Yarn inserting robot

Abstract

The invention provides a yarn inserting robot, which belongs to the technical field of textile, and specifically comprises a lifting turnover device for transferring cop from a cop dumper to a vibration bin with a preset height; the bobbin yarns orderly roll down to a discharge port of the vibration stock bin through vibration; the cop feeding and lifting device vertically lifts cops; the cop adjusting device is used for distinguishing large and small ends of cops and adjusting the falling direction of the cops, so that the cops fall onto the conveying device with the large ends facing downwards; the take-up device is used for separating a yarn head from a yarn body of the cop falling onto the conveying device and winding the yarn head at the small head end of the cop; the negative-pressure yarn feeding device adsorbs a yarn end at the small end of the cop; and the bobbin yarn putting device is used for receiving the yarn ends transferred by the negative-pressure yarn feeding device and putting the yarn ends and the corresponding bobbin yarns into a bobbin winder yarn library. According to the processing scheme, through the rapid feeding and supplementing function, the work efficiency of bobbin yarn supplementing of the bobbin winder is improved, and the production requirement of a production line is met.

Description

Technical Field

[0001] The invention relates to the technical field of textiles, and in particular to a yarn inserting robot. Background Art

[0002] With the development of social economy and industrial upgrading, it is of great significance to automate the existing equipment in labor-intensive industries and replace workers with repetitive and boring work with intelligent robots. As one of the main labor-intensive industries, the textile industry has high labor costs. In the process of bobbin processing, many links need to place bobbin yarns according to regulations, and yarn inserters are required to complete daily production. The yarn inserters repeat mechanical actions such as taking bobbin yarns, selecting and placing them every day, which has high labor costs. Summary of the invention

[0003] Therefore, in order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a yarn insertion robot that can achieve the technical effects of automatically completing the processes of conveying, distinguishing between large and small ends, finding thread ends, and delivering bobbin yarn to a winding machine.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a yarn insertion robot, comprising: a lifting and flipping device, used to transfer the bobbin from the bobbin transport vehicle to a vibrating silo at a predetermined height; a vibrating silo, used to store the bobbin from the lifting and flipping device, and to make the bobbin roll down to the discharge port of the vibrating silo in an orderly manner through vibration; a bobbin feeding and lifting device, fixedly docked with the discharge port of the silo, used to lift the bobbin vertically; a bobbin adjusting device, located behind the bobbin feeding and lifting device, used to distinguish the bobbin The large and small heads are adjusted, and the falling direction of the tube yarn is adjusted so that the large end of the tube yarn falls downward onto the conveying device; the thread picking device is used to separate the yarn head from the yarn body of the tube yarn that falls onto the conveying device, and wind the yarn head around the small end of the tube yarn; the negative pressure yarn feeding device is used to absorb the yarn head at the small end of the tube yarn, and the tube yarn is transported and transferred along the specified path through the conveying device; the tube yarn delivery device is used to receive the yarn head transferred by the negative pressure yarn delivery device, and deliver the yarn head and the corresponding tube yarn to the yarn storage of the winding machine.

[0005] In one of the embodiments, the lifting and flipping device includes: a device bracket, fixed on the side wall of the silo on the feeding side; a flipping mechanism, installed on the device bracket, used to flip the tube yarn transport vehicle to a predetermined position with the hinge point between the silo and the device bracket as the axis; a fixing mechanism, arranged on the flipping mechanism, used to fix the tube yarn transport vehicle on the flipping mechanism; a lifting mechanism, used to control the flipping mechanism to realize the in-situ flipping of the tube yarn transport vehicle.

[0006] In one embodiment, the vibrating silo includes: a silo body, with a feeding port provided on the upper part, and a discharge port provided on the funnel-shaped bottom of the silo body; a sliding plate, which is arranged in the silo body and is used to slowly slide the tube yarn from the tube yarn transport vehicle; a vibrating bottom plate, which is arranged below the sliding plate and cooperates with the bottom surface of the sliding plate to form the discharge port, and is used to control the tube yarn from the sliding plate to slide down from the upper inclined surface of the vibrating bottom plate in an orderly manner through vibration; a vibration mechanism, which is used to control the vibration of the vibrating bottom plate; a thread end negative pressure suction mechanism, which is arranged at the tail end of the vibrating bottom plate and is used to absorb the thread ends of the passing tube yarn through negative pressure; a cutting mechanism, which is spaced apart from the vibrating bottom plate to form a blanking gap, and is used to cut the thread ends of the passing tube yarn; a lifting mechanism, which is arranged between the thread end suction mechanism and the cutting mechanism and is located below the blanking gap, and is used to control the frequency of transporting the tube yarn with the adsorbed thread ends to the cutting mechanism.

[0007] In one embodiment, the bobbin loading and lifting device includes: a fixed frame; a loading bin, installed at the bottom of the fixed frame, for accommodating the bobbin conveyed from the bin; a lifting module, installed in the fixed frame, for vertically lifting the bobbin in the loading bin to the predetermined height, the lifting module includes a support member fixed on the fixed frame, a lifting belt surrounding the support member, a driving assembly for driving the lifting belt to move, and a plurality of lifting and lifting assemblies arranged on the lifting belt; the lifting and lifting assembly moves cyclically around the support member driven by the lifting belt to form a conveying channel located on one side of the support member, and the conveying channel is used to convey the bobbin upward in the vertical direction; a bobbin limiting module, installed on the fixed frame and located in the loading bin, through the coordinated movement of the bobbin limiting module and the lifting and lifting assembly, orderly adjusts the bobbin conveyed disorderly from the loading bin to the lifting and lifting assembly; a separation module, installed at the top of the lifting module, for separating the bobbin from the lifting module and transferring the bobbin to the sorting device.

[0008] In one embodiment, the cop adjustment device comprises: an identification mechanism for identifying the direction of the cop; and a head separation mechanism for releasing the cop with the big end facing downward according to the cop direction identification result of the identification mechanism.

[0009] In one embodiment, the thread picking device includes: a picking knife structure; a second mounting seat, which is arranged in the same direction as the first mounting seat, and the first mounting seat can move relative to the second mounting seat; a second jet structure, which corresponds to the position of the picking knife and is used to spray air diagonally downward of the tube yarn; a compression and rotation structure, which is arranged on the second mounting seat and is used to compress the tube yarn and rotate it along the yarn winding direction of the tube yarn, wherein the picking knife structure includes: a first mounting seat; at least one picking knife, which is flexibly mounted on the first mounting seat, and the picking knife separates the yarn head from the yarn body of the tube yarn.

[0010] In one embodiment, the picking knife includes: a picking knife body, which flexibly contacts the surface of the tube yarn under the action of external force and is used to pick up the outer layer of yarn on the surface, the picking knife body includes a rough and blunt blade for picking up the yarn, a mounting portion installed on the thread picking device, and a blade body section connecting the rough and blunt blade and the mounting portion; a picking knife blade is arranged on the blade body section and is used to cut the picked up yarn from the yarn body.

[0011] In one embodiment, the negative pressure yarn feeding device includes: a first negative pressure suction part, including a first suction head, a yarn end transfer unit and a first negative pressure pipeline, the first suction head sucks the thread ends of the tube yarn delivered to the first designated position on the workbench one by one, and the sucked yarn ends enter the first negative pressure pipeline; a negative pressure rotating suction part, having a swing arm and a second negative pressure pipeline connected to the swing arm, when the swing arm moves to the vicinity of the first suction head, the yarn end transfer unit temporarily blocks the first suction head and moves the thread end to the vicinity of the swing arm, and the swing arm uses negative pressure to suck the thread ends one by one; a third negative pressure suction part, using negative pressure to suck the thread ends of multiple tube yarns delivered by the swing arm; a control part, used to control the negative pressure of the first negative pressure suction part, the negative pressure rotating suction part, and the third negative pressure suction part.

[0012] In one embodiment, the first suction head includes: a vertical guide rod, which is arranged near the first designated position and has a movable seat on the outer wall; a telescopic pipe, one end of which is connected to the first negative pressure pipe, and the other end of which can perform vertical reciprocating motion along the vertical guide rod driven by the movable seat, and the yarn end transfer unit includes: a thread end shifting plate, which rotates horizontally along the port of the first suction head to guide the thread end into the first suction head or guide the yarn end into the swing arm; a driving unit, which is used to drive the thread end shifting plate.

[0013] In one embodiment, the tube yarn delivery device includes: a manipulator, one end of which is fixed on the body of the yarn insertion robot, and the other end of which moves horizontally according to a control signal; a telescopic sleeve, which is fixed on the other end of the manipulator and can move vertically according to a control signal; an air bag tube clamping assembly, which is used to clamp at least one tube yarn and deliver the tube yarn to the yarn storage of the winding machine, wherein the air bag tube clamping assembly includes a fan-shaped mounting plate and a plurality of yarn clamps arranged at the front end of the mounting plate, and the mounting plate is provided with a hollow sleeve at the center of the circle, and the hollow sleeve is connected to the hollow pipeline of the telescopic sleeve, which is used for negative pressure suction of the yarn head of the transferred tube yarn, and the yarn clamp is used for clamping the tube yarn.

[0014] Compared with the prior art, the advantages of the present invention are: it has the function of replacing employees to perform high-intensity work and quickly feeding and replenishing materials, and improves the working efficiency of the winding machine to supplement the bobbin yarn to meet the production needs of the production line. The yarn insertion robot of the present invention realizes the safe migration of the bobbin yarn through the lifting and flipping device; the vibration bin makes the bobbin yarn roll down in an orderly manner through vibration, avoiding the winding of the bobbin yarn head; the bobbin yarn feeding and lifting device ensures that the bobbin yarn is lifted vertically; the bobbin yarn adjustment device makes the bobbin yarn fall down onto the conveying device; the thread picking device separates the yarn head from the yarn body of the bobbin yarn that falls onto the conveying device, and winds the yarn head around the small end of the bobbin yarn; the negative pressure yarn feeding device absorbs the yarn head at the small end of the bobbin yarn; the bobbin yarn delivery device receives the yarn head transferred by the negative pressure yarn feeding device, and delivers the yarn head and the corresponding bobbin yarn to the yarn library of the winding machine. The operation time of each module of the entire robot is parallel, which greatly improves the work efficiency, so that one employee can take care of multiple devices and focus on solving the faults of the winding machine itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 is a front view of a yarn inserting robot in an embodiment of the present invention;

[0017] Figure 2 is a rear view of the yarn inserting robot in an embodiment of the present invention;

[0018] Figure 3 is an exploded view of a yarn inserting robot according to an embodiment of the present invention;

[0019] Figure 4 is an exploded view of a lifting and flipping device in an embodiment of the present invention;

[0020] Figure 5 is a schematic diagram of a lifting and flipping device in an embodiment of the present invention;

[0021] Figure 6 is a cross-sectional view of a vibrating silo in an embodiment of the present invention;

[0022] Figure 7 is a schematic diagram of a bobbin feeding and lifting device in an embodiment of the present invention;

[0023] Figure 8 is a schematic diagram of a thread taking-up device in an embodiment of the present invention;

[0024] Fig. 9 is a schematic diagram of a knife picking structure in an embodiment of the present invention;

[0025] Fig.10 is a schematic diagram of a negative pressure yarn feeding device in an embodiment of the present invention;

[0026] Fig.11 is a schematic diagram of a first negative pressure suction portion in an embodiment of the present invention;

[0027] Fig.12 Schematic diagram of a bobbin delivery device in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0029] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0030] It should be noted that various aspects of the embodiments within the scope of protection of the present invention are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0031] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0032] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0033] like Figures 1 to 3 As shown, an embodiment of the present application provides a yarn insertion robot, including a lifting and flipping device 1, a vibrating silo 2, a tube yarn loading and lifting device 3, a tube yarn adjustment device 4, a conveying device 5, a thread picking device 6, a negative pressure yarn feeding device 8 and a tube yarn delivery device 11.

[0034] The lifting and turning device 1 is used to transfer the bobbin from the bobbin transport vehicle to a vibrating silo at a predetermined height.

[0035] The vibrating silo 2 is used to store the bobbins from the lifting and turning device, and to make the bobbins roll down to the discharge port of the vibrating silo in an orderly manner through vibration.

[0036] The bobbin feeding and lifting device 3 is fixedly connected to the discharge port of the silo 2 and is used to lift the bobbin vertically to a certain height.

[0037] The bobbin adjusting device 4 is located behind the bobbin feeding and lifting device 3 and is used to distinguish the big and small ends of the bobbin and adjust the falling direction of the bobbin so that the big end of the bobbin falls downward onto the conveying device 5 .

[0038] The thread taking-up device 6 is used to separate the yarn end from the yarn body of the cop yarn dropped onto the conveying device 5, and wind the yarn end around the small end of the cop yarn.

[0039] The negative pressure yarn feeding device 8 is used to absorb the yarn head at the small end of the cop yarn, and the cop yarn is transported and transferred along a specified path through the conveying device.

[0040] The bobbin delivery device 11 is used to receive the yarn ends transferred by the negative pressure yarn feeding device, and deliver the yarn ends and the corresponding bobbin yarns to the yarn storage of the winding machine. The bobbin delivery device 11 can transfer 1 to 8 bobbins at a time.

[0041] The workflow of the yarn insertion robot is as follows:

[0042] The bobbin is loaded into the bobbin transport vehicle, the bobbin transport vehicle and the lifting and turning device 1 are fixed, and the lifting and turning device 1 transfers the bobbin from the bobbin transport vehicle to a vibrating silo 2 at a predetermined height;

[0043] The vibrating silo 2 receives and stores the bobbins from the lifting and turning device 1, and makes the bobbins roll down to the discharge port of the vibrating silo in an orderly manner through vibration;

[0044] The bobbin feeding and lifting device 3 lifts the bobbin vertically from the discharge port of the silo to the bobbin adjusting device 4;

[0045] The bobbin adjusting device 4 adjusts the falling direction of the bobbin so that the bobbin falls onto the conveying device 5 with the big end facing downwards;

[0046] The thread taking-up device 6 separates the yarn end from the yarn body of the cop that falls onto the conveying device 5, and winds the yarn end around the small end of the cop;

[0047] The negative pressure yarn feeding device 8 absorbs the yarn head at the small end of the cop yarn, and the cop yarn is transported and transferred along a specified path through the conveying device 5;

[0048] The bobbin delivery device 11 receives the yarn end transferred by the negative pressure yarn feeding device 8, and delivers the yarn end and the corresponding bobbin to the winding machine yarn storage.

[0049] In one embodiment, the yarn inserting robot further includes a control device 7 electrically connected to each device, and the control device 7 includes a display 72 and a solenoid valve cabinet 71 .

[0050] In one embodiment, the yarn inserting robot may further include a fan device 9 connected to the negative pressure yarn feeding device 8 and the bobbin delivery device 11. The fan device 9 provides negative pressure to the negative pressure yarn feeding device 8 and the bobbin delivery device 11, respectively.

[0051] In one embodiment, the yarn inserting robot may further include an electrical cabinet 12 for providing power to all the above devices.

[0052] In one embodiment, the yarn inserting robot may further include a roller device 10 disposed at the bottom of the frame.

[0053] The above robot has the function of replacing employees to perform high-intensity work and quickly feeding and replenishing materials, which improves the working efficiency of the winder to supplement the bobbin yarn to meet the production needs of the production line. The yarn insertion robot of the present invention realizes the safe migration of the bobbin yarn through the lifting and flipping device; the vibration bin makes the bobbin yarn roll down in an orderly manner through vibration, avoiding the winding of the bobbin yarn head; the bobbin yarn feeding and lifting device ensures that the bobbin yarn is lifted vertically; the bobbin yarn adjustment device makes the bobbin yarn fall down onto the conveying device; the thread picking device separates the yarn head from the yarn body of the bobbin yarn that falls onto the conveying device, and winds the yarn head around the small end of the bobbin yarn; the negative pressure yarn feeding device absorbs the yarn head at the small end of the bobbin yarn; the bobbin yarn delivery device receives the yarn head transferred by the negative pressure yarn feeding device, and delivers the yarn head and the corresponding bobbin yarn to the yarn library of the winder. The operation time of each module of the entire robot is parallel, which greatly improves the work efficiency, allowing one employee to take care of multiple devices and focus on solving the faults of the winder itself.

[0054] like Figures 4-5 As shown, in one embodiment, the lifting and turning device 1 includes a device bracket 101 , a turning mechanism 102 , a fixing mechanism 103 and a lifting mechanism 104 .

[0055] The device support 101 is fixed on the side wall of the silo feeding side. The device support 101 is arranged on the frame of the yarn inserting robot and is located on both sides of the silo 2. The turning mechanism 102, the fixing mechanism 103 and the lifting mechanism 104 are all installed on the device support 10.

[0056] The turning mechanism 102 is installed on the device bracket 101, and is used to turn the bobbin transport vehicle to a predetermined position with the hinge point between the silo and the device bracket as the axis.

[0057] The fixing mechanism 103 is arranged on the turnover mechanism, and is used to fix the bobbin transport vehicle on the turnover mechanism. The fixing mechanism 103 cooperates with the fixed part of the bobbin transport vehicle to fix the bobbin transport vehicle on the turnover mechanism 102.

[0058] The lifting mechanism 104 is used to control the turning mechanism to realize the on-site turning of the bobbin transport vehicle.

[0059] The device support 101 includes two mounting side plates symmetrically arranged on the feed side and a crossbeam connecting the two mounting side plates.

[0060] The flipping mechanism 102 includes a sliding flipping track 111 symmetrically mounted on the mounting side plate, a first guide wheel unit 112 movable in the sliding flipping track 111 , a vertical track 113 , at least one set of second guide wheel units 114 movable in the vertical track 113 , and a flipping plate 115 .

[0061] In one embodiment, the first guide wheel unit 112 includes two first guide wheels 1121 and a first connecting rod 1122 connecting the two first guide wheels 1121. The two first guide wheels 1121 move in sliding flip tracks 111 symmetrically installed on the inner walls of the two side plates 101 of the device bracket 10.

[0062] The first connecting rod 1122 ensures the synchronization of the movements of the two first guide wheels 1121 .

[0063] The second guide wheel unit 114 includes two second guide wheels 1141 and a second connecting rod 1142 connecting the two second guide wheels 1141. The two second guide wheels 1141 move in vertical tracks 113 symmetrically installed on the inner walls of the two side plates 101 of the device bracket 10, and the first connecting rod 1142 ensures the synchronization of the movement of the two first guide wheels 1141.

[0064] The setting of the first connecting rod 1122 prevents the two first guide wheels 1121 in the first guide wheel unit 112 from moving asynchronously, thereby causing the flip plate 115 to tilt to the side; the second connecting rod 1142 prevents the two second guide wheels 1141 in the second guide wheel unit 114 from moving asynchronously, thereby causing the flip plate 115 to be lifted and stuck. Further, it prevents the flip plate 115 from tilting excessively to the side when driving the bobbin transport vehicle to flip in situ, and the bobbin transport vehicle is too heavy, causing the first guide wheel unit 112 to fall off from the sliding flip track 111, thereby preventing the flip mechanism 11 from hitting the ground with the bobbin transport vehicle, thereby improving the safety of the bobbin transport vehicle lifting and flipping device.

[0065] In one embodiment, the lifting mechanism 104 includes a cylinder or a hydraulic cylinder. The cylinder converts the pressure energy of compressed air into mechanical energy, and the driving mechanism realizes reciprocating linear motion, swinging or rotating motion. The hydraulic cylinder is a hydraulic actuator that converts hydraulic energy into mechanical energy and performs linear reciprocating motion (or swinging motion). In this embodiment, the cylinder or hydraulic cylinder is used to drive the flipping mechanism 102 to move simultaneously in the sliding flipping track 111 and the vertical track 113 through the first guide wheel unit 112 and the second guide wheel unit 114, and the lifting and flipping actions of the flipping plate 115 are performed synchronously, and the flipping plate 115 drives the bobbin transport vehicle to flip in place.

[0066] like Figure 6 As shown, in one embodiment, the vibrating silo 2 includes a silo body 21 , a sliding plate 22 , a vibrating bottom plate 23 , a vibrating mechanism 24 , a thread end negative pressure suction mechanism 25 , a cutting mechanism 26 and a lifting mechanism 27 .

[0067] The upper part of the silo body 21 is provided with a feeding port, and the funnel-shaped bottom of the silo body is provided with a discharging port. The upper part of the silo body 21 is provided with a feeding port, and the funnel-shaped bottom of the silo body is provided with a discharging port.

[0068] The sliding plate 22 is arranged in the silo body, and is used to make the bobbin from the bobbin transport vehicle slide down slowly. The sliding plate 22 is used to make the bobbin from the bobbin transport vehicle slide down slowly. The angle between the inclined surface where the upper surface of the sliding plate 22 is located and the horizontal ground is an acute angle. In order to shorten the transportation path of the bobbin, the sliding plate 22 is fixed on the plate body on the discharge side of the silo body 21.

[0069] The vibration bottom plate 23 is arranged below the sliding plate and cooperates with the bottom surface of the sliding plate to form a discharge port, which is used to control the bobbins from the sliding plate to slide down the upper inclined surface of the vibration bottom plate in an orderly manner through vibration. The vibration bottom plate 23 is fixed on the plate body on the feeding side of the silo body 21. The tilt direction of the vibration bottom plate 23 is opposite to that of the sliding plate 22.

[0070] The vibration mechanism 24 is used to control the vibration of the vibration base plate.

[0071] The thread end negative pressure suction mechanism 25 is arranged at the tail end of the vibration base plate, and is used to suck the thread end of the passing bobbin by negative pressure. In one embodiment, the thread end negative pressure suction mechanism 25 is arranged on at least one slit 251 on the vibration base plate 23 and a suction unit 252 arranged below the slit 251. The suction unit 252 includes a negative pressure suction machine and a negative pressure suction box. The negative pressure suction box is arranged below the slit 251, and is used to wrap the slit 251 and form a closed space.

[0072] The negative pressure suction machine evacuates air in the negative pressure suction box to form a negative pressure space in the enclosed space, thereby sucking the thread ends of the bobbin passing through the slit 251 .

[0073] The cutting mechanism 26 is spaced apart from the vibration bottom plate to form a blanking gap for cutting the thread ends of the passing bobbin.

[0074] The lifting mechanism 27 is arranged between the thread end suction mechanism and the cutting mechanism and is located below the blanking seam, and is used to control the frequency of conveying the bobbin with the thread end sucked therein to the cutting mechanism.

[0075] The blanking gap can temporarily accommodate the bobbin. When the downstream equipment does not need the bobbin, the lifting mechanism 27 does not perform the lifting operation, and the bobbin is stored in the blanking gap; when the downstream equipment needs the bobbin, the lifting mechanism 27 performs the lifting operation, and the bobbin is lifted from the blanking gap until it exceeds the height of the cutting mechanism 26, and then the bobbin passes over the upper end of the cutting mechanism 26.

[0076] Since the thread end is still sucked by the thread end negative pressure suction mechanism 25 when the bobbin passes over the cutting mechanism 26, the cutting mechanism 26 can cut the thread end of the bobbin and obtain the bobbin without thread end winding.

[0077] like Figure 7 As shown, in one embodiment, the bobbin feeding and lifting device 3 includes a fixed frame 31, a feeding bin 32, a lifting module 33, a bobbin limiting module 34 and a separation module.

[0078] The fixed frame 31 is a rectangular parallelepiped frame. Specifically, the fixed frame 31 is a polyhedral skeleton with 8 vertices, 12 outer edges, and 6 faces.

[0079] The upper bin 32 is installed at the bottom of the fixed frame and is used to accommodate the bobbins transported from the bin. The upper bin 32 is an open bin. If a bobbin falls during the lifting process, the fallen bobbin falls into the open upper bin 32, and the lifting module 33 can lift the bobbin in the upper bin 32 again.

[0080] The lifting module 33 is installed in the fixed frame and is used to lift the bobbin in the loading bin vertically to a predetermined height. The lifting module includes a support fixed on the fixed frame, a lifting belt surrounding the support, a driving assembly driving the lifting belt, and a plurality of lifting and lifting assemblies arranged on the lifting belt. Driven by the lifting belt, the lifting and lifting assemblies move cyclically around the support to form a conveying channel located on one side of the support, and the conveying channel is used to convey the bobbin upward in the vertical direction.

[0081] The bobbin limiting module 34 is installed on the fixed frame 31 and is located in the loading bin 32. Through the coordinated movement of the bobbin limiting module 34 and the lifting and lifting assembly 33, the bobbin that is transported disorderly from the loading bin 32 to the lifting and lifting assembly 33 is adjusted in an orderly manner, and the orderly adjustment includes adjusting the position and quantity of the bobbin on the lifting module 33.

[0082] The separation module is installed on the top of the lifting module and is used to separate the bobbin from the lifting module and transfer the bobbin to the finishing device.

[0083] In one embodiment, the bobbin adjustment device 4 includes an identification mechanism and a separation mechanism.

[0084] The identification mechanism is used to identify the direction of the bobbin. The identification mechanism can be a camera unit and a processor that receives a signal from the camera unit. The processor can be electrically connected to the display 72 or be the same processor as the display 72.

[0085] The head separation mechanism is used to release the bobbin with the big end facing downward according to the bobbin direction recognition result of the recognition mechanism. The head separation mechanism may include a first baffle and a first flip assembly corresponding to the first baffle, a second baffle and a second flip assembly corresponding to the second baffle, and the bobbin may fall on the first baffle and the second baffle, and its two ends are respectively located on the first baffle and the second baffle. The first flip assembly and the second flip assembly are arranged on a side of the bobbin adjustment device close to the bobbin feeding and lifting device. The first flip assembly is used to drive the opening and closing of the first baffle, and the second flip assembly is used to drive the opening and closing of the second baffle.

[0086] like Figure 8 As shown, in one embodiment, the thread picking device 6 includes a bracket 61, a second mounting seat 62, a knife picking structure 63, a second jet structure 64 and a pressing and rotating structure 65.

[0087] The bracket 61 is connected to the machine body and is arranged near the track for conveying the bobbin yarn at the thread picking station of the yarn inserting robot. The bracket 61 comprises an L-shaped column, the short arm of which is fixed near the track where the knife picking station is located, and the long arm is parallel to the track. A second mounting seat 62 and a knife picking structure 63 are installed on the long arm of the column.

[0088] The pick-up knife structure 63 is used to separate the yarn end from the yarn body of the cop yarn, and wind the separated yarn end around the small end of the cop yarn under the action of inertia. Fig. 9 As shown, the pick-up knife structure 63 includes a first mounting seat 631 and at least one pick-up knife 632. The first mounting seat 631 and the second mounting seat 62 are arranged in the same direction and can move relative to the second mounting seat 62. In one embodiment, the first mounting seat and the second mounting seat are connected by a descending cylinder, and the relative movement of the first mounting seat and the second mounting seat is achieved by controlling the descending cylinder. The pick-up knife 632 is flexibly mounted on the first mounting seat 631, and the pick-up knife separates the yarn head from the yarn body of the cop yarn. The pick-up knife is flexibly mounted on the first mounting seat 631, and the pick-up knife separates the yarn head from the yarn body of the cop yarn. In one embodiment, the pick-up knife can be mounted on the first mounting seat 631 by elastic parts such as torsion springs or rubber parts to achieve flexible installation. The torsion spring or rubber part can buffer the force to prevent the pick-up knife from cutting other yarns on the surface of the cop yarn. The knife-picking structure 63 further comprises a first jet-injecting structure 633, which is used to provide upward power for the yarn cut by the knife-picking structure 63, so that the yarn is wound around the small end of the tube yarn under the action of inertia.

[0089] The number of the pick knives 632 can be set according to the length of the pick knives station and the diameter of the bobbin, or can be set to a fixed value. The number of the pick knives 632 can be 1 to 8. For example, Fig. 9 The number of middle pick knives is set to 4.

[0090] The second mounting seat 62 and the first mounting seat 631 are arranged in the same direction, and the first mounting seat can move relative to the second mounting seat.

[0091] The second air-jet structure 64 corresponds to the position of the pick-up knife and is used to jet air obliquely downward of the bobbin.

[0092] The compacting rotating structure 65 is arranged on the second mounting seat 62, and is used to compact the cop and rotate it along the yarn winding direction of the cop. The compacting rotating structure 65 is used to compact the cop and rotate it along the yarn winding direction of the cop. The compacting rotating structure 65 includes a moving seat 652, a rotating mechanism and a compacting driving member 651.

[0093] The movable seat 652 is arranged at the thread taking-up station, and the bobbin is transported in the horizontal direction, and the bobbin is sleeved on the movable seat. The thread taking-up station is provided with a walking track of the movable seat.

[0094] The rotating mechanism includes a rotating member and a rotating driving member. The rotating member is arranged above the moving seat. The rotating driving member is connected to the rotating member and arranged below the moving seat 652 to provide a driving force for the rotating member to rotate.

[0095] The pressing driving member 651 is mounted on the second mounting seat 62 and can be vertically opposite to the moving seat 652, and is used to cooperate with the rotating member to press or loosen the bobbin.

[0096] In one embodiment, the picking knife includes a picking knife body and a picking knife blade.

[0097] The picking knife body flexibly contacts the surface of the bobbin yarn under the action of external force, and is used to pick up the outer layer of yarn on the surface. The picking knife body includes a rough and blunt blade for picking up the yarn, a mounting portion installed on the thread picking device, and a blade body section connecting the rough and blunt blade and the mounting portion.

[0098] The lifting blade is arranged on the blade body section and is used for cutting the lifted yarn from the yarn body.

[0099] like Fig.10 As shown, in one embodiment, the negative pressure yarn feeding device 8 includes a first negative pressure suction part 81, a negative pressure rotating suction part 82, a third negative pressure suction part 83 and a control part. The control part can be Figure 3 The display 72 is electrically connected to the display 72, or is the same processor as the display 72.

[0100] The first negative pressure suction part 81 includes a first suction head 811, a yarn end transfer unit 812 and a first negative pressure pipeline 813. The first suction head 811 sucks the yarn ends of the bobbins transported to the first designated position on the workbench one by one, and the sucked yarn ends enter the first negative pressure pipeline 813.

[0101] The negative pressure rotating suction part 82 has a swing arm and a second negative pressure pipeline connected to the swing arm. When the swing arm moves to the vicinity of the first suction head, the yarn end transfer unit temporarily blocks the first suction head and moves the thread end to the vicinity of the swing arm. The swing arm uses negative pressure to absorb the thread ends one by one.

[0102] The third negative pressure suction section 83 uses negative pressure to suck the thread ends of the plurality of bobbins delivered by the swing arm through rotation.

[0103] The control unit is used to control the negative pressure of the first negative pressure suction unit 81 , the negative pressure rotation suction unit 82 , and the third negative pressure suction unit 83 .

[0104] like Fig.11 As shown, in one embodiment, the first suction head 811 includes a vertical guide rod 8111 and a telescopic pipe 8112.

[0105] The vertical guide rod 8111 is arranged near the first designated position, and a movable seat 8113 is sleeved on the outer side wall.

[0106] The port of the telescopic pipe 8112 can move up and down, one end of which is connected to the first negative pressure pipe 813, and the other end of which can perform vertical reciprocating motion along the vertical guide rod 8111 driven by the movable seat 8113. The telescopic pipe 8112 can fit the end of the cop at the first designated position. When the end of the cop enters the telescopic pipe, the end of the cop is in a negative pressure environment, so the yarn head can smoothly enter the telescopic pipe 8112 and the first negative pressure pipe 813.

[0107] The yarn end transfer unit 812 is arranged at the port of the first suction head 811, and the yarn end transfer unit 812 is used to guide the yarn end into the first negative pressure pipe or guide the yarn end into the negative pressure rotating suction part.

[0108] The yarn end transfer unit comprises a yarn end shifting plate and a driving unit.

[0109] The thread end picking plate rotates horizontally along the port of the first suction head to guide the thread end into the first suction head or guide the yarn end into the swing arm.

[0110] The driving unit is used to drive the thread end paddle.

[0111] like Fig.12 As shown, in one embodiment, the bobbin delivery device 11 includes a manipulator 121 , a telescopic set 122 and an airbag clamping assembly 123 .

[0112] One end of the manipulator 121 is fixed on the body of the yarn inserting robot, and the other end moves horizontally according to a control signal.

[0113] The telescopic set 122 is fixed on the other end of the manipulator and can move vertically according to the control signal.

[0114] The airbag clamp tube assembly 123 is used to clamp at least one bobbin and deliver the bobbin to the winding machine yarn library. The airbag clamp tube assembly 123 includes a fan-shaped mounting plate and a plurality of yarn clamps arranged at the front end of the mounting plate. The number of yarn clamps can be set to 1 to 8. The more the number of yarn clamps, the more the fan-shaped mounting plate is inclined to be circular.

[0115] The mounting plate is provided with a hollow sleeve at the center of the circle, and the hollow sleeve is connected to the hollow pipeline of the telescopic set 122, and is used for negative pressure suction of the yarn end of the transferred bobbin yarn. The hollow sleeve is connected to the hollow pipeline of the telescopic set 122, and the hollow pipe of the screw is used to pass negative pressure, which not only saves space, but also effectively realizes negative pressure to ensure that the yarn end is sucked.

[0116] The yarn clamp is used to clamp the bobbin.

[0117] The specific process of the bobbin delivery device delivering bobbin yarn is as follows:

[0118] The transferred bobbin yarns surround the yarn end suction part in the negative pressure yarn feeding device 8, and the yarn end suction part sucks the yarn ends of a predetermined number of bobbin yarns;

[0119] The bobbin delivery device 11 controls the manipulator 121 to realize horizontal movement of the airbag clamping tube assembly 123 according to the control signal, and controls the telescopic set 122 to realize vertical movement of the airbag clamping tube assembly 123, until the airbag clamping tube assembly 123 is moved to the vicinity of the yarn head suction part in the negative pressure yarn feeding device 8;

[0120] The hollow sleeve covers the yarn end suction part in the negative pressure yarn feeding device 8, and sucks the yarn end of the transferred cop yarn by negative pressure; at the same time, the yarn clamp clamps the cop yarn, and at this time, the cop yarn and the yarn end are both grabbed by the airbag clamping tube assembly 123;

[0121] The bobbin delivery device 11 controls the manipulator 121 to realize horizontal movement of the airbag clamping tube assembly 123 according to the control signal, and controls the telescopic set 122 to realize vertical movement of the airbag clamping tube assembly 123, until the airbag clamping tube assembly 123 is moved to the yarn storage of the winding machine;

[0122] When the bobbin is transported to the top of the winding machine, the yarn clamp can release the bobbin, and the bobbin falls naturally and accurately into the yarn library of the winding machine (the first predetermined storage area);

[0123] Then the mounting plate moves downward under the drive of the manipulator 121 and the telescopic set 122, and then the bobbin delivery device 11 delivers the adsorbed yarn head to the second predetermined storage area (negative pressure hole of the yarn store, which adsorbs the yarn head through negative pressure) of the winding machine through the hollow sleeve, and then the hollow sleeve jet blows the yarn head corresponding to the bobbin to the negative pressure hole of the yarn store, and at the same time, the negative pressure hole of the yarn store adsorbs the yarn head through negative pressure to ensure that the yarn head enters the negative pressure hole of the yarn store. The first predetermined storage area and the second predetermined storage area are different areas, and the first predetermined storage area can be arranged around the second predetermined storage area.

[0124] The control signal can be generated by the controller. In one embodiment, a camera unit can also be provided on the airbag clamping tube assembly 123. The camera unit will take real-time photos of the position of the winder and transmit the photos to the controller. The controller will analyze whether there are bobbin yarns in the winder yarn library of the winder in the photos. When it is determined that there are no bobbin yarns, the controller will generate corresponding control signals to control the movement of the manipulator 121 and the telescopic set 122, and then control the airbag clamping tube assembly 123 to clamp or release the bobbin yarn.

[0125] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. A yarn inserting robot, characterized in that: include: A lifting and turning device is used to transfer the bobbin from the bobbin transport vehicle to a vibrating silo at a predetermined height; A vibrating silo, used for storing the bobbins from the lifting and turning device, and causing the bobbins to roll down to the discharge port of the vibrating silo in an orderly manner through vibration; A bobbin feeding and lifting device is fixedly connected to the discharge port of the silo and is used to lift the bobbin vertically; The bobbin adjusting device is located behind the bobbin feeding and lifting device, and is used to distinguish the big and small ends of the bobbin and adjust the falling direction of the bobbin so that the big end of the bobbin falls downward onto the conveying device; A thread taking-up device, used for separating the yarn end from the yarn body of the cop yarn dropped onto the conveying device, and winding the yarn end around the small end of the cop yarn; A negative pressure yarn feeding device is used to absorb the yarn head at the small end of the cop yarn, and the cop yarn is transported and transferred along a specified path through a conveying device; The bobbin delivery device is used to receive the yarn head transferred by the negative pressure yarn feeding device, and deliver the yarn head and the corresponding bobbin to the yarn storage of the winding machine.

2. The yarn inserting robot according to claim 1, characterized in that: The lifting and flipping device comprises: The device bracket is fixed on the side wall of the silo on the feeding side; A turning mechanism, installed on the device bracket, used to turn the bobbin transport vehicle to a predetermined position with the hinge point between the silo and the device bracket as the axis; A fixing mechanism, arranged on the turning mechanism, and used for fixing the bobbin transport vehicle on the turning mechanism; The lifting mechanism is used to control the turning mechanism to realize the on-site turning of the bobbin transport vehicle.

3. The yarn inserting robot according to claim 1, characterized in that: The vibrating silo comprises: The silo body has a feeding port at the top and a discharge port at the funnel-shaped bottom; A material sliding plate is arranged in the silo body and is used to slowly slide the bobbin from the bobbin transport vehicle; A vibration bottom plate, arranged below the sliding plate and cooperating with the bottom surface of the sliding plate to form the discharge port, and used for controlling the bobbin from the sliding plate to slide down the upper inclined surface of the vibration bottom plate in an orderly manner through vibration; A vibration mechanism, used to control the vibration of the vibration base plate; A thread end negative pressure suction mechanism is arranged at the tail end of the vibrating bottom plate and is used for sucking the thread end of the passing bobbin by negative pressure; A shearing mechanism, spaced apart from the vibrating bottom plate to form a blanking gap, and used for shearing the thread ends of the passing bobbin; The lifting mechanism is arranged between the thread end suction mechanism and the cutting mechanism and is located below the blanking seam, and is used to control the frequency of conveying the bobbin with the thread end sucked therein to the cutting mechanism.

4. The yarn inserting robot according to claim 1, characterized in that: The bobbin feeding and lifting device comprises: Fixed frame; An upper silo, installed at the bottom of the fixed frame, for accommodating the bobbins transported from the silo; A lifting module is installed in the fixed frame and is used to vertically lift the bobbin in the loading bin to the predetermined height. The lifting module includes a support fixed on the fixed frame, a lifting belt surrounding the support, a driving assembly driving the lifting belt, and a plurality of lifting and lifting assemblies arranged on the lifting belt. The lifting and lifting assemblies are driven by the lifting belt to move around the support in a circular motion to form a conveying channel located on one side of the support, and the conveying channel is used to convey the bobbin upward in a vertical direction. The bobbin limiting module is installed on the fixed frame and located in the loading bin, and the bobbin disorderly transported from the loading bin to the lifting and lifting assembly is orderly adjusted through the coordinated movement of the bobbin limiting module and the lifting and lifting assembly; The separation module is installed on the top of the lifting module and is used for separating the cop from the lifting module and transferring the cop to the finishing device.

5. The yarn inserting robot according to claim 1, characterized in that: The bobbin adjustment device comprises: An identification mechanism for identifying the direction of the bobbin; The head separation mechanism is used for releasing the bobbin with the big end facing downwards according to the bobbin direction recognition result of the recognition mechanism.

6. The yarn inserting robot according to claim 1, characterized in that: The thread taking-up device comprises: Pick knife structure; A second mounting seat is arranged in the same direction as the first mounting seat, and the first mounting seat can move relative to the second mounting seat; A second jet structure, corresponding to the position of the lifting knife, is used to jet air obliquely downward of the bobbin; A compacting and rotating structure is arranged on the second mounting seat and is used to compact the cop and rotate it along the yarn winding direction of the cop. Wherein, the pick-up knife structure comprises: a first mounting seat; At least one picking knife is flexibly mounted on the first mounting seat, and the picking knife separates the yarn end from the yarn body of the cop yarn.

7. The yarn inserting robot according to claim 6, characterized in that: The picking knife comprises: The lifting knife body is in flexible contact with the surface of the tube yarn under the action of external force, and is used to lift the outer layer of yarn on the surface. The lifting knife body includes a rough and blunt blade for lifting the yarn, a mounting portion mounted on the thread lifting device, and a blade body section connecting the rough and blunt blade and the mounting portion; The lifting blade is arranged on the blade section and is used for cutting the lifted yarn from the yarn body.

8. The yarn inserting robot according to claim 1, characterized in that: The negative pressure yarn feeding device comprises: A first negative pressure suction part, comprising a first suction head, a yarn end transfer unit and a first negative pressure pipeline, wherein the first suction head sucks the yarn ends of the bobbin transported to the first designated position on the workbench one by one, and the sucked yarn ends enter the first negative pressure pipeline; A negative pressure rotary suction part, comprising a swing arm and a second negative pressure pipeline connected to the swing arm, when the swing arm moves to the vicinity of the first suction head, the yarn end transfer unit temporarily blocks the first suction head and moves the thread end to the vicinity of the swing arm, and the swing arm uses negative pressure to suck the thread ends one by one; a third negative pressure suction part, which uses negative pressure to suck the thread ends of the plurality of bobbins delivered by the swing arm; The control unit is used to control the negative pressure of the first negative pressure suction unit, the negative pressure rotation suction unit, and the third negative pressure suction unit.

9. The yarn inserting robot according to claim 8, characterized in that: The first suction head comprises: A vertical guide rod, arranged near the first designated position, with a movable seat sleeved on the outer side wall; The telescopic pipeline has one end connected to the first negative pressure pipeline and the other end driven by the movable seat to perform vertical reciprocating motion along the vertical guide rod. The yarn end transfer unit comprises: A thread end shifting plate is horizontally rotated along the port of the first suction head to guide the thread end into the first suction head or guide the yarn end into the swing arm; A driving unit is used to drive the thread end shifting plate.

10. The yarn inserting robot according to claim 1, characterized in that: The bobbin delivery device includes: A manipulator, one end of which is fixed to the body of the yarn inserting robot and the other end of which moves horizontally according to a control signal; A telescopic set, fixed to the other end of the manipulator, capable of vertical movement according to a control signal; The airbag clamping tube assembly is used to clamp at least one bobbin and deliver the bobbin to the yarn storage of the winding machine. The airbag clamping tube assembly comprises a fan-shaped mounting plate and a plurality of yarn clamps arranged at the front end of the mounting plate. The mounting plate is provided with a hollow sleeve at the center of the circle, and the hollow sleeve is connected with the hollow pipeline of the telescopic sleeve, and is used for negative pressure suction of the yarn end of the transferred bobbin yarn. The yarn clamp is used for clamping the cop.

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