotating motor, a positioning camera device is provided on the front side of the clamping plate, the conveying channel device is distributed on the head-finding platform, a monitoring component is distributed on the conveying channel device, and a lifting component is provided in the material frame.

[0009] Preferably, the guide wheel mechanism includes an installation cover plate, a support rod is provided on the inner side of the installation cover plate, a guide wheel body is provided on the support rod, a guide wheel groove is provided on the side of the lifting column, and the guide wheel body is against the guide wheel groove, the lifting mechanism includes a first lifting cylinder, the first lifting cylinder is fixed in the lifting column, the bottom end of the first gas rod of the first lifting cylinder is fixed to the bottom end of the lifting bracket, the driving mechanism includes a push rod motor, the push rod motor is fixed at the rear end of the slide table, the push rod body of the push rod motor is connected with the slide rod, the fine-tuning mechanism includes a second lifting cylinder, the second lifting cylinder is fixed at the front end of the slide rod, the bottom end of the second gas rod of the second lifting cylinder is provided with a fourth rotating motor, and the bottom end of the fourth rotating shaft of the fourth rotating motor is provided with a first mounting plate.

[0010] Preferably, the yarn head picking device includes a first yarn drum and a second mounting plate, the top of the second mounting plate is sleeved with a yarn drum fixing seat, the first yarn drum is fixedly mounted on the top of the yarn drum fixing seat, the interior of the second mounting plate is sleeved with a friction wheel, the bottom of the friction wheel is fixedly mounted with a driving motor, one end of the top of the second mounting plate is fixedly mounted with a vertical plate, the front of the vertical plate is fixedly mounted with a first top plate, the bottom of the first top plate is fixedly mounted with a first cylinder, the bottom of the first cylinder is fixedly mounted with a bottom plate, the outside of the first cylinder is fixedly mounted with a first support plate, and the front of the first support plate is fixedly mounted There is a connecting plate, a first blowing pipe is fixedly installed on the back side of the connecting plate at one end away from the first cylinder, the first blowing pipe is connected to a blowing head on the side away from the connecting plate, the top of the blowing head is connected to a blowing nozzle, a second cylinder is fixedly installed on the bottom end of the connecting plate away from the first cylinder, a hook knife is fixedly installed on the side of the second cylinder close to the first yarn tube, a base is fixedly installed on the top end of the second mounting plate away from the vertical plate, connecting heads are fixedly installed at both ends of the top of the base, a second blowing pipe is fixedly installed on the top of the connecting head, and blowing holes are opened at both ends of the top of the second blowing pipe.

[0011] Preferably, a bottom frame is fixedly installed at the bottom of the second mounting plate, a driving end of the driving motor is fixedly connected to the friction wheel, the driving motor is fixedly installed at the bottom of the second mounting plate and is located inside the bottom frame, a mounting bracket is fixedly installed at the top of the vertical plate close to the first yarn drum, a pressing cylinder is fixedly installed at the end of the top of the mounting bracket away from the vertical plate, a fixing cap is fixedly installed at the bottom of the pressing cylinder, first telescopic rods are fixedly installed at both ends of the bottom of the first top plate, the bottom of the first telescopic rod is fixedly connected to the bottom plate, the first supporting plate is sleeved on the outside of the first telescopic rod, a first ventilation duct is fixedly installed on the front of the connecting plate, the first ventilation duct is connected to the first blowing duct, the blowing nozzle and the blowing hole are both inclined and inclined to one side of the first yarn drum, the back of the second blowing duct is connected to the second ventilation duct, a support rod is fixedly installed at the bottom of the outside of the first yarn drum, a mounting seat is fixedly installed at the bottom of the support rod, the support rod is inclined, the number of the mounting seats is two, and they are symmetrically distributed on the outside of the first yarn drum.

[0012] Preferably, the negative pressure yarn suction head device comprises a support plate, a spring seat is fixedly installed on one side of the top of the support plate, and fixing rods are hingedly installed inside at both ends of the spring seat, a second top plate is hingedly installed on the top of the fixing rod, a sliding sleeve is sleeved on the outer side of the fixing rod, a movable plate is fixedly installed on the bottom of the sliding sleeve, a second telescopic rod is movably installed on the middle part of the spring seat, a third lifting cylinder is sleeved on the outer side of the bottom end of the second telescopic rod, a protective shell is fixedly installed on one side of the second top plate, a bobbin yarn fixing platform is fixedly installed on the middle part of the support plate, a fixing tube is fixedly installed on the top of the bobbin yarn fixing platform, a bobbin body is movably sleeved on the outer side of the fixing tube, a fixing ring is fixedly installed on the side of the movable plate away from the sliding sleeve, a twisting air ring is movably installed inside the fixing ring, and the inside of the twisting air ring A twisting air inlet hole is opened, the top of the fixed ring is connected with a telescopic tube, the top of the telescopic tube is connected with a first connecting tube, a second sensor is fixedly installed inside the first connecting tube, the top of the first connecting tube is connected with a first negative pressure tube, a first sensor is movably installed on the inner side of the first negative pressure tube away from one end of the telescopic tube, the other end of the first negative pressure tube is connected with a second negative pressure tube, a protective shell is movably installed on the outer side of the second negative pressure tube, the bottom end of the second negative pressure tube is connected with a second connecting tube, an L-shaped support plate is hinged at the bottom of the support plate, an upper line scissors damper is movably installed on one side of the bottom of the L-shaped support plate, and a lower line scissors damper is movably installed on the other side of the bottom of the L-shaped support plate, a third connecting tube is hinged inside the yarn tube fixing base, and a movable seat is hinged at the bottom end of the third connecting tube.

[0013] Preferably, the top end of the second telescopic rod is hinged at the bottom of the movable plate, the movable plate is sleeved on the outside of the fixed rod, the second telescopic rod is sleeved inside the third lifting cylinder, and the second telescopic rod passes through the interior of the spring seat and extends to the bottom of the movable plate, the yarn tube body is located inside the twisting balloon, and the specifications and dimensions of the yarn tube body are compatible with the specifications and dimensions of the twisting balloon, the first connecting tube passes through the second top plate and extends to the inside of the first negative pressure tube, the protective shell is fixedly mounted on the top of the support plate, and the second connecting tube passes through the interior of the support plate and extends to the inside of the second negative pressure tube, the second connecting tube passes through the L-shaped support plate and extends to the inside of the upper line scissors damper, the interior of one side of the second negative pressure tube is connected to a blowing tube body, and the blowing A movable cover is movably installed on the outer side of the tube body, the third connecting pipe passes through the movable seat and extends to the interior of the lower line scissors damper, the upper line scissors damper and the lower line scissors damper are connected to a U-shaped tube at the bottom, the air inlet end on one side of the U-shaped tube is connected to a connecting pipe, the air inlet end of the connecting pipe is connected to an external connecting pipe, a bobbin seat brush is movably installed inside the bobbin fixing base, a bobbin seat mesh plate is movably installed inside the bobbin fixing base, a ring sleeve is movably installed on the outer side of the bottom of the third lifting cylinder, a first rotating shaft is hinged inside one end of the ring sleeve, the first rotating shaft passes through the interior of one side of the L-shaped support plate, a hinge bolt is hinged inside the other end of the ring sleeve, and the outer side of the hinge bolt is hinged inside one side of the L-shaped support plate.

[0014] Preferably, the secondary yarn suction head device comprises a positive and negative pressure sealed chamber, a yarn clamping cylinder and a second yarn tube, the top of the positive and negative pressure sealed chamber is evenly provided with a positive pressure air inlet in a ring shape, the bottom of the positive and negative pressure sealed chamber is evenly connected with a connecting air pipe, the bottom of the connecting air pipe is connected with the top of the yarn clamping cylinder, the second yarn tube is located at the bottom of the yarn clamping cylinder, the bottom of the positive and negative pressure sealed chamber is evenly provided with a yarn suction chamber, the yarn clamping cylinder comprises an outer shell, the left side of the inner cavity of the outer shell is fixedly connected to a fixed clamping rod, the right side of the inner cavity of the outer shell is fixedly connected to a sleeve, the right side of the inner cavity of the sleeve is fixedly connected to a compression spring, and the left side of the compression spring is fixedly connected to a third A telescopic rod, a splint is fixedly connected to the left side of the third telescopic rod, a positioning block is connected to the bottom of the shell, the positioning block is arc-shaped, a rubber pad is fixedly connected to the left side of the splint, the thickness of the rubber pad is 3mm, the right side of the top and bottom of the third telescopic rod are fixedly connected to the second slider, the top and bottom of the inner cavity of the sleeve are provided with a sliding groove for cooperating with the second slider, the outer surface of the second slider is slidably connected to the inner surface of the sliding groove, a negative pressure outlet is provided on the right side of the positive and negative pressure sealing cavity, the number of the positive pressure air inlets is seven, the number of the yarn clamping cylinders is seven, and the number of the connecting air pipes is seven.

[0015] The present invention provides a yarn inserting robot for a winding machine. It has the following beneficial effects: The winding machine yarn inserting robot can grab any placed bobbin yarn through the provided yarn grabbing component, and send the bobbin yarn to the position specified by the head-finding platform system; the provided lifting component can freely change the height according to the weight, which can maximize the yarn loading amount while also being able to get close to the yarn grabbing component for ready grabbing at any time; the provided head-finding component ensures that the yarn head of each bobbin yarn is sent into the inner wall tube of the bobbin; the provided yarn feeding component can grab the bobbin yarn and the yarn head at the same time, and can identify the number of bobbins; the provided body component cooperates with the track component, the guide component, the guide wheel component, and the power component to realize functions such as automatic patrol and fixed-point positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the power assembly of the present invention; Figure 3 It is a structural schematic diagram of the yarn grabbing assembly of the present invention; Figure 4 It is a structural schematic diagram of the yarn grabbing device of the present invention; Figure 5 It is a structural schematic diagram of the head-finding assembly of the present invention; Figure 6 It is a structural schematic diagram of the yarn feeding assembly of the present invention; Figure 7 It is a structural schematic diagram of the lifting mechanism of the present invention; Figure 8 It is a structural schematic diagram of the guide wheel mechanism of the present invention; Fig. 9 It is a structural schematic diagram of the yarn head picking device of the present invention; Fig.10 It is a partial three-dimensional structural schematic diagram of the yarn head picking device of the present invention; Fig.11 It is a partial three-dimensional structural schematic diagram of the yarn head picking device of the present invention; Fig.12 It is a partial three-dimensional structural schematic diagram of the yarn head picking device of the present invention; Fig.13 It is a side structural schematic diagram of the yarn picking head device of the present invention; Fig.14 It is a schematic diagram of the back structure of the yarn picking device of the present invention; Fig.15 It is a left-side stereoscopic structural schematic diagram of the negative pressure yarn suction head device of the present invention; Fig.16 It is a right-side perspective structural schematic diagram of the negative pressure yarn suction head device of the present invention; Fig.17 It is a front view schematic diagram of the external structure of the negative pressure yarn suction head device of the present invention; Fig.18 It is a rear view external structure schematic diagram of the negative pressure yarn suction head device of the present invention; Fig.19 This is a schematic diagram of the structure inside the bobbin yarn fixing stand of the present invention; Fig. 20 It is a structural schematic diagram of the ring sleeve of the present invention; Fig.21 It is a schematic diagram of the cross-section internal structure of the negative pressure yarn suction head device of the present invention; Fig. 22 It is a structural schematic diagram of the twisting balloon of the present invention; Fig.23 It is a structural schematic diagram of the secondary yarn suction head device of the present invention; Fig.24 It is a structural schematic diagram of the positive and negative pressure sealing chamber of the present invention; Fig.25 It is a structural schematic diagram of the yarn suction chamber of the present invention; Fig.26 It is a structural schematic diagram of the sleeve of the present invention; Fig. 27 It is a schematic diagram of the structure of the monitoring component of the present invention.

[0017] In the figure: 1, car body assembly; 2, track assembly; 3, guide assembly; 4, guide wheel assembly; 5, power assembly; 6, material frame; 7, yarn grabbing assembly; 8, head finding platform; 9, head finding assembly; 10, yarn feeding assembly; 11, blowing system; 12, drag chain assembly; 13, processing table; 14, placement platform; 15, rotating platform; 16, control device; 17, pulley; 18, first guide wheel; 19, second guide wheel; 20, first driving device; 21, brake device; 22, mechanical arm device; 23, yarn grabbing device; 24, fixed machine arm; 25, first rotating motor; 26, first rotating shaft; 27, second rotating motor; 28, second rotating shaft; 29, moving machine arm; 30, horizontal rotating motor; 31, horizontal rotating shaft; 32. Second driving device; 33. First slider; 34. Moving track; 35. Longitudinal rotating motor; 36. Longitudinal rotating shaft; 37. Clamping plate; 38. Third rotating motor; 39. Third rotating shaft; 40. Clamping rod; 41. Positioning camera device; 42. Transport channel device; 43. Yarn picking head device; 44. Negative pressure yarn suction head device; 45. Monitoring component; 46. Secondary yarn suction head device; 47. Lifting component; 48. Lifting bracket; 49. Guide wheel bracket; 50. Lifting column; 51. Guide wheel mechanism; 52. Lifting mechanism; 53. Turntable motor; 54. Turntable body; 55. Slide; 56. Slide rod; 57. Driving mechanism; 58. Fine adjustment mechanism; 59. First mounting plate; 60. Visual camera device; 61 , gripper assembly; 62, mounting cover plate; 63, support rod; 64, guide wheel body; 65, guide wheel groove; 66, first lifting cylinder; 67, first air rod; 68, push rod motor; 69, push rod body; 70, second lifting cylinder; 71, second air rod; 72, fourth rotating motor; 73, fourth rotating shaft; 74, first bobbin; 75, second mounting plate; 76, bobbin fixing seat; 77, friction wheel; 78, drive motor; 79, bottom frame; 80, vertical plate; 81, mounting frame; 82, pressing cylinder; 83, fixing cap; 84, first top plate; 85, first cylinder; 86, bottom plate; 87, first support plate; 88, first telescopic rod; 89, connecting plate; 90, first blowing pipe; 91, blowing head; 92, Blowing nozzle; 93, first ventilation duct; 94, second cylinder; 95, hook knife; 96, base; 97, connector; 98, second blowing duct; 99, blowing hole; 100, second ventilation duct; 101, mounting seat; 102, support rod; 103, support plate; 104, spring seat; 105, second telescopic rod; 106, fixed rod; 107, movable plate; 108, sliding sleeve; 109, telescopic tube; 110, first connecting tube; 111, second top plate; 112, first negative pressure tube; 113, first sensor; 114, second negative pressure tube; 115, blowing tube body; 116, movable cover; 117, fixed collar; 118, yarn tube body; 119, protective shell; 120, connecting tube; 121, external connecting tube;122, U-shaped tube; 123, L-shaped support plate; 124, movable seat; 125, bobbin fixing stand; 126, ring sleeve; 127, third lifting cylinder; 128, second connecting tube; 129, hinge bolt; 130, upper thread scissor air door; 131, lower thread scissor air door; 132, third connecting tube; 133, fixed tube; 134, bobbin seat brush; 135, bobbin seat mesh plate; 136, first rotating shaft; 137, twisting thread air inlet hole; 138, twisting thread air ring; 139, first Second sensor; 140, positive and negative pressure sealed chamber; 141, connecting air pipe; 142, yarn clamping cylinder; 143, second yarn tube; 144, positive pressure air inlet; 145, yarn suction chamber; 146, rubber pad; 147, second slider; 148, slide groove; 149, negative pressure outlet; 150, shell; 151, fixed clamping rod; 152, sleeve; 153, compression spring; 154, third telescopic rod; 155, clamping plate; 156, positioning block; 157, fixing bracket; 158, monitoring probe. ; DETAILED DESCRIPTION

[0018] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses. Example

[0019] like Figure 1-Figure 26As shown, the present invention provides a technical solution: a yarn inserting robot for a winding machine, comprising a body component 1, a track component 2, a guide component 3, a guide wheel component 4, a power component 5, a material frame 6, a yarn grabbing component 7, a head finding platform 8, a head finding component 9, a yarn feeding component 10 and a blowing system 11, a guide wheel component 4 is arranged at the bottom of the body component 1, the guide wheel component 4 is installed on the track component 2, a guide component 3 and a drag chain component 12 are arranged on one side of the track component 2, the guide component 3 and the drag chain component 12 act on the guide wheel component 4, the guide wheel component 4 is arranged on the power component 5, the body The component 1 is symmetrically provided with material frames 6 on both sides, a yarn grabbing component 7 is provided above the material frames 6, a processing table 13 is provided between the two material frames 6, a head finding platform 8 is symmetrically provided on the processing table 13, a placing platform 14 is provided on one side of the head finding platform 8, a head finding component 9 is provided on the head finding platform 8, a rotating platform 15 is provided on the other side of the head finding platform 8, a yarn feeding component 10 is provided above the rotating platform 15, the head finding component 9 includes a conveying channel device 42, a yarn picking head device 43, a negative pressure yarn suction head device 44, a monitoring component 45 and a secondary yarn suction head device 46, the head finding component 9 and the blowing The system 11 is connected, the blowing system 11 is arranged on one side of the head-finding platform 8, a control device 16 is arranged on the car body component 1, the power component 5, the yarn grabbing component 7, the head-finding component 9, the yarn feeding component 10 and the blowing system 11 are electrically connected to the control device 16, the yarn feeding component 10 includes a lifting bracket 48, a guide wheel bracket 49 is arranged at the top of the lifting bracket 48, a lifting column 50 is arranged in the lifting bracket 48 and the guide wheel bracket 49, a guide wheel mechanism 51 is arranged in the guide wheel bracket 49, a lifting mechanism 52 is arranged in the lifting column 50, and a turntable motor 5 is arranged at the top of the lifting column 50. 3. A turntable body 54 is arranged on the turntable motor 53, a slide 55 is connected to the turntable body 54, a slide bar 56 is arranged on the slide bar 56, a driving mechanism 57 is arranged at the rear end of the slide bar 56, a fine-tuning mechanism 58 is arranged at the front end of the slide 55, a first mounting plate 59 is connected to the bottom end of the fine-tuning mechanism 58, a visual camera device 60 is arranged on the front side of the first mounting plate 59, and a plurality of gripper assemblies 61 are arranged on the rear side of the first mounting plate 59. The monitoring assembly 45 includes a fixing frame 157 and a monitoring probe 158, and the outer surface of the monitoring probe 158 is arranged on the outer surface of the fixing frame 157.

[0020] The guide wheel assembly 4 includes a pulley 17, a first guide wheel 18 and a second guide wheel 19. The pulley 17 is respectively installed on the front and rear sides of the bottom end of the body assembly 1. The first guide wheel 18 and the second guide wheel 19 are symmetrically arranged at the central position of the bottom end of the body assembly 1. The first guide wheel 18 and the second guide wheel 19 are installed on the track assembly 2. The power assembly 5 includes a first driving device 20 and a braking device 21. The first driving device 20 and the braking device 21 are fixed at the bottom end of the body assembly 1. The first driving device 20 is connected to the first guide wheel 18, and the braking device 21 is connected to the second guide wheel 19.

[0021] The yarn grabbing assembly 7 includes a robotic arm device 22 and a yarn grabbing device 23. The robotic arm device 22 is arranged above the material frame 6. The robotic arm device 22 is provided with the yarn grabbing device 23. The robotic arm device 22 includes a fixed arm 24. The fixed arm 24 is installed on the first rotating shaft 26 of the first rotating motor 25 on the processing table 13. A second rotating motor 27 is arranged at the front end of the fixed arm 24. A mobile arm 29 is installed on the second rotating shaft 28 of the second rotating motor 27. A transverse rotating motor 30 is arranged at the bottom end of the mobile arm 29. A second driving device 32 is arranged on the transverse rotating shaft 31 of the transverse rotating motor 30. The second driving device 32 is fixed on the first slider 33. The first slider 33 is installed in the moving track 34. A longitudinal rotating motor 35 is arranged at the bottom end of the moving track 34. The yarn grabbing device 23 is arranged on the longitudinal rotating shaft 36 of the longitudinal rotating motor 35.

[0022] The yarn grabbing device 23 includes a clamping plate 37, which is fixed at the bottom end of the moving rail 34. A pair of third rotating motors 38 are respectively arranged on the front and rear sides of the clamping plate 37. A clamping rod 40 is arranged on the third rotating shaft 39 of the third rotating motor 38. A positioning camera device 41 is arranged on the front side of the clamping plate 37. A conveying channel device 42 is distributed on the head-finding platform 8. A monitoring component 45 is distributed on the conveying channel device 42. A lifting component 47 is arranged in the material frame 6.

[0023] The guide wheel mechanism 51 includes an installation cover plate 62, a support rod 63 is arranged on the inner side of the installation cover plate 62, a guide wheel body 64 is arranged on the support rod 63, a guide wheel groove 65 is arranged on the side of the lifting column 50, and the guide wheel body 64 is against the guide wheel groove 65. The lifting mechanism 52 includes a first lifting cylinder 66, the first lifting cylinder 66 is fixed in the lifting column 50, the bottom end of the first gas rod 67 of the first lifting cylinder 66 is fixed to the bottom end of the lifting bracket 48, the driving mechanism 57 includes a push rod motor 68, the push rod motor 68 is fixed to the rear end of the slide 55, the push rod body 69 of the push rod motor 68 is connected to the slide 56, the fine-tuning mechanism 58 includes a second lifting cylinder 70, the second lifting cylinder 70 is fixed to the front end of the slide 56, the bottom end of the second gas rod 71 of the second lifting cylinder 70 is provided with a fourth rotating motor 72, and the bottom end of the fourth rotating shaft 73 of the fourth rotating motor 72 is provided with the first mounting plate 59.

[0024] The yarn head picking device 43 includes a first yarn drum 74 and a second mounting plate 75. The top of the second mounting plate 75 is sleeved with a yarn drum fixing seat 76. The first yarn drum 74 is fixedly mounted on the top of the yarn drum fixing seat 76. The inside of the second mounting plate 75 is sleeved with a friction wheel 77. The bottom of the friction wheel 77 is fixedly mounted with a driving motor 78. A vertical plate 80 is fixedly mounted on one end of the top of the second mounting plate 75. A first top plate 84 is fixedly mounted on the front of the vertical plate 80. A first cylinder 85 is fixedly mounted on the bottom of the first top plate 84. A bottom plate 86 is fixedly mounted on the bottom of the first cylinder 85. A first support plate 87 is fixedly mounted on the outside of the first cylinder 85. A connecting plate 89 is fixedly mounted on the front of the first support plate 87. A first blowing pipe 90 is fixedly installed on the end of the back side of the connecting plate 89 away from the first cylinder 85, a blowing head 91 is connected to the side of the first blowing pipe 90 away from the connecting plate 89, and a blowing nozzle 92 is connected to the top of the blowing head 91, a second cylinder 94 is fixedly installed on the end of the bottom of the connecting plate 89 away from the first cylinder 85, a hook knife 95 is fixedly installed on the side of the second cylinder 94 close to the first yarn tube 74, a base 96 is fixedly installed on the end of the top of the second mounting plate 75 away from the vertical plate 80, connectors 97 are fixedly installed at both ends of the top of the base 96, a second blowing pipe 98 is fixedly installed on the top of the connector 97, and blowing holes 99 are opened at both ends of the top of the second blowing pipe 98.

[0025] A bottom frame 79 is fixedly installed at the bottom of the second mounting plate 75, and the driving end of the driving motor 78 is fixedly connected to the friction wheel 77. The driving motor 78 is fixedly installed at the bottom of the second mounting plate 75 and is located inside the bottom frame 79. A mounting frame 81 is fixedly installed at the top of the vertical plate 80 close to the first yarn tube 74. A clamping cylinder 82 is fixedly installed at the end of the top of the mounting frame 81 away from the vertical plate 80. A fixing cap 83 is fixedly installed at the bottom of the clamping cylinder 82. Both ends of the bottom of the first top plate 84 are fixedly installed with a first telescopic rod 88. The bottom of the first telescopic rod 88 is fixedly connected to the bottom plate 86. The first support The plate 87 is sleeved on the outside of the first telescopic rod 88, and a first ventilation duct 93 is fixedly installed on the front of the connecting plate 89. The first ventilation duct 93 is connected to the first blowing duct 90. The blowing nozzle 92 and the blowing hole 99 are both inclined and inclined to one side of the first yarn tube 74. The back of the second blowing duct 98 is connected to the second ventilation duct 100. A support rod 102 is fixedly installed on the bottom of the outside of the first yarn tube 74, and a mounting seat 101 is fixedly installed on the bottom of the support rod 102. The support rod 102 is inclined, and there are two mounting seats 101, which are symmetrically distributed on the outside of the first yarn tube 74.

[0026] The negative pressure yarn suction head device 44 includes a support plate 103, a spring seat 104 is fixedly installed on one side of the top of the support plate 103, and the inner sides of both ends of the spring seat 104 are hinged with fixed rods 106, and the top of the fixed rod 106 is hinged with a second top plate 111, and the outer side of the fixed rod 106 is sleeved with a sliding sleeve 108, and the bottom of the sliding sleeve 108 is fixedly installed with a movable plate 107, and the middle part of the spring seat 104 is movably installed with a second telescopic rod 105, and the outer side of the bottom end of the second telescopic rod 105 is sleeved with a third lifting plate 111. The lowering cylinder 127 is fixedly installed with a protective shell 119 on one side of the second top plate 111, the middle part of the support plate 103 is fixedly installed with a bobbin fixing base 125, the top of the bobbin fixing base 125 is fixedly installed with a fixed tube 133, the outer side of the fixed tube 133 is movably sleeved with a bobbin body 118, the side of the movable plate 107 away from the sliding sleeve 108 is fixedly installed with a fixed ring 117, the interior of the fixed ring 117 is movably installed with a twisting balloon 138, and the interior of the twisting balloon 138 is opened The top of the fixed ring 117 is connected to the telescopic tube 109, the top of the telescopic tube 109 is connected to the first connecting tube 110, the inside of the first connecting tube 110 is fixedly installed with a second sensor 139, the top of the first connecting tube 110 is connected to the first negative pressure tube 112, the first negative pressure tube 112 is movably installed with a first sensor 113 on the inner side away from one end of the telescopic tube 109, the other end of the first negative pressure tube 112 is connected to the second negative pressure tube 114, and the second negative pressure tube 114 is connected to the second negative pressure tube 114. A protective shell 119 is movably installed on the outer side of 114, the bottom end of the second negative pressure tube 114 is connected to the second connecting tube 128, the bottom of the support plate 103 is hinged with an L-shaped support plate 123, an upper line scissors damper 130 is movably installed on one side of the bottom of the L-shaped support plate 123, and a lower line scissors damper 131 is movably installed on the other side of the bottom of the L-shaped support plate 123, the inside of the bobbin yarn fixing base 125 is hinged with a third connecting tube 132, and the bottom end of the third connecting tube 132 is hinged with a movable seat 124.

[0027] The top end of the second telescopic rod 105 is hinged to the bottom of the movable plate 107, and the movable plate 107 is sleeved on the outside of the fixed rod 106. The second telescopic rod 105 is sleeved inside the third lifting cylinder 127, and the second telescopic rod 105 passes through the interior of the spring seat 104 and extends to the bottom of the movable plate 107. The bobbin body 118 is located inside the twisting balloon 138, and the specifications and dimensions of the bobbin body 118 are adapted to the specifications and dimensions of the twisting balloon 138. The first connecting tube 110 passes through the second top plate 111 and extends to the interior of the first negative pressure tube 112. The protective shell 119 is fixedly mounted on the top of the support plate 103, and the second connecting tube 128 passes through the interior of the support plate 103 and extends to the interior of the second negative pressure tube 114. The second connecting tube 128 passes through the L-shaped support plate 123 and extends to the interior of the upper line scissors damper 130. The interior of one side of the second negative pressure tube 114 is connected with the blowing tube body 115. The blowing The outer side of the tube body 115 is movably mounted with a movable cover 116, the third connecting tube 132 penetrates the movable seat 124 and extends to the inside of the lower thread scissor damper 131, the upper thread scissor damper 130 and the lower thread scissor damper 131 are connected to the bottom of the U-shaped tube 122, the air inlet end of one side of the U-shaped tube 122 is connected to the connecting tube 120, the air inlet end of the connecting tube 120 is connected to the external connecting tube 121, and the inside of the bobbin fixing base 125 is movably mounted with a bobbin holder brush 134, a bobbin holder mesh plate 135 is movably installed inside the bobbin fixing base 125, a ring sleeve 126 is movably installed outside the bottom of the third lifting cylinder 127, a first rotating shaft 136 is hinged inside one end of the ring sleeve 126, the first rotating shaft 136 passes through the inside of one side of the L-shaped support plate 123, a hinge bolt 129 is hinged inside the other end of the ring sleeve 126, and the outer side of the hinge bolt 129 is hinged inside one side of the L-shaped support plate 123.

[0028] The secondary yarn suction head device 46 includes a positive and negative pressure sealed chamber 140, a yarn clamping cylinder 142 and a second yarn tube 143. The top of the positive and negative pressure sealed chamber 140 is evenly provided with a positive pressure air inlet 144 in a ring shape. The bottom of the positive and negative pressure sealed chamber 140 is evenly connected with a connecting air pipe 141. The bottom of the connecting air pipe 141 is connected with the top of the yarn clamping cylinder 142. The second yarn tube 143 is located at the bottom of the yarn clamping cylinder 142. The bottom of the positive and negative pressure sealed chamber 140 is evenly provided with a yarn suction chamber 145. The yarn clamping cylinder 142 includes an outer shell 150. The left side of the inner cavity of the outer shell 150 is fixedly connected to a fixed clamping rod 151. The right side of the inner cavity of the outer shell 150 is fixedly connected to a sleeve 152. The right side of the inner cavity of the sleeve 152 is fixedly connected to a compression spring 153. The left side of the compression spring 153 is fixedly connected to The third telescopic rod 154, the left side of the third telescopic rod 154 is fixedly connected with a splint 155, the bottom of the shell 150 is connected with a positioning block 156, the shape of the positioning block 156 is arc-shaped, the left side of the splint 155 is fixedly connected with a rubber pad 146, the thickness of the rubber pad 146 is 3mm, the right sides of the top and bottom of the third telescopic rod 154 are fixedly connected with a second slider 147, the top and bottom of the inner cavity of the sleeve 152 are provided with a slide groove 148 used to cooperate with the second slider 147, the outer surface of the second slider 147 is slidably connected with the inner surface of the slide groove 148, and a negative pressure outlet 149 is provided on the right side of the positive and negative pressure sealing chamber 140, the number of positive pressure air inlets 144 is seven, the number of yarn clamping cylinders 142 is seven, and the number of connecting air pipes 141 is seven.

[0029] When in use, the yarn frame car filled with bobbins is first docked with the car body component 1 of the winding yarn robot. After that, the bobbins are divided into the material frames 6 on both sides of the car body component 1. The mechanical arm device 22 and the yarn grabbing device 23 in the yarn grabbing component 7 work to grab the bobbin yarn and send it to the placement platform 14 of the head-finding platform 8. The set lifting component 47 can freely change the height according to the sensor detecting whether there is a bobbin yarn, which can maximize the amount of yarn loaded and also make the bobbin yarn close to the yarn grabbing component 7 for grabbing at any time; the mechanical arm device 22 carries The dynamic yarn grabbing device 23 moves to a different position, and the positioning camera device 41 arranged in the yarn grabbing device 23 can position the bobbin yarn, so that the yarn grabbing device 23 can accurately grab the bobbin yarn. Then the conveying channel device 42 in the head finding component 9 sends the bobbin yarn to the yarn picking head device 43 for the yarn head picking operation. The purpose of the yarn head picking operation is to pick the yarn head to the top of the bobbin tube, so as to provide conditions for smoothly finding the yarn head in the next head finding process. When the yarn head picking operation is completed, the bobbin yarn is transported to the negative pressure yarn suction head device 44 for the yarn head picking operation. The yarn head on the bobbin is sucked into the inside of the bobbin through the negative pressure mode by the negative pressure yarn suction head device 44, that is, the head finding work is completed. If the head finding is not successful for the first time, the monitoring probe 158 of the monitoring component 45 will detect that the rear bobbin will enter the set position in the conveying channel device 42 and be pulled through the secondary yarn suction head device 46. The function of the pulling head processing is to pull out the yarn head entangled in the yarn, and then transport it to the negative pressure yarn suction head device 44 again for the yarn suction head operation. The second time in the negative pressure yarn suction head device 44, it is easy to The yarn head is sucked into the inside of the bobbin through the negative pressure mode. If the second head search is not successful, the bobbin will flow into the set position again. At this time, the system prompts the yarn grabbing device 23 to grab the bobbin and treat the bobbin as a bad bobbin and throw it onto the conveyor belt of the winder to be transported to the bad yarn area designated by the factory; the bobbin that has successfully found the head is transported to the rotating platform 15 on the head search platform 8 to wait for the yarn feeding assembly 10 to grab it. When the bobbins are arranged in order in the bobbin storage area, the system instructs the yarn feeding assembly 10 to take the bobbin to complete the yarn head transfer work.

[0030] When the yarn feeding assembly 10 is used, the first lifting cylinder 66 arranged in the lifting column 50 drives the first air rod 67 to move, thereby driving the lifting column 50 to move up and down in the lifting bracket 48 and the guide wheel bracket 49 to greatly adjust the height. At the same time, the turntable motor 53 arranged at the top of the lifting column 50 drives the turntable body 54 and the slide 55 to rotate to greatly adjust the angle. The push rod motor 68 arranged in the driving mechanism 57 on the slide 55 drives the push rod body 69 to move, thereby driving the slide 56 to move on the slide 55 to adjust the front and rear position of the gripper assembly 61. The second lifting cylinder 70 and the fourth rotating motor 72 in the fine-tuning mechanism 58 arranged at the front end of the slide 56 work, the second lifting cylinder 70 drives the second air rod 71 to rise and fall, and the fourth rotating motor 72 drives the fourth rotating shaft 73 to rotate, thereby fine-tuning the height and angle of the gripper assembly 61, and cooperating with the visual camera device 60 arranged on the first mounting plate 59 to position the gripper assembly 61.

[0031] Through the yarn head picking device 43, through the first yarn tube 74, the yarn tube fixing seat 76, the friction wheel 77, the first cylinder 85, the second cylinder 94, the hook knife 95, the first air pipe 90 and the second air pipe 98, the yarn tube fixing seat 76 drives the first yarn tube 74 to rotate under the action of the friction wheel 77, and the second air cylinder 94 pushes the hook knife 95 to approach the surface of the first yarn tube 74. At the same time, the first cylinder 85 drives the second cylinder 94 to move up and down. Under the action of the air flow of the blowing head 91 and the blowing hole 99, which are both inclined, the thread end of the first yarn tube 74 is found and the yarn is moved up and wound around the top of the first yarn tube 74, so that The device completes the work of picking up the yarn, and achieves the effect of automatically picking up the yarn, replacing the manual operation method, improving work efficiency, and reducing the cost of textile. Through the installation base 101 and the support rod 102, when the first yarn drum 74 rotates, the first yarn drum 74 drives the support rod 102 to rotate, and for the yarn located at the bottom of the first yarn drum 74, the yarn at the bottom of the first yarn drum 74 can be prevented from detaching from the yarn drum, and at the same time, the yarn can be prevented from being located at too low an end and cannot be operated by the second blowing pipe 98, so that the blowing of the second blowing pipe 98 can completely act on the yarn, ensuring that the yarn picking up work is smooth.

[0032] When the secondary yarn suction head device 46 is used, the equipment is installed on a designated machine for use. When the second yarn tube 143 is picked up, the yarn wound around the top of the second yarn tube 143 is sucked into the yarn suction chamber 145 by the negative pressure suction port through the connecting air pipe 141. When the device moves to the designated yarn library, the yarn in the yarn suction chamber 145 is clamped by the yarn clamping cylinder 142 to prevent the yarn from falling. When the device moves to the designated yarn library, the yarn clamping cylinder 142 is released, and the yarn is blown into the designated yarn library under the action of positive pressure, completing the process of yarn suction and yarn release.

[0033] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A yarn inserting robot for a winding machine, comprising a body assembly (1), a track assembly (2), a guide assembly (3), a guide wheel assembly (4), a power assembly (5), a material frame (6), a yarn grabbing assembly (7), a head finding platform (8), a head finding assembly (9), a yarn feeding assembly (10) and a blowing system (11), characterized in that: A guide wheel assembly (4) is arranged at the bottom end of the vehicle body assembly (1), and the guide wheel assembly (4) is mounted on the track assembly (2). A guide assembly (3) and a drag chain assembly (12) are arranged on one side of the track assembly (2), and the guide assembly (3) and the drag chain assembly (12) act on the guide wheel assembly (4). A power assembly (5) is arranged on the guide wheel assembly (4). Material frames (6) are symmetrically arranged on both sides of the vehicle body assembly (1), and a yarn grabbing assembly (7) is arranged above the material frames (6). A processing table (13) is arranged between the two material frames (6), and a head finding platform (8) is symmetrically arranged on the processing table (13). The head finding platform (8) A placement platform (14) is provided on one side, a head-finding assembly (9) is provided on the head-finding platform (8), a rotating platform (15) is provided on the other side of the head-finding platform (8), a yarn-feeding assembly (10) is provided above the rotating platform (15), the head-finding assembly (9) comprises a conveying channel device (42), a yarn-picking head device (43), a negative pressure yarn-sucking head device (44), a monitoring assembly (45) and a secondary yarn-sucking head device (46), the head-finding assembly (9) is connected to a blowing system (11), and the blowing system (11) is provided on one side of the head-finding platform (8), a control device (16) is provided on the body assembly (1), and the power assembly ( 5), the yarn grabbing assembly (7), the head finding assembly (9), the yarn feeding assembly (10) and the blowing system (11) are electrically connected to the control device (16), the yarn feeding assembly (10) comprises a lifting bracket (48), a guide wheel bracket (49) is arranged at the top of the lifting bracket (48), a lifting column (50) is arranged in the lifting bracket (48) and the guide wheel bracket (49), a guide wheel mechanism (51) is arranged in the guide wheel bracket (49), a lifting mechanism (52) is arranged in the lifting column (50), a turntable motor (53) is arranged at the top of the lifting column (50), a turntable body (54) is arranged on the turntable motor (53), and the turntable A slide (55) is connected to the main body (54), a slide rod (56) is arranged on the slide (55), a driving mechanism (57) is arranged at the rear end of the slide rod (56), a fine-tuning mechanism (58) is arranged at the front end of the slide (55), a first mounting plate (59) is connected to the bottom end of the fine-tuning mechanism (58), a visual camera device (60) is arranged on the front side of the first mounting plate (59), and a plurality of gripper assemblies (61) are arranged on the rear side of the first mounting plate (59), and the monitoring assembly (45) includes a fixing frame (157) and a monitoring probe (158), and the outer surface of the monitoring probe (158) is arranged on the outer surface of the fixing frame (157).

2. A yarn inserting robot for a winding machine according to claim 1, characterized in that: The guide wheel assembly (4) comprises a pulley (17), a first guide wheel (18) and a second guide wheel (19); the pulley (17) is respectively mounted on the front and rear sides of the bottom end of the vehicle body assembly (1); the first guide wheel (18) and the second guide wheel (19) are symmetrically arranged at the central position of the bottom end of the vehicle body assembly (1); the first guide wheel (18) and the second guide wheel (19) are mounted on the track assembly (2); the power assembly (5) comprises a first driving device (20) and a braking device (21); the first driving device (20) and the braking device (21) are fixed at the bottom end of the vehicle body assembly (1); the first driving device (20) is connected to the first guide wheel (18); and the braking device (21) is connected to the second guide wheel (19).

3. A yarn inserting robot for a winding machine according to claim 1, characterized in that: The yarn grabbing assembly (7) comprises a mechanical arm device (22) and a yarn grabbing device (23); the mechanical arm device (22) is arranged above the material frame (6); the mechanical arm device (22) is provided with the yarn grabbing device (23); the mechanical arm device (22) comprises a fixed machine arm (24); the fixed machine arm (24) is mounted on a first rotating shaft (26) of a first rotating motor (25) on the processing table (13); a second rotating motor (27) is provided at the front end of the fixed machine arm (24); a second rotating shaft ( A movable arm (29) is installed on the movable arm (28), a transverse rotating motor (30) is arranged at the bottom end of the movable arm (29), a second driving device (32) is arranged on the transverse rotating shaft (31) of the transverse rotating motor (30), the second driving device (32) is fixed on the first slider (33), the first slider (33) is installed in the movable track (34), a longitudinal rotating motor (35) is arranged at the bottom end of the movable track (34), and a yarn grabbing device (23) is arranged on the longitudinal rotating shaft (36) of the longitudinal rotating motor (35).

4. A yarn inserting robot for a winding machine according to claim 3, characterized in that: The yarn grabbing device (23) comprises a clamping plate (37), wherein the clamping plate (37) is fixed at the bottom end of the moving track (34), a pair of third rotating motors (38) are respectively arranged on the front and rear sides of the clamping plate (37), a clamping rod (40) is arranged on the third rotating shaft (39) of the third rotating motor (38), a positioning camera device (41) is arranged on the front side of the clamping plate (37), the conveying channel device (42) is distributed on the head-finding platform (8), a monitoring component (45) is distributed on the conveying channel device (42), and a lifting component (47) is arranged in the material frame (6).

5. The yarn inserting robot for a winding machine according to claim 1, characterized in that: The guide wheel mechanism (51) comprises a mounting cover plate (62), a support rod (63) is arranged on the inner side of the mounting cover plate (62), a guide wheel body (64) is arranged on the support rod (63), a guide wheel groove (65) is arranged on the side of the lifting column (50), the guide wheel body (64) abuts against the guide wheel groove (65), the lifting mechanism (52) comprises a first lifting cylinder (66), the first lifting cylinder (66) is fixed in the lifting column (50), the bottom end of the first gas rod (67) of the first lifting cylinder (66) is fixed to the bottom end of the lifting bracket (48), The driving mechanism (57) includes a push rod motor (68), the push rod motor (68) is fixed at the rear end of the slide (55), the push rod body (69) of the push rod motor (68) is connected to the slide bar (56), the fine adjustment mechanism (58) includes a second lifting cylinder (70), the second lifting cylinder (70) is fixed at the front end of the slide bar (56), a fourth rotating motor (72) is arranged at the bottom end of the second air rod (71) of the second lifting cylinder (70), and a first mounting plate (59) is arranged at the bottom end of the fourth rotating shaft (73) of the fourth rotating motor (72).

6. The yarn inserting robot for a winding machine according to claim 1, characterized in that: The yarn head picking device (43) comprises a first yarn tube (74) and a second mounting plate (75); the top of the second mounting plate (75) is sleeved with a yarn tube fixing seat (76); the first yarn tube (74) is fixedly mounted on the top of the yarn tube fixing seat (76); the interior of the second mounting plate (75) is sleeved with a friction wheel (77); the bottom of the friction wheel (77) is fixedly mounted with a driving motor (78); a vertical plate (80) is fixedly mounted on one end of the top of the second mounting plate (75); a first top plate (84) is fixedly mounted on the front of the vertical plate (80); a first cylinder (85) is fixedly mounted on the bottom of the first top plate (84); a bottom plate (86) is fixedly mounted on the bottom of the first cylinder (85); a first support plate (87) is fixedly mounted on the outside of the first cylinder (85); and a connecting plate (87) is fixedly mounted on the front of the first support plate (87). 9), a first blowing pipe (90) is fixedly mounted on one end of the back side of the connecting plate (89) away from the first cylinder (85), a blowing head (91) is connected to the side of the first blowing pipe (90) away from the connecting plate (89), and a blowing nozzle (92) is connected to the top of the blowing head (91), a second cylinder (94) is fixedly mounted on one end of the bottom side of the connecting plate (89) away from the first cylinder (85), a hook knife (95) is fixedly mounted on the side of the second cylinder (94) close to the first yarn tube (74), a base (96) is fixedly mounted on one end of the top of the second mounting plate (75) away from the vertical plate (80), connectors (97) are fixedly mounted at both ends of the top of the base (96), a second blowing pipe (98) is fixedly mounted on the top of the connector (97), and blowing holes (99) are provided at both ends of the top of the second blowing pipe (98).

7. A yarn inserting robot for a winding machine according to claim 6, characterized in that: A bottom frame (79) is fixedly mounted on the bottom of the second mounting plate (75); a driving end of the driving motor (78) is fixedly connected to the friction wheel (77); the driving motor (78) is fixedly mounted on the bottom of the second mounting plate (75) and is located inside the bottom frame (79); a mounting frame (81) is fixedly mounted on the top of the vertical plate (80) close to the first yarn tube (74); a clamping cylinder (82) is fixedly mounted on the end of the top of the mounting frame (81) away from the vertical plate (80); a fixing cap (83) is fixedly mounted on the bottom of the clamping cylinder (82); first telescopic rods (88) are fixedly mounted on both ends of the bottom of the first top plate (84); the bottom of the first telescopic rod (88) is fixedly connected to the bottom plate (86); the first The support plate (87) is sleeved on the outside of the first telescopic rod (88); a first ventilation duct (93) is fixedly installed on the front of the connecting plate (89); the first ventilation duct (93) is connected to the first blowing duct (90); the blowing nozzle (92) and the blowing hole (99) are both inclined and inclined toward one side of the first yarn drum (74); the back of the second blowing duct (98) is connected to the second ventilation duct (100); a support rod (102) is fixedly installed on the bottom of the outside of the first yarn drum (74); a mounting seat (101) is fixedly installed on the bottom of the support rod (102); the support rod (102) is inclined; and there are two mounting seats (101) symmetrically distributed on the outside of the first yarn drum (74).

8. The yarn inserting robot for a winding machine according to claim 1, characterized in that: The negative pressure yarn suction head device (44) comprises a support plate (103), a spring seat (104) is fixedly installed on one side of the top of the support plate (103), both ends of the spring seat (104) are hingedly connected to the inside with a fixed rod (106), the top of the fixed rod (106) is hingedly connected to a second top plate (111), the outer side of the fixed rod (106) is sleeved with a sliding sleeve (108), the bottom of the sliding sleeve (108) is fixedly installed with a movable plate (107), the middle part of the spring seat (104) is movably installed with a second telescopic rod (105), the outer side of the bottom end of the second telescopic rod (105) is sleeved with A third lifting cylinder (127) is provided, a protective shell (119) is fixedly installed on one side of the second top plate (111), a bobbin fixing base (125) is fixedly installed on the middle part of the support plate (103), a fixing tube (133) is fixedly installed on the top of the bobbin fixing base (125), a bobbin body (118) is movably sleeved on the outer side of the fixing tube (133), a fixing ring (117) is fixedly installed on the side of the movable plate (107) away from the sliding sleeve (108), a twisting balloon (138) is movably installed inside the fixing ring (117), and the twisting balloon (138) is A twisting air inlet hole (137) is provided inside the fixing ring (117); the top end of the fixing ring (117) is connected to a telescopic tube (109); the top end of the telescopic tube (109) is connected to a first connecting tube (110); a second sensor (139) is fixedly installed inside the first connecting tube (110); the top end of the first connecting tube (110) is connected to a first negative pressure tube (112); a first sensor (113) is movably installed on the inner side of one end of the first negative pressure tube (112) away from the telescopic tube (109); the other end of the first negative pressure tube (112) is connected to a second negative pressure tube (114); A protective shell (119) is movably mounted on the outer side of the negative pressure tube (114); the bottom end of the second negative pressure tube (114) is connected to a second connecting tube (128); the bottom of the support plate (103) is hingedly connected to an L-shaped support plate (123); an upper thread scissor damper (130) is movably mounted on one side of the bottom of the L-shaped support plate (123); a lower thread scissor damper (131) is movably mounted on the other side of the bottom of the L-shaped support plate (123); a third connecting tube (132) is hingedly mounted inside the bobbin yarn fixing base (125); and the bottom end of the third connecting tube (132) is hingedly connected to a movable seat (124).

9. A yarn inserting robot for a winding machine according to claim 8, characterized in that: The top end of the second telescopic rod (105) is hinged to the bottom of the movable plate (107), the movable plate (107) is sleeved on the outside of the fixed rod (106), the second telescopic rod (105) is sleeved inside the third lifting cylinder (127), and the second telescopic rod (105) passes through the inside of the spring seat (104) and extends to the bottom of the movable plate (107), the bobbin body (118) is located inside the twisting balloon (138), and the size of the bobbin body (118) is compatible with the size of the twisting balloon (138), The first connecting tube (110) passes through the second top plate (111) and extends to the interior of the first negative pressure tube (112); the protective shell (119) is fixedly mounted on the top of the support plate (103); the second connecting tube (128) passes through the interior of the support plate (103) and extends to the interior of the second negative pressure tube (114); the second connecting tube (128) passes through the L-shaped support plate (123) and extends to the interior of the upper line scissor damper (130); the interior of one side of the second negative pressure tube (114) is connected to a blow pipe body (115); the blow pipe body A movable cover (116) is movably installed on the outer side of the bobbin fixing base (115); the third connecting pipe (132) penetrates the movable seat (124) and extends to the inside of the lower thread scissor damper (131); the bottoms of the upper thread scissor damper (130) and the lower thread scissor damper (131) are connected to a U-shaped pipe (122); the air inlet end of one side of the U-shaped pipe (122) is connected to a connecting pipe (120); the air inlet end of the connecting pipe (120) is connected to an external connecting pipe (121); the inside of the bobbin fixing base (125) is movably installed with a bobbin seat brush (121) 34), a bobbin holder mesh plate (135) is movably installed inside the bobbin fixing base (125), a ring sleeve (126) is movably installed outside the bottom of the third lifting cylinder (127), a first rotating shaft (136) is hinged inside one end of the ring sleeve (126), the first rotating shaft (136) passes through the inside of one side of the L-shaped support plate (123), and a hinge bolt (129) is hinged inside the other end of the ring sleeve (126), and the outer side of the hinge bolt (129) is hinged inside one side of the L-shaped support plate (123).

10. The yarn inserting robot for a winding machine according to claim 1, characterized in that: The secondary yarn suction head device (46) comprises a positive and negative pressure sealed chamber (140), a yarn clamping cylinder (142) and a second yarn tube (143); the top of the positive and negative pressure sealed chamber (140) is evenly provided with a positive pressure air inlet (144) in a ring shape; the bottom of the positive and negative pressure sealed chamber (140) is evenly connected to a connecting air pipe (141); the bottom of the connecting air pipe (141) is connected to the top of the yarn clamping cylinder (142); the second yarn tube (143) is located at the yarn clamping cylinder (142); The bottom of the cylinder (142), the bottom of the positive and negative pressure sealed chamber (140) is evenly provided with a yarn suction chamber (145), the yarn clamping cylinder (142) comprises a shell (150), the left side of the inner chamber of the shell (150) is fixedly connected to a fixed clamping rod (151), the right side of the inner chamber of the shell (150) is fixedly connected to a sleeve (152), the right side of the inner chamber of the sleeve (152) is fixedly connected to a compression spring (153), the left side of the compression spring (153) is fixedly connected to A third telescopic rod (154) is provided, a clamping plate (155) is fixedly connected to the left side of the third telescopic rod (154), a positioning block (156) is connected to the bottom of the shell (150), the positioning block (156) is in an arc shape, a rubber pad (146) is fixedly connected to the left side of the clamping plate (155), the thickness of the rubber pad (146) is 3 mm, a second slider (147) is fixedly connected to the right side of the top and bottom of the third telescopic rod (154), a slide groove (148) used in conjunction with the second slider (147) is provided at the top and bottom of the inner cavity of the sleeve (152), the outer surface of the second slider (147) is slidably connected to the inner surface of the slide groove (148), a negative pressure outlet (149) is provided on the right side of the positive and negative pressure sealing chamber (140), the number of the positive pressure air inlets (144) is seven, the number of the yarn clamping cylinders (142) is seven, and the number of the connecting air pipes (141) is seven.

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