Robot matched with textile machine

Abstract

The invention relates to the technical field of textile machines, in particular to a textile machine matched robot which comprises a textile machine body, a plurality of conveying rollers are arranged in the textile machine body, and the conveying rollers are used for conveying and spinning woven threads; the water baffle is rotationally arranged above the textile machine body; the yarn weaving plate is arranged in the textile machine body, and the yarn weaving plate is located below the water baffle; the mobile robot frame is arranged in front of the textile machine body; a driving mechanism and a mobile robot frame are controlled to move towards the side close to a water baffle, so that the water baffle is opened, a textile machine is controlled to rotate reversely by half a circle, yarn is loosened, redundant weft is exposed, and then an adsorption pipe can adsorb the redundant weft; and when the fault information is a parking fault, machine maintenance personnel can be arranged in time for handling, so that the practicability of the textile machine body is improved, and the weft parking fault can be handled in time.

Description

Technical Field

[0001] The present application relates to the technical field of textile machines, and specifically to a textile machine supporting robot. Background Art

[0002] The textile machine is the most widely used shuttleless loom at present. In addition to the characteristics of high speed, high degree of automation and high efficiency production of shuttleless looms, its active weft insertion method has strong variety adaptability and can adapt to the weft insertion of various types of yarns.

[0003] Regarding cotton yarn spinning machines, many mechanized and automated spinning machines have appeared in modern times. Automated cotton yarn spinning machines can reduce the waste of labor costs and greatly increase the spinning speed of spinning machines, thereby improving the spinning efficiency of spinning machines.

[0004] Textile machines are distributed in rows, with dozens of textile machines placed in each row. One operator needs to take care of 40-50 textile machines. Various faults may occur during the operation of the textile machines, such as weft stop. The reasons for weft stop are: thread breakage (the weft is broken), short tail (the weft is not long enough), tail (there are burrs or hairs on the warp, and the weft collides with the burrs or hairs during the interweaving process), etc. When such situations occur, the staff needs to manually clean the weft, which is inconvenient to operate.

[0005] Therefore, it is necessary to provide a kind of textile machine supporting robot to solve the above problems.

[0006] It should be noted that the above information disclosed in this background technology section is only for understanding the background technology of the present application concept, and therefore, it may contain information that does not constitute the prior art. Summary of the invention

[0007] The technical solution adopted by the present application to solve the technical problem is: a textile machine supporting robot, the robot is suitable for a textile machine, the textile machine includes:

[0008] A textile machine body, wherein a plurality of transmission rollers are arranged inside the textile machine body, and the plurality of transmission rollers are used to transmit and weave the yarn;

[0009] A water baffle, the water baffle being rotatably arranged above the textile machine body;

[0010] A weaving board, the weaving board is arranged inside the textile machine body, and the weaving board is located below the water retaining plate;

[0011] A mobile robot frame, wherein the mobile robot frame is arranged in front of the textile machine body;

[0012] An adsorption tube, which is arranged inside the mobile robot frame and is used to absorb and remove excess weft threads;

[0013] A driving mechanism is arranged inside the mobile robot frame, and is used to control the adsorption tube to move below the water baffle.

[0014] Furthermore, the mobile robot frame includes:

[0015] Two groups of connecting brackets, the two groups of connecting brackets are respectively fixedly installed on the two side walls of the mobile robot frame;

[0016] A ratchet plate, the ratchet plate being fixedly mounted at the bottom edge of the connecting bracket;

[0017] A rotating column, wherein the rotating column is fixedly installed inside the water baffle and penetrates into the interior of the textile machine body;

[0018] A driven gear is fixedly mounted on the edge of the outer peripheral surface of the rotating column, and the ratchet plate is meshed and connected with the driven gear.

[0019] Furthermore, the driving mechanism comprises:

[0020] An oil cylinder, the oil cylinder being fixedly mounted on a side wall of the mobile robot frame;

[0021] An extension frame, the extension frame is fixedly mounted on the telescopic end of the oil cylinder;

[0022] A cod camera, the cod camera is installed on one side of the extension frame; it should be noted that the cod camera is connected to the external display screen through an external power cord and a control system;

[0023] An adjusting unit is arranged on the surface of the extension frame, and is used to control the movement of the cod camera. The adsorption tube is installed inside the adjusting unit.

[0024] Furthermore, the adjustment unit includes:

[0025] A rectangular frame, the rectangular frame is installed below the extension frame, and the width of the rectangular frame is adapted to the width of the transmission roller;

[0026] An electric telescopic rod 1, wherein a slider is fixedly installed at the telescopic end of the electric telescopic rod 1, the slider is slidably arranged inside the rectangular frame, the adsorption tube is arranged on the outer wall of the slider, and the cod camera is arranged on the side wall of the slider and is adjacent to the adsorption tube.

[0027] Furthermore, the adjustment unit also includes:

[0028] A mounting frame, wherein the mounting frame is slidably disposed on a side wall of the extension frame; and the rectangular frame is fixedly mounted on a lower end surface of the mounting frame;

[0029] The second electric telescopic rod is fixedly mounted above the extension frame, and the telescopic end of the electric telescopic rod is connected to the upper wall of the mounting frame.

[0030] Furthermore, the side wall of the extension frame is provided with a slide groove adapted to the mounting frame, and the side wall of the mounting frame is slidably arranged on the side wall of the mounting frame through a slide column; during operation, when the electric telescopic rod 2 drives the mounting frame to move, the mounting frame will move in the slide groove of the extension frame, and under the limit of the slide groove, it can ensure that the mounting frame moves on the same axis, thereby facilitating the subsequent COD camera to collect image information on the surface of the weaving thread.

[0031] Furthermore, a rectangular plate is installed on the side wall of the slider, a rotating shaft passes through the interior of the rectangular plate, a connecting gear is fixedly installed on the outer circumference of the rotating shaft, a ratchet seat is installed on the inner wall of the rectangular frame, the ratchet seat and the connecting gear are meshingly connected, and a fan blade is fixedly installed on the bottom of the rotating shaft.

[0032] Furthermore, an annular groove is opened inside the rectangular plate, and the outer peripheral surface of the rotating shaft is rotatably arranged inside the annular groove through an annular frame; during operation, since the annular groove and the annular frame are set, the annular frame will rotate inside the annular groove, so when the slider moves, the ratchet seat and the connecting gear engage with each other, which can facilitate the rotation of the fan blades by the rotating shaft.

[0033] Furthermore, the shape of the adsorption tube near the yarn side is conical, and the adsorption tube is connected to an external suction pump through a power cord; when working, such a design can facilitate the adsorption of excess weft by the adsorption tube.

[0034] Furthermore, one end of the adsorption tube away from the yarn passes through an external recovery cylinder.

[0035] The beneficial effects of the present application are as follows: the present application provides a textile machine supporting robot, which drives the movement of the cod camera through the adjustment unit, so that the cod camera observes the textile fabric surface, and marks the abnormal position of the fabric surface through the external control system, and then the adsorption tube can be moved through the adjustment unit, and the redundant weft threads at the abnormal position can be adsorbed. The operation is relatively convenient and the processing efficiency is high. Finally, the above actions are repeated until there is no abnormality. If the fabric surface is inspected and meets the start-up conditions, the robot frame is controlled to move away from the water baffle, and under the mutual engagement of the gear and the ratchet plate, the water baffle will be closed again, and the textile machine can be started again.

[0036] When the slider moves along the inside of the rectangular frame, the slider will drive the rectangular plate to move at the same time. Since the connecting gear and the ratchet seat are meshed, the shaft will rotate synchronously during the movement of the slider, thereby driving the fan blades to rotate. The fan blades will generate a certain amount of wind force during the rotation process, which will blow the yarn and cause excess weft threads to be mixed inside the yarn, making it difficult for the cod camera to observe some weft threads. It is also convenient for the subsequent adsorption tube to adsorb and remove the excess weft threads.

[0037] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0039] In the attached picture:

[0040] Figure 1 It is a three-dimensional schematic diagram in this application;

[0041] Figure 2 This is a schematic diagram of the structure of the textile machine body in this application;

[0042] Figure 3 This is a partial structural diagram of the weaving board in this application;

[0043] Figure 4 This is a schematic diagram of the structure of the connecting bracket part in this application;

[0044] Figure 5 This is a schematic diagram of the side view of the textile machine body in this application;

[0045] Figure 6 This is a schematic diagram of the structure of the cod camera part in this application;

[0046] Figure 7 This is a schematic diagram of the structure of the mounting frame in this application;

[0047] Figure 8 It is a schematic diagram of the structure of the rectangular frame part in this application;

[0048] Fig. 9 This is a schematic diagram of the structure of the connecting gear part of this application.

[0049] Among them, the reference numerals in the figure are:

[0050] 1. Textile machine body; 2. Transmission roller; 3. Water baffle; 4. Weaving board; 5. Mobile robot frame; 501. Adsorption tube; 502. Connecting bracket; 6. Ratchet plate; 7. Rotating column; 701. Driven gear; 8. Cylinder; 9. Extension frame; 10. COD camera; 11. Rectangular frame; 12. Electric telescopic rod 1; 13. Sliding block; 131. Rectangular plate; 132. Annular groove; 14. Mounting frame; 15. Electric telescopic rod 2; 16. Rotating shaft; 17. Connecting gear; 18. Ratchet seat; 19. Fan blade; 20. Annular frame. DETAILED DESCRIPTION

[0051] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0052] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0053] like Figures 1 to 6 As shown, the present application provides a textile machine supporting robot, which is suitable for a textile machine, wherein the textile machine comprises: a textile machine body 1, wherein a plurality of transmission rollers 2 are arranged inside the textile machine body 1, and the plurality of transmission rollers 2 are used to transmit and weave the weaving threads; a water baffle 3, wherein the water baffle 3 is rotatably arranged above the textile machine body 1; a weaving board 4, wherein the weaving board 4 is arranged inside the textile machine body 1, and the weaving board 4 is located below the water baffle 3; a mobile robot frame 5, wherein the mobile robot frame 5 is arranged in front of the textile machine body 1; an adsorption tube 501, wherein the adsorption tube 501 is arranged inside the mobile robot frame 5, and the adsorption tube 501 is used to adsorb and remove the redundant weft threads; a driving mechanism, wherein the driving mechanism is arranged inside the mobile robot frame 5, and the driving mechanism is used to control the adsorption tube 501 to move below the water baffle 3;

[0054] It should be noted that an intelligent electrical control system is provided inside each textile machine body 1, which can automatically identify textile machine faults and display them on the PLC control screen of the textile machine. The identification of textile machine faults here is a prior art and will not be repeated in the embodiments of the present invention. When the textile machine body 1 in the present invention works normally, the water baffle 3 is in a closed state. When the intelligent electrical control system of the textile machine receives fault information, the information can be fed back to the central control room in a timely manner. When the fault information is a weft stop fault, the system can automatically control the drive mechanism and the mobile robot frame 5 to move to the side close to the water baffle 3, so that the water baffle 3 is opened, and the textile machine is controlled to reverse half a circle, so that the yarn is loosened and the excess weft is exposed. Then the adsorption tube 501 can adsorb the excess weft. When the fault information is a parking fault, the machine repair personnel can be arranged in time to handle it. Such a design improves the practicality of the textile machine body 1 of the present invention, and can handle the weft stop fault in time without manual operation by the staff, which is conducive to the subsequent weaving of the textile machine.

[0055] The mobile robot frame 5 includes: two groups of connecting brackets 502, which are respectively fixedly installed on the two side walls of the mobile robot frame 5; a ratchet plate 6, which is fixedly installed at the bottom edge of the connecting bracket 502; a rotating column 7, which is fixedly installed inside the water baffle 3, and the rotating column 7 penetrates into the interior of the textile machine body 1; a driven gear 701, which is fixedly installed at the edge of the outer peripheral surface of the rotating column 7, and the ratchet plate 6 and the driven gear 701 are meshed and connected;

[0056] During operation, when the textile machine body 1 is in normal use, the water baffle 3 is in a closed state; when the mobile robot frame 5 receives the weft stop information, the mobile robot frame 5 will drive the adsorption tube 501 to move to the side close to the water baffle 3, and the mobile robot frame 5 will simultaneously drive the connecting brackets 502 on both sides to move synchronously, the connecting bracket 502 will drive the ratchet plate 6 to move, the ratchet plate 6 will drive the driven gear 701 meshing with it to rotate, the driven gear 701 drives the rotating column 7 and the water baffle 3 to rotate, and then the weaving thread inside the textile machine body 1 can be opened, and at this time the adsorption tube 501 also just moves to the bottom of the water baffle 3, and then the excess weft thread can be adsorbed and removed through the adsorption tube 501.

[0057] like Figures 2 to 9 As shown, the driving mechanism includes: a cylinder 8, which is fixedly mounted on the side wall of the mobile robot frame 5; an extension frame 9, which is fixedly mounted on the telescopic end of the cylinder 8; a cod camera 10, which is mounted on one side of the extension frame 9; it should be noted that the cod camera 10 is connected to the external display screen through an external power cord and a control system, and the connection method here is the prior art, and no redundant description is made in the embodiment of the present invention;

[0058] An adjustment unit, which is arranged on the surface of the extension frame 9, and is used to control the movement of the cod camera 10, and the adsorption tube 501 is installed inside the adjustment unit;

[0059] During operation, when the mobile robot frame 5 drives the adsorption tube 501 to move below the water baffle 3, the oil cylinder 8 is continued to be controlled to drive the extension frame 9 to move forward, so that the extension frame 9 moves to the side of the weaving line below the water baffle 3. Here, the movement of the extension frame 9 driven by the oil cylinder 8 is a fine adjustment in the embodiment of the present invention, which is convenient for further observing the cause of the weft stop. Then, the cod camera 10 is driven to move again through the adjustment unit, so that the cod camera 10 observes the textile fabric surface, and marks the abnormal position of the fabric surface through the external control system. Then, the adsorption tube 501 can be moved through the adjustment unit, and the redundant weft at the abnormal position is adsorbed. The operation is convenient and the processing efficiency is high. Finally, the above actions are repeated until there is no abnormality. If the fabric surface is inspected and meets the startup conditions, the mobile robot frame 5 is controlled to move away from the water baffle 3, and under the mutual engagement of the driven gear 701 and the ratchet plate 6, the water baffle 3 will be closed again, and the textile machine can be started again.

[0060] The adjustment unit includes: a rectangular frame 11, which is installed below the extension frame 9, and the width of the rectangular frame 11 is adapted to the width of the transmission roller 2; an electric telescopic rod 12, and a slider 13 is fixedly installed at the telescopic end of the electric telescopic rod 12, and the slider 13 is slidably arranged inside the rectangular frame 11, and the adsorption tube 501 is arranged on the outer wall of the slider 13, and the cod camera 10 is arranged on the side wall of the slider 13, and is arranged adjacent to the adsorption tube 501;

[0061] During operation, when the adsorption tube 501 moves to the bottom of the water baffle 3, the telescopic end of the electric telescopic rod 12 is first controlled to drive the slider 13, the adsorption tube 501 and the cod camera 10 to move synchronously, and then the cod camera 10 will gradually patrol along the surface of the weft. If the cod camera 10 observes that there is a problem with the weft, the information will be transmitted to the external controller, and the adsorption tube 501 will be controlled by the external controller to process the fault location photographed by the cod camera 10. The operation is relatively convenient, and there is no need for manual operation by the staff, and the processing efficiency is high.

[0062] like Figures 3 to 9 As shown, the adjustment unit also includes: a mounting frame 14, the mounting frame 14 is slidably arranged on the side wall of the extension frame 9; the rectangular frame 11 is fixedly installed on the lower end surface of the mounting frame 14; the electric telescopic rod 15 is fixedly installed above the extension frame 9, and the telescopic end of the electric telescopic rod 15 is connected to the upper wall of the mounting frame 14;

[0063] During operation, if the image collected by the cod camera 10 is not clear during the inspection and shooting process, the telescopic end of the electric telescopic rod 15 can be continued to be controlled to drive the mounting bracket 14 to move, so that the mounting bracket 14 drives the rectangular frame 11 to move up or down until the image collected by the cod camera 10 is clear. Then, the electric telescopic rod 12 continues to drive the cod camera 10 to operate horizontally until excess weft threads are detected on the surface of the weaving thread, which is more convenient to adjust.

[0064] The side wall of the extension frame 9 is provided with a slide groove compatible with the mounting frame 14, and the side wall of the mounting frame 14 is slidably set on the side wall of the mounting frame 14 through a slide column; during operation, when the electric telescopic rod 15 drives the mounting frame 14 to move, the mounting frame 14 will move in the slide groove of the extension frame 9. Under the limit of the slide groove, it can ensure that the mounting frame 14 moves on the same axis, thereby facilitating the subsequent COD camera 10 to collect image information on the surface of the weaving thread.

[0065] A rectangular plate 131 is installed on the side wall of the slider 13, and a rotating shaft 16 passes through the interior of the rectangular plate 131. A connecting gear 17 is fixedly installed on the outer peripheral surface of the rotating shaft 16, and a ratchet seat 18 is installed on the inner wall of the rectangular frame 11. The ratchet seat 18 and the connecting gear 17 are meshed and connected, and a fan blade 19 is fixedly installed on the bottom of the rotating shaft 16; when working, when the slider 13 moves along the inside of the rectangular frame 11, the slider 13 will simultaneously drive the rectangular plate 131 to move. Since the connecting gear 17 and the ratchet seat 18 are meshed and connected, the rotating shaft 16 will rotate synchronously during the movement of the slider 13, thereby driving the fan blade 19 to rotate. The fan blade 19 will generate a certain amount of wind force during the rotation process, and the wind force will blow the yarn, so that excess weft threads are mixed inside the yarn, resulting in the problem that the COD camera 10 is difficult to observe some weft threads, and it is also convenient for the subsequent adsorption tube 501 to adsorb and remove the excess weft threads.

[0066] An annular groove 132 is provided inside the rectangular plate 131, and the outer peripheral surface of the rotating shaft 16 is rotatably set inside the annular groove 132 through the annular frame 20; during operation, since the annular groove 132 and the annular frame 20 are set, the annular frame 20 will rotate inside the annular groove 132, so when the slider 13 moves, the ratchet seat 18 and the connecting gear 17 are engaged with each other, which can facilitate the rotation of the fan blades 19 driven by the rotating shaft 16.

[0067] The shape of the adsorption tube 501 near the yarn side is conical, and the adsorption tube 501 is connected to an external suction pump through a power cord; when working, such a design can facilitate the adsorption tube 501 to adsorb excess weft.

[0068] One end of the adsorption tube 501 away from the yarn passes through an external recovery tube, so that the absorbed weft yarn can be easily recovered.

[0069] Working principle: When the textile machine body 1 in the present invention is working normally, the water baffle 3 is in a closed state; when the intelligent electrical control system of the textile machine receives fault information, the information can be fed back to the central control room in time. When the fault information is a weft stop fault, the system can automatically control the drive mechanism and the mobile robot frame 5 to move to the side close to the water baffle 3, so that the water baffle 3 is opened, and the textile machine is controlled to reverse half a circle, so that the yarn is loosened and the excess weft is exposed, and then the adsorption tube 501 can adsorb the excess weft; when the fault information is a parking fault, the machine repair personnel can be arranged in time to deal with it. Such a design improves the practicality of the textile machine body 1 of the present invention, and can deal with the weft stop fault in time without the need for manual operation by the staff. The operation is beneficial to the subsequent weaving of the textile machine; when the textile machine body 1 is in normal use, the water baffle 3 is in a closed state; when the mobile robot frame 5 receives the weft stop information, the mobile robot frame 5 will drive the adsorption tube 501 to move to the side close to the water baffle 3, and the mobile robot frame 5 will simultaneously drive the connecting brackets 502 on both sides to move synchronously, and the connecting bracket 502 will drive the ratchet plate 6 to move, and the ratchet plate 6 will drive the driven gear 701 meshing with it to rotate, and the driven gear 701 drives the rotating column 7 and the water baffle 3 to rotate, and then the weaving thread inside the textile machine body 1 can be opened, and at this time the adsorption tube 501 also just moves to the bottom of the water baffle 3, and then the excess weft thread can be adsorbed and removed through the adsorption tube 501;

[0070] When the mobile robot frame 5 drives the adsorption tube 501 to move under the water baffle 3, the oil cylinder 8 is continued to be controlled to drive the extension frame 9 to move forward, so that the extension frame 9 moves to the side of the weaving line under the water baffle 3. Here, the movement of the extension frame 9 driven by the oil cylinder 8 is a fine adjustment in the embodiment of the present invention, which is convenient for further observing the cause of the weft stop. Then, the cod camera 10 is driven to move by the adjustment unit again, so that the cod camera 10 observes the textile fabric surface, and marks the abnormal position of the fabric surface through the external control system. Then, the adsorption tube 501 can be moved by the adjustment unit, and the redundant weft at the abnormal position is adsorbed, which is convenient to operate and has high processing efficiency. Finally, the above actions are repeated until there is no abnormality. If the fabric surface is inspected and meets the startup conditions, the mobile robot frame 5 is controlled to move away from the water baffle 3, and under the mutual engagement of the driven gear 701 and the ratchet plate 6, the water baffle 3 will be closed again, and the textile machine can be started again.

[0071] When the adsorption tube 501 moves to the bottom of the water retaining plate 3, the telescopic end of the electric telescopic rod 12 is first controlled to drive the slider 13, the adsorption tube 501 and the cod camera 10 to move synchronously, and then the cod camera 10 will gradually inspect along the surface of the weaving line. If the cod camera 10 observes that there is a problem with the weft line, the information is transmitted to the external controller, and the adsorption tube 501 is controlled by the external controller to process the fault location photographed by the cod camera 10. The operation is relatively convenient, and there is no need for manual operation by the staff, and the processing efficiency is high.

[0072] If the image collected by the cod camera 10 is not clear during the inspection and shooting process, the telescopic end of the electric telescopic rod 2 15 can be controlled to drive the mounting bracket 14 to move, so that the mounting bracket 14 drives the rectangular frame 11 to move up or down until the image collected by the cod camera 10 is clear, and then the electric telescopic rod 1 12 is continued to drive the cod camera 10 to operate horizontally until the existence of excess weft threads on the surface of the weaving thread is detected, and the adjustment is more convenient; when the slider 13 moves along the inside of the rectangular frame 11, the slider 13 will simultaneously drive the rectangular plate 131 to move. Since the connecting gear 17 and the ratchet seat 18 are meshed and connected, the rotating shaft 16 will rotate synchronously during the movement of the slider 13, thereby driving the fan blades 19 to rotate. The fan blades 19 will generate a certain amount of wind force during the rotation process, and the wind force will blow the yarn, so that the excess weft threads are mixed inside the yarn, resulting in the problem that the cod camera 10 is difficult to observe some weft threads, and it is also convenient for the subsequent adsorption tube 501 to adsorb and remove the excess weft threads;

[0073] Since the annular groove 132 and the annular frame 20 are provided, the annular frame 20 will rotate inside the annular groove 132. Therefore, when the slider 13 moves, the ratchet seat 18 and the connecting gear 17 are engaged with each other, which can facilitate the rotation of the fan blades 19 driven by the rotating shaft 16.

[0074] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A textile machine supporting robot, the robot being applicable to a textile machine, the textile machine comprising a textile machine body (1), a plurality of transmission rollers (2) being arranged inside the textile machine body (1), the plurality of transmission rollers (2) being used to transmit and weave yarns; a water baffle (3), the water baffle (3) being rotatably arranged above the textile machine body (1); A weaving plate (4), the weaving plate (4) being arranged inside the textile machine body (1), the weaving plate (4) being located below the water retaining plate (3); It is characterized in that include: A mobile robot frame (5), wherein the mobile robot frame (5) is arranged in front of the textile machine body (1); An adsorption tube (501), the adsorption tube (501) being arranged inside the mobile robot frame (5), and the adsorption tube (501) being used to adsorb and remove excess weft threads; A driving mechanism, wherein the driving mechanism is arranged inside the mobile robot frame (5), and the driving mechanism is used to control the adsorption tube (501) to move toward the bottom of the water baffle (3).

2. A textile machine supporting robot according to claim 1, characterized in that: The mobile robot frame (5) comprises: Two groups of connecting brackets (502), the two groups of connecting brackets (502) are respectively fixedly mounted on two side walls of the mobile robot frame (5); A ratchet plate (6), wherein the ratchet plate (6) is fixedly mounted on the bottom edge of the connecting bracket (502); A rotating column (7), wherein the rotating column (7) is fixedly mounted inside the water baffle (3), and the rotating column (7) penetrates into the interior of the textile machine body (1); A driven gear (701) is fixedly mounted on the edge of the outer peripheral surface of the rotating column (7), and the ratchet plate (6) and the driven gear (701) are meshed and connected.

3. A textile machine supporting robot according to claim 2, characterized in that: The driving mechanism comprises: An oil cylinder (8), wherein the oil cylinder (8) is fixedly mounted on a side wall of the mobile robot frame (5); An extension frame (9), the extension frame (9) is fixedly mounted on the telescopic end of the oil cylinder (8); A cod camera (10), wherein the cod camera (10) is installed on one side of the extension frame (9); An adjusting unit is arranged on the surface of the extension frame (9), the adjusting unit is used to control the movement of the COD camera (10), and the adsorption tube (501) is installed inside the adjusting unit.

4. A textile machine supporting robot according to claim 3, characterized in that: The adjustment unit comprises: A rectangular frame (11), the rectangular frame (11) being installed below the extension frame (9), the width of the rectangular frame (11) being adapted to the width of the transmission roller (2); An electric telescopic rod (12), a slider (13) is fixedly installed at the telescopic end of the electric telescopic rod (12), the slider (13) is slidably arranged inside the rectangular frame (11), the adsorption tube (501) is arranged on the outer wall of the slider (13), and the COD camera (10) is arranged on the side wall of the slider (13) and is adjacent to the adsorption tube (501).

5. A textile machine supporting robot according to claim 4, characterized in that: The adjustment unit also includes: A mounting frame (14), the mounting frame (14) being slidably disposed on a side wall of the extension frame (9); the rectangular frame (11) being fixedly mounted on a lower end surface of the mounting frame (14); The second electric telescopic rod (15) is fixedly mounted above the extension frame (9), and the telescopic end of the second electric telescopic rod (15) is connected to the upper wall of the mounting frame (14).

6. A textile machine supporting robot according to claim 5, characterized in that: The side wall of the extension frame (9) is provided with a sliding groove matched with the mounting frame (14), and the side wall of the mounting frame (14) is slidably arranged on the side wall of the mounting frame (14) through a sliding column.

7. A textile machine supporting robot according to claim 5, characterized in that: A rectangular plate (131) is installed on the side wall of the slider (13), a rotating shaft (16) passes through the interior of the rectangular plate (131), a connecting gear (17) is fixedly installed on the outer peripheral surface of the rotating shaft (16), a ratchet seat (18) is installed on the inner wall of the rectangular frame (11), the ratchet seat (18) and the connecting gear (17) are meshingly connected, and a fan blade (19) is fixedly installed on the bottom of the rotating shaft (16).

8. A textile machine supporting robot according to claim 7, characterized in that: An annular groove (132) is provided inside the rectangular plate (131), and the outer peripheral surface of the rotating shaft (16) is rotatably arranged inside the annular groove (132) via an annular frame (20).

9. The textile machine supporting robot according to claim 1, characterized in that: The shape of the adsorption tube (501) close to the yarn is conical, and the adsorption tube (501) is connected to an external suction pump through a power line.

10. A textile machine supporting robot according to claim 9, characterized in that: One end of the adsorption tube (501) away from the yarn penetrates into an external recovery cylinder.

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