Insertion robot

Abstract

The application provides a yarn inserting robot, and belongs to the technical field of textiles, and specifically comprises a lifting and overturning device, which is used for transferring the cheese from a cheese transport vehicle to a vibration bin at a predetermined height; the vibration bin is used for making the cheese orderly roll down to a discharge port of the vibration bin through vibration; a cheese feeding and lifting device is used for vertically lifting the cheese; a cheese adjusting device is used for distinguishing the big head and the small head of the cheese and adjusting the falling direction of the cheese, so that the cheese falls with the big head downward to a conveying device; a thread picking device is used for separating a thread head from the yarn body of the cheese falling to the conveying device and winding the thread head around the small head end of the cheese; a negative pressure thread feeding device is used for adsorbing the thread head of the small head end of the cheese; and a cheese feeding device is used for receiving the thread head transferred by the negative pressure thread feeding device and feeding the thread head and the corresponding cheese to a yarn library of a winding machine. Through the processing scheme, the function of feeding and replenishing quickly is achieved, and the working efficiency of the winding machine for replenishing cheese is improved, so that the production demand of the production line is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of textiles, in particular to a yarn inserting robot. BACKGROUND

[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 intelligent robots to do repetitive and boring work. As one of the main labor-intensive industries, the textile industry has a high labor cost. In the process of handling the cop, many links need to place the cop according to the regulations, and it is necessary to equip yarn inserting workers to complete daily production. Yarn inserting workers repeat mechanical actions such as picking up the cop, selecting, and placing every day, which has a high labor cost. SUMMARY

[0003] Therefore, in order to overcome the shortcomings of the prior art, the present application provides a yarn inserting robot, which can automatically complete the processes of conveying, distinguishing between large and small heads, finding the thread end, and feeding the cop to the bobbin winder.

[0004] In order to achieve the above-mentioned purpose, the present application provides a yarn inserting robot, comprising: a lifting and overturning device for transferring the cop from the cop conveying vehicle to the predetermined height of the vibrating bin; a vibrating bin for storing the cop from the lifting and overturning device and making the cop orderly roll down to the discharge port of the vibrating bin through vibration; a cop feeding lifting device fixedly connected with the discharge port of the bin for vertically lifting the cop; a cop adjusting device located behind the cop feeding lifting device for distinguishing between the large and small heads of the cop and adjusting the falling direction of the cop so that the large head of the cop falls onto the conveying device; a thread picking device for separating the thread end from the body of the cop falling onto the conveying device and winding the thread end around the small end of the cop; a negative pressure thread feeding device for adsorbing the thread end of the small end of the cop, and the cop is conveyed and transferred according to the specified path through the conveying device; and a cop feeding device for receiving the thread end transferred by the negative pressure thread feeding device and feeding the thread end and the corresponding cop to the bobbin winder.

[0005] In one embodiment, the lifting and overturning device comprises: a device support fixed to the side wall of the bin on the feeding side; an overturning mechanism installed on the device support for overturning the cop conveying vehicle to a predetermined position with the hinge point of the bin and the device support as the axis; a fixing mechanism arranged on the overturning mechanism for fixing the cop conveying vehicle on the overturning mechanism; and a lifting mechanism for controlling the overturning mechanism to realize the in-place overturning of the cop conveying vehicle.

[0006] In one embodiment, the vibrating hopper includes: a hopper body with a feeding port at the top and a discharge port at the funnel-shaped bottom; a sliding plate disposed within the hopper body for slowly sliding down the bobbins from the bobbin transport vehicle; a vibrating base plate disposed below the sliding plate and forming the discharge port with the bottom surface of the sliding plate, for controlling the orderly sliding of the bobbins from the sliding plate down the upper inclined surface of the vibrating base plate through vibration; a vibration mechanism for controlling the vibration of the vibrating base plate; a thread end negative pressure suction mechanism disposed at the tail end of the vibrating base plate for suctioning the thread ends of the passing bobbins through negative pressure; a cutting mechanism formed with a drop slit at an interval from the vibrating base plate for cutting the thread ends of the passing bobbins; and a lifting mechanism disposed between the thread end suction mechanism and the cutting mechanism and below the drop slit for controlling the frequency at which the thread ends of the suction-captured bobbins are transported to the cutting mechanism.

[0007] In one embodiment, the yarn feeding and lifting device includes: a fixed frame; a feeding bin installed at the bottom of the fixed frame for receiving yarn from the bin; a lifting module installed within the fixed frame for vertically lifting the yarn in the feeding bin to a predetermined height, the lifting module including a support member fixed to the fixed frame, a lifting belt surrounding the support member, a driving assembly for driving the lifting belt, and multiple sets of lifting and supporting assemblies disposed on the lifting belt; the lifting and supporting assemblies circulate around the support member under the drive of the lifting belt to form a conveying channel located on one side of the support member, the conveying channel for vertically conveying yarn upwards; a yarn limiting module installed in the fixed frame and located within the feeding bin, which, through its coordinated movement with the lifting and supporting assemblies, orderly adjusts the yarn randomly conveyed to the lifting and supporting assemblies in the feeding bin; and a separation module installed at the top of the lifting module for separating the yarn from the lifting module and transferring the yarn to a finishing device.

[0008] In one embodiment, the yarn adjustment device includes: an identification mechanism for identifying the yarn direction; and a splitting mechanism for releasing the yarn with the larger end facing down according to the yarn direction identification result of the identification mechanism.

[0009] In one embodiment, the yarn take-up device includes: a take-up knife structure; a second mounting base, disposed in the same direction as the first mounting base, and the first mounting base being movable relative to the second mounting base; a second air-jet structure, corresponding to the position of the take-up knife, for spraying air obliquely downwards onto the bobbin; and a pressing and rotating structure, disposed on the second mounting base, for pressing the bobbin and causing it to rotate along the yarn winding direction of the bobbin, wherein the take-up knife structure includes: a first mounting base; and at least one take-up knife, flexibly mounted on the first mounting base, the take-up knife separating the yarn end from the bobbin.

[0010] In one embodiment, the picker includes: a picker body that flexibly contacts the surface of the yarn tube under the action of an external force, for picking up the outer layer of yarn on the surface; the picker body includes a blunt blade for picking up the yarn, a mounting part installed on the yarn picking device, and a blade section connecting the blunt blade and the mounting part; and a picker blade disposed on the blade section for cutting the picked-up yarn from the yarn body.

[0011] In one embodiment, the negative pressure yarn feeding device includes: a first negative pressure suction unit, comprising a first suction head, a yarn end transfer unit, and a first negative pressure pipeline, wherein the first suction head suctions the yarn ends of the bobbin conveyed to a first designated position on the workbench one by one, and the suctioned yarn ends enter the first negative pressure pipeline; a negative pressure rotary suction unit, having a swing arm and a second negative pressure pipeline connected to the swing arm, wherein 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 yarn ends to the vicinity of the swing arm, and the swing arm uses negative pressure to suction the yarn ends one by one; a third negative pressure suction unit, which uses negative pressure to suction the yarn ends of multiple bobbins fed by the swing arm; and a control unit, used to control the negative pressure of the first negative pressure suction unit, the negative pressure rotary suction unit, and the third negative pressure suction unit.

[0012] In one embodiment, the first suction head includes: a vertical guide rod disposed near the first designated position, with a movable seat sleeved on the outer side wall; a telescopic pipe, one end of which is connected to the first negative pressure pipe, and the other end of which can reciprocate vertically along the vertical guide rod under the drive of the movable seat; the yarn end transfer unit includes: a yarn end deflector plate, which rotates horizontally along the port of the first suction head to guide the yarn end into the first suction head or guide the yarn end into the swing arm; and a drive unit for driving the yarn end deflector plate.

[0013] In one embodiment, the yarn feeding device includes: a robotic arm, one end of which is fixed to the body of the yarn insertion robot, and the other end of which moves horizontally according to a control signal; a telescopic sleeve, fixed to the other end of the robotic arm, which can move vertically according to a control signal; and an airbag clamping assembly for clamping at least one yarn tube and feeding the yarn tube into the winding machine's yarn magazine. The airbag clamping assembly includes a fan-shaped mounting plate and a plurality of yarn clamps disposed at the front end of the mounting plate. The mounting plate has a hollow sleeve at its center, which is connected to the hollow tube of the telescopic sleeve for negative pressure suction of the yarn end of the transferred yarn tube. The yarn clamps are used to clamp the yarn tube.

[0014] Compared with existing technologies, the advantages of this invention are: it can replace employees in high-intensity work and perform rapid material feeding and replenishment, improving the working efficiency of the winding machine in replenishing yarn bobbins to meet the production line's needs. The yarn insertion robot of this invention achieves safe yarn bobbin transfer through a lifting and flipping device; the vibrating hopper causes the yarn bobbins to roll down in an orderly manner through vibration, avoiding yarn end tangling; the yarn feeding and lifting device ensures vertical lifting of the yarn bobbins; the yarn adjusting device causes the yarn bobbins to fall onto the conveying device with the larger end facing down; the yarn picking device separates the yarn end from the yarn body of the yarn bobbin that has fallen onto the conveying device and winds the yarn end around the smaller end of the yarn bobbin; the negative pressure yarn feeding device adsorbs the yarn end at the smaller end of the yarn bobbin; and the yarn delivery device receives the yarn end transferred by the negative pressure yarn feeding device and delivers the yarn end and the corresponding yarn bobbin to the winding machine's yarn magazine. The entire robot's modules operate in parallel, greatly improving work efficiency, allowing one employee to oversee multiple machines and focus on resolving faults in the winding machine itself. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0018] Figure 3 This is an exploded view of the yarn insertion robot in an embodiment of the present invention;

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

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

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

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

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

[0024] Figure 9 This is a schematic diagram of the pick-and-place structure in an embodiment of the present invention;

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

[0026] Figure 11 This is a schematic diagram of the first negative pressure suction section in an embodiment of the present invention;

[0027] Figure 12 This is a schematic diagram of the yarn feeding device in an embodiment of the present invention. Detailed Implementation

[0028] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0029] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] It should be noted that the following description covers various aspects of embodiments within the scope of protection of this invention. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one 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 aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using other structures and / or functionalities besides one or more of the aspects set forth herein.

[0031] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

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

[0033] like Figures 1-3 As shown in the figure, this application provides a yarn insertion robot, including a lifting and flipping device 1, a vibrating hopper 2, a yarn feeding and lifting device 3, a yarn adjusting device 4, a conveying device 5, a yarn picking device 6, a negative pressure yarn feeding device 8, and a 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 hopper at a predetermined height.

[0035] The vibrating hopper 2 is used to store yarn tubes from the lifting and turning device, and the vibration causes the yarn tubes to roll down in an orderly manner to the discharge port of the vibrating hopper.

[0036] The bobbin feeding and lifting device 3 is connected and fixed to the outlet of the hopper 2, and is used to vertically lift the bobbin to a certain height.

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

[0038] The take-up device 6 is used to separate the yarn end from the yarn body of the bobbin that has fallen onto the conveying device 5, and to wrap the yarn end around the small end of the bobbin.

[0039] The negative pressure yarn feeding device 8 is used to adsorb the yarn end of the small end of the bobbin, and the bobbin is transported and transferred through the conveying device according to the specified path.

[0040] The yarn feeding device 11 is used to receive the yarn ends transferred by the negative pressure yarn feeding device and feed the yarn ends and corresponding yarn tubes to the winding machine's yarn magazine. The yarn feeding device 11 can transfer 1 to 8 yarn ends at a time.

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

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

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

[0044] The bobbin feeding and lifting device 3 vertically lifts the bobbin from the outlet of the hopper to the bobbin adjusting device 4;

[0045] The yarn adjustment device 4 adjusts the falling direction of the yarn tube so that the large end of the yarn tube falls onto the conveying device 5.

[0046] The take-up device 6 separates the yarn end from the yarn body of the bobbin that has fallen onto the conveying device 5, and winds the yarn end around the small end of the bobbin;

[0047] The negative pressure yarn feeding device 8 adsorbs the yarn end of the small end of the bobbin, and the bobbin is conveyed and transferred by the conveying device 5 according to the specified path.

[0048] The yarn feeding device 11 receives the yarn head transferred by the negative pressure yarn feeding device 8 and feeds the yarn head and the corresponding yarn tube to the winding machine's yarn magazine.

[0049] In one embodiment, the yarn insertion robot also includes a control device 7 electrically connected to each device, the control device 7 including a display 72 and an electromagnetic valve cabinet 71.

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

[0051] In one embodiment, the yarn insertion robot may also include an electrical cabinet 12 that provides power to all of the above devices.

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

[0053] The aforementioned robot can replace employees in high-intensity work and perform rapid material feeding and replenishment, improving the efficiency of the winding machine in replenishing yarn bobbins to meet the production line's needs. The yarn insertion robot of this invention achieves safe yarn bobbin transfer through a lifting and flipping device; the vibrating hopper causes the yarn bobbins to roll down in an orderly manner through vibration, avoiding tangling of the yarn ends; the yarn feeding and lifting device ensures the yarn bobbins are lifted vertically; the yarn adjusting device causes the yarn bobbins to fall onto the conveying device with the larger end facing down; the yarn picking device separates the yarn ends from the yarn body of the fallen bobbins and winds the yarn ends around the smaller end of the bobbins; the negative pressure yarn feeding device adsorbs the yarn ends at the smaller end of the bobbins; and the yarn delivery device receives the yarn ends transferred by the negative pressure yarn feeding device and delivers the yarn ends and corresponding bobbins to the winding machine's yarn magazine. The entire robot's modules operate in parallel, greatly improving work efficiency and allowing one employee to oversee multiple machines and focus on resolving malfunctions within the winding machine itself.

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

[0055] The device bracket 101 is fixed to the side wall of the feed side of the hopper. The device bracket 101 is set on the frame of the yarn insertion robot and located on both sides of the hopper 2. The flipping mechanism 102, the fixing mechanism 103 and the lifting mechanism 104 are all installed on the device bracket 10.

[0056] The flipping mechanism 102 is mounted on the device bracket 101 and is used to flip the yarn transport vehicle to a predetermined position with the hinge point between the hopper and the device bracket as the axis.

[0057] The fixing mechanism 103 is installed on the tilting mechanism and is used to fix the yarn feeding cart on the tilting mechanism. The fixing mechanism 103 cooperates with the fixed part of the yarn feeding cart to fix it, and the fixing mechanism 103 fixes the yarn feeding cart on the tilting mechanism 102.

[0058] The lifting mechanism 104 is used to control the turning mechanism to achieve the in-situ turning of the yarn conveying car.

[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 moving within the sliding flipping track 111, a vertical track 113, at least one set of second guide wheel units 114 moving within 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 and flipping tracks 111 respectively, which are symmetrically installed on the inner walls of the two side plates 101 of the device bracket 10.

[0062] The first link 1122 ensures that the movements of the two first guide wheels 1121 are synchronized.

[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. The first connecting rod 1142 ensures that the movements of the two first guide wheels 1141 are synchronized.

[0064] The first link 1122 prevents the two first guide wheels 1121 in the first guide wheel unit 112 from moving asynchronously, thus preventing the tilting plate 115 from tilting to the side. The second link 1142 prevents the two second guide wheels 1141 in the second guide wheel unit 114 from moving asynchronously, thus preventing the tilting plate 115 from getting stuck during lifting. Furthermore, it prevents the tilting plate 115 from tilting excessively to the side and the yarn transport vehicle from becoming too heavy during the tilting process, thus preventing the first guide wheel unit 112 from falling off the sliding tilting track 111. This also prevents the tilting mechanism 11 from crashing to the ground along with the yarn transport vehicle, improving the safety of the yarn transport vehicle lifting and tilting device.

[0065] In one embodiment, the lifting mechanism 104 includes a pneumatic cylinder or a hydraulic cylinder. A pneumatic cylinder converts the pressure energy of compressed air into mechanical energy, driving the mechanism to achieve reciprocating linear motion, oscillation, or rotation. A hydraulic cylinder is a hydraulic actuator that converts hydraulic energy into mechanical energy, performing linear reciprocating motion (or oscillation). In this embodiment, a pneumatic or hydraulic cylinder drives the tilting mechanism 102 to move simultaneously within the sliding tilting track 111 and the vertical track 113 via the first guide wheel unit 112 and the second guide wheel unit 114. The lifting and tilting actions of the tilting plate 115 are synchronized, and the tilting plate 115 drives the yarn transport vehicle to tilt in place.

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

[0067] The silo body 21 has a feeding port at the top and a discharge port at the funnel-shaped bottom.

[0068] A sliding plate 22 is installed inside the hopper body to allow the yarn tubes from the yarn transport trolley to slide down slowly. The angle between the inclined surface of the upper surface of the sliding plate 22 and the horizontal ground is an acute angle. To shorten the transport path of the yarn tubes, the sliding plate 22 is fixed to the plate on the discharge side of the hopper body 21.

[0069] A vibrating base plate 23 is positioned below the sliding plate and forms a discharge port with the bottom surface of the sliding plate. It is used to control the orderly sliding of the yarn tubes from the sliding plate down the upper inclined surface of the vibrating base plate through vibration. The vibrating base plate 23 is fixed to the plate on the feed side of the hopper body 21. The inclination direction of the vibrating base plate 23 is opposite to that of the sliding plate 22.

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

[0071] A thread end negative pressure suction mechanism 25 is disposed at the tail end of the vibrating base plate for suctioning the thread end of the passing yarn tube by means of negative pressure. In one embodiment, the thread end negative pressure suction mechanism 25 is disposed on at least one slit 251 on the vibrating base plate 23 and a suction unit 252 disposed 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 disposed below the slit 251 for wrapping the slit 251 and forming a sealed space.

[0072] The negative pressure suction machine evacuates air from the negative pressure suction box, creating a negative pressure space within the sealed area, thereby sucking up the yarn ends as they pass through the slit 251.

[0073] The shearing mechanism 26 forms a drop slit with the vibrating base plate, which is used to cut the ends of the passing yarn tubes.

[0074] The lifting mechanism 27 is located between the yarn end suction mechanism and the shearing mechanism and below the material drop slit. It is used to control the frequency at which the yarn ends that are suctioned are transported to the shearing mechanism.

[0075] The material drop slit can temporarily accommodate the yarn tube. When the downstream equipment does not need the yarn tube, the lifting mechanism 27 does not perform lifting operations, and the yarn tube is stored in the material drop slit. When the downstream equipment needs the yarn tube, the lifting mechanism 27 performs lifting operations, and the yarn tube is raised and lowered from the material drop slit until it exceeds the height of the shearing mechanism 26, and then the yarn tube passes over the top of the shearing mechanism 26.

[0076] Since the yarn end is still being held by the yarn end negative pressure suction mechanism 25 when the yarn tube passes the cutting mechanism 26, the cutting mechanism 26 can cut the yarn end of the yarn tube and obtain a yarn tube without yarn 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 cuboid frame; specifically, the fixed frame 31 is a polyhedral skeleton with 8 vertices, 12 outer edges, and 6 faces.

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

[0080] The lifting module 33 is installed within a fixed frame and is used to vertically lift the yarn bobbins in the feeding hopper to a predetermined height. The lifting module includes a support member fixed to the fixed frame, a lifting belt surrounding the support member, a drive assembly for driving the lifting belt, and multiple sets of lifting and supporting assemblies disposed on the lifting belt. Driven by the lifting belt, the lifting and supporting assemblies circulate around the support member to form a conveying channel located on one side of the support member. This conveying channel is used to vertically convey the yarn bobbins upwards.

[0081] The yarn bobbin limiting module 34 is installed on the fixed frame 31 and located inside the feeding bin 32. Through the coordinated movement of the yarn bobbin limiting module 34 and the lifting and supporting assembly 33, the yarn bobbins that are randomly fed to the lifting and supporting assembly 33 in the feeding bin 32 are orderly adjusted. This orderly adjustment includes adjusting the position and quantity of the yarn bobbins on the lifting module 33.

[0082] The separation module is installed at the top of the lifting module to separate the yarn tube from the lifting module and pass the yarn tube to the finishing device.

[0083] In one embodiment, the yarn adjusting device 4 includes an identification mechanism and a yarn splitting mechanism.

[0084] An identification mechanism is used to identify the direction of the yarn tube. The identification mechanism can be a camera unit and a processor that receives signals from the camera unit. The processor can be electrically connected to the display 72, or it can be the same processor as the display 72.

[0085] A yarn splitting mechanism is used to release the yarn bobbin with its larger end facing downwards based on the yarn direction identification result from the identification mechanism. The splitting mechanism may include a first baffle and a corresponding first flipping component, a second baffle and a corresponding second flipping component, and the yarn bobbin can fall onto the first and second baffles with its two ends respectively located on the first and second baffles. The first and second flipping components are positioned on the side near the yarn adjusting device of the yarn feeding and lifting device. The first flipping component drives the opening and closing of the first baffle, and the second flipping component drives 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 base 62, a picking knife structure 63, a second air-jet structure 64, and a pressing rotation structure 65.

[0087] The bracket 61 is connected to the machine body and is positioned near the track of the yarn feeding station of the yarn insertion robot. The bracket 61 includes an "L"-shaped column, the short arm of which is fixed near the track where the picking knife station is located, while the long arm is parallel to the track. A second mounting base 62 and a picking knife structure 63 are mounted on the long arm of the column.

[0088] The pick-and-place mechanism 63 is used to separate the yarn end from the yarn body of the bobbin and, under inertia, winds the separated yarn end around the small end of the bobbin. For example... Figure 9 As shown, the picker structure 63 includes a first mounting base 631 and at least one picker 632. The first mounting base 631 and the second mounting base 62 are arranged in the same direction and are movable relative to the second mounting base 62. In one embodiment, the first mounting base and the second mounting base are connected by a lowering cylinder, and the relative movement between the first mounting base and the second mounting base is achieved by controlling the lowering cylinder. The picker 632 is flexibly mounted on the first mounting base 631, and the picker separates the yarn end from the yarn body of the bobbin. In one embodiment, the picker can be mounted on the first mounting base 631 by an elastic element such as a torsion spring or a rubber component to achieve flexible mounting. The torsion spring or rubber component can buffer the force and prevent the picker from breaking other yarns on the surface of the bobbin. The picker structure 63 also includes a first air jet structure 633, which provides upward force to the yarn cut by the picker structure 63 so that the yarn wraps around the small end of the bobbin under inertia.

[0089] The number of pickers 632 can be set according to the length of the picker station and the diameter of the yarn tube, or it can be set to a fixed value. The number of pickers 632 can be 1 to 8. For example, Figure 9 The number of scimitars is set to 4.

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

[0091] The second jet structure 64 corresponds to the position of the pick-up knife and is used to jet air diagonally downwards into the yarn tube.

[0092] A clamping rotation structure 65 is disposed on the second mounting base 62 for clamping the bobbin and rotating it along the yarn winding direction. The clamping rotation structure 65 includes a movable base 652, a rotation mechanism, and a clamping drive member 651.

[0093] The movable seat 652 is set at the yarn take-up station to convey the yarn tube horizontally, and the yarn tube is fitted onto the movable seat. The yarn take-up station is equipped with a travel track for the movable seat.

[0094] The rotating mechanism includes a rotating component and a rotating drive component. The rotating component is located above the movable base. The rotating drive component is connected to the rotating component and is located below the movable base 652, providing the driving force for the rotating component to rotate.

[0095] The clamping drive 651 is mounted on the second mounting base 62 and can be vertically opposite to the movable base 652. It is used to cooperate with the rotating part to clamp or loosen the yarn tube.

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

[0097] The take-up knife body makes flexible contact with the surface of the yarn tube under the action of external force, and is used to pick up the outer layer of yarn on the surface. The take-up knife body includes a blunt blade for picking up the yarn, a mounting part installed on the take-up device, and a blade body section connecting the blunt blade and the mounting part.

[0098] The pick-up blade is located in the blade body and is used to cut the picked-up yarn from the yarn body.

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

[0100] The first negative pressure suction unit 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 up the yarn ends of the bobbin conveyed to the first designated position on the worktable one by one, and the sucked yarn ends enter the first negative pressure pipeline 813.

[0101] The negative pressure rotary suction unit 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 yarn end to the vicinity of the swing arm. The swing arm uses negative pressure to suck up the yarn ends one by one.

[0102] The third negative pressure suction unit 83 uses negative pressure to suction the ends of multiple yarn tubes fed by the rotating swing arm.

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

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

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

[0106] The telescopic tube 8112 can move up and down, with one end connected to the first negative pressure pipe 813, and the other end reciprocating vertically along the vertical guide rod 8111 under the drive of the movable seat 8113. The telescopic tube 8112 can accommodate the end of the yarn tube at the first designated position. When the end of the yarn tube enters the telescopic tube, the end of the yarn tube is in a negative pressure environment, so the yarn end can smoothly enter the telescopic tube 8112 and the first negative pressure pipe 813.

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

[0108] The yarn end transfer unit includes a yarn end deflector and a drive unit.

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

[0110] The drive unit is used to drive the wire end deflector.

[0111] like Figure 12 As shown, in one embodiment, the yarn delivery device 11 includes a robotic arm 121, a telescopic sleeve 122, and an airbag clamping tube assembly 123.

[0112] One end of the robotic arm 121 is fixed to the body of the yarn insertion robot, and the other end moves horizontally according to the control signal.

[0113] The telescopic sleeve 122 is fixed to the other end of the robot arm and can move vertically according to the control signal.

[0114] The airbag clamping assembly 123 is used to clamp at least one yarn tube and deliver the yarn tube to the winding machine's yarn magazine. The airbag clamping assembly 123 includes a fan-shaped mounting plate and multiple yarn clamps disposed at the front end of the mounting plate. The number of yarn clamps can be set from 1 to 8. The more yarn clamps there are, the more the fan shape of the mounting plate deviates from a circular shape.

[0115] The mounting plate has a hollow sleeve at its center, which is connected to the hollow pipe of the telescopic sleeve 122 for negative pressure suction of the yarn end of the transferred bobbin. This connection between the hollow sleeve and the hollow pipe of the telescopic sleeve 122 utilizes the hollow space of the lead screw to create negative pressure, saving space and effectively achieving negative pressure to ensure that the yarn end is sucked up.

[0116] A yarn clamp is used to hold the yarn tube.

[0117] The specific process of the yarn feeding device feeding the yarn is as follows:

[0118] The transferred bobbins surround the yarn head suction section in the negative pressure yarn feeding device 8, and the yarn head suction section sucks up a predetermined number of yarn heads from the bobbins.

[0119] According to the control signal, the tube feeding device 11 controls the robot arm 121 to move the airbag tube clamping assembly 123 horizontally, and controls the telescopic sleeve 122 to move the airbag tube clamping assembly 123 vertically until the airbag tube clamping 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 up the yarn end of the transferred bobbin yarn through negative pressure; at the same time, the yarn clamp holds the bobbin yarn, and at this time both the bobbin yarn and the yarn end are gripped by the airbag clamp assembly 123.

[0121] The tube feeding device 11 then controls the robot arm 121 to move the airbag tube clamping assembly 123 horizontally according to the control signal, and controls the telescopic sleeve 122 to move the airbag tube clamping assembly 123 vertically until the airbag tube clamping assembly 123 is moved to the winding machine yarn magazine.

[0122] When the bobbin is conveyed above the winding machine, the yarn clamp can release the bobbin, and the bobbin falls naturally and accurately into the yarn magazine of the winding machine (first predetermined storage area).

[0123] Then, the mounting plate moves downward under the drive of the robotic arm 121 and the telescopic sleeve 122. The yarn feeding device 11 then transports the adsorbed yarn ends through the hollow sleeve to the area above the second predetermined storage zone of the winding machine (the yarn storage negative pressure hole, which adsorbs yarn ends through negative pressure). The hollow sleeve then sprays air to blow the corresponding yarn ends of the yarn into the yarn storage negative pressure hole, which simultaneously adsorbs the yarn ends through negative pressure, ensuring that the yarn ends enter the yarn storage negative pressure hole. The first predetermined storage zone and the second predetermined storage zone are different areas; the first predetermined storage zone can be arranged around the second predetermined storage zone.

[0124] The control signal can be generated by the controller. In one embodiment, the airbag clamping tube assembly 123 can also be equipped with a camera unit. The camera unit will take pictures of the position of the winding machine in real time and transmit the pictures to the controller. The controller will analyze whether there is bobbin yarn in the yarn magazine of the winding machine in the picture. When it is determined that there is no bobbin yarn, the controller will generate a corresponding control signal to control the movement of the robot arm 121 and the telescopic sleeve 122, thereby controlling the airbag clamping tube assembly 123 to clamp or release the bobbin yarn.

[0125] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A threading robot, characterized in that, The application relates to a yarn feeding device for a yarn feeding machine, which comprises the following components: a lifting and overturning device for transferring a tube yarn from a tube yarn carrier to a predetermined height of a vibrating hopper; a vibrating hopper for storing the tube yarn from the lifting and overturning device and making the tube yarn orderly roll down to a discharge port of the vibrating hopper through vibration; a tube yarn feeding lifting device fixedly connected with the discharge port of the vibrating hopper and used for vertically lifting the tube yarn; a tube yarn adjusting device located at the back of the tube yarn feeding lifting device and used for distinguishing the big head and small head of the tube yarn and adjusting the falling direction of the tube yarn so that the tube yarn falls on a conveying device with the big head downward; a thread picking device used for separating a thread head from the yarn body of the tube yarn falling on the conveying device and winding the thread head on the small head end of the tube yarn; a negative pressure thread feeding device used for adsorbing the thread head of the small head end of the tube yarn, and the tube yarn is transferred through the conveying device along a specified path; a tube yarn feeding device used for receiving the thread head transferred by the negative pressure thread feeding device and feeding the thread head and the corresponding tube yarn to a yarn library of a winding machine; wherein the lifting and overturning device comprises: a device support fixed on the side wall of the vibrating hopper on the feeding side; an overturning mechanism installed on the device support and used for overturning the tube yarn carrier to a predetermined position with the hinge point between the vibrating hopper and the device support as the axis; a fixing mechanism arranged on the overturning mechanism and used for fixing the tube yarn carrier on the overturning mechanism; a lifting mechanism used for controlling the overturning mechanism to realize the in-place overturning of the tube yarn carrier; the vibrating hopper comprises: a hopper body provided with a feeding port on the upper portion, and a funnel-shaped bottom of the hopper body is provided with a discharge port; a slide plate arranged in the hopper body and used for slowly sliding the tube yarn from the tube yarn carrier; a vibrating bottom plate arranged below the slide plate and cooperating with the bottom surface of the slide plate to form the discharge port and used for controlling the tube yarn from the slide plate to orderly slide from the upper inclined surface of the vibrating bottom plate through vibration; a vibrating mechanism used for controlling the vibration of the vibrating bottom plate; a thread head negative pressure suction mechanism arranged at the tail end of the vibrating bottom plate and used for sucking the thread head of the passing tube yarn through negative pressure; a cutting mechanism arranged in the discharge gap between the vibrating bottom plate and used for cutting the thread head of the passing tube yarn; a lifting mechanism arranged between the thread head negative pressure suction mechanism and the cutting mechanism and below the discharge gap and used for controlling the frequency of the tube yarn with the thread head adsorbed being transported to the cutting mechanism.

2. The threading robot of claim 1, wherein, the tube yarn feeding lifting device comprises: a fixed frame; a feeding hopper installed at the bottom of the fixed frame and used for accommodating the tube yarn conveyed from the vibrating hopper; The lifting module is installed in the fixed frame and is used for lifting the cheese in the feeding bin vertically to the predetermined height. The lifting module comprises a support fixed on the fixed frame, a lifting belt surrounding the support, a driving assembly driving the lifting belt to move, and a plurality of lifting and lifting assemblies arranged on the lifting belt. The lifting and lifting assemblies move around the support under the driving of the lifting belt to form a conveying channel on one side of the support, which is used for conveying the cheese in the vertical direction. The cheese limiting module is installed in the fixed frame and located in the feeding bin. Through the cooperation with the lifting and lifting assemblies, the cheese in the feeding bin is orderly adjusted. The separation module is installed at the top end of the lifting module and is used for separating the cheese from the lifting module and transferring the cheese to the arrangement device.

3. The threading robot of claim 1, wherein, The cheese arrangement device comprises: An identification mechanism is used to identify the direction of the cheese; A separate mechanism is used to release the large head of the cheese downward according to the direction identification result of the identification mechanism.

4. The threading robot of claim 1, wherein, The thread picking device comprises: The thread picking device comprises: A second mounting seat is arranged in the same direction between the first mounting seat and the second mounting seat, and the first mounting seat can move relative to the second mounting seat. A second air jet structure corresponds to the position of the thread picking device and is used for air jetting to the obliquely downward of the cheese. A pressing and rotating structure is arranged on the second mounting seat and is used for pressing the cheese and rotating the cheese along the winding direction of the yarn of the cheese.

5. The threading robot of claim 4, wherein, The thread picking device comprises: The thread picking device comprises: The first negative pressure suction part comprises a first suction head, a yarn end transfer unit and a first negative pressure pipeline. The first suction head sucks the yarn end of the cheese one by one which is conveyed to the first designated position on the workbench, and the sucked yarn end enters the first negative pressure pipeline.

6. The threading robot of claim 1, wherein, The negative pressure rotating suction part has a swing arm and a second negative pressure pipeline communicated with 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 yarn end to the vicinity of the swing arm. The swing arm sucks the yarn end one by one by negative pressure. The third negative pressure suction part sucks the yarn end of a plurality of cheeses rotatingly sent by the swing arm by negative pressure. The control part is used for controlling the negative pressure of the first negative pressure suction part, the negative pressure rotating suction part and the third negative pressure suction part. The first suction head comprises: A vertical guide rod is arranged near the first designated position and has a movable seat sleeved on the outer side wall.

7. The threading robot of claim 6, wherein, ​ ​ A telescopic pipe line, one end of which communicates with the first negative pressure pipe line, and the other end of which is driven by the movable seat to move vertically along the vertical guide rod, The yarn end transferring unit comprises: A yarn end shifting plate which rotates horizontally along the port of the first suction head to guide the yarn end into the first suction head or to guide the yarn end into the swing arm; A driving unit for driving the yarn end shifting plate.

8. The in-thread robot according to claim 1, characterized in that, The tube yarn feeding device comprises: A mechanical hand, one end of which is fixed on the car body of the inserting yarn robot, and the other end of which moves horizontally according to a control signal; A telescopic sleeve group, which is fixed on the other end of the mechanical hand and moves vertically according to a control signal; An air bag pipe clamping assembly for clamping at least one tube yarn and feeding the tube yarn to the yarn library of the winding machine, The air bag pipe clamping 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, which communicates with the hollow pipe line of the telescopic sleeve group, for negative pressure suction of the yarn end of the transferred tube yarn, The yarn clamps are used for clamping the tube yarn.

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