Negative pressure yarn feeding device and yarn inserting robot

Abstract

The invention provides a negative-pressure yarn feeding device and a yarn inserting robot, and belongs to the technical field of textile machines.The device comprises a first negative-pressure suction part and a second negative-pressure suction part, the first negative-pressure suction part comprises a first suction head, a yarn head transferring unit and a first negative-pressure pipeline, and the first suction head sucks thread ends of cop conveyed to a first designated position on a workbench one by one; the sucked yarn head enters a first negative pressure pipeline; the negative pressure rotary suction part is provided with a swing arm and a second negative pressure pipeline communicated with the swing arm, when the swing arm moves to the position close to the first suction head, the yarn end transfer unit temporarily blocks the first suction head and moves the thread ends to the position close to the swing arm, and the swing arm sucks the thread ends one by one through negative pressure; the third negative pressure suction part is used for sucking thread ends of the multiple cops conveyed by the swing arm in a rotating mode through negative pressure; and the control part is used for controlling the negative pressure of the first negative pressure suction part, the negative pressure rotary suction part and the third negative pressure suction part. According to the processing scheme, the thread ends of the multiple cops are collected and arranged.

Description

Technical Field

[0001] The invention relates to the technical field of textile machinery, and in particular to a negative pressure yarn feeding device and 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 addition, there are generally problems such as high noise pollution and a large number of short fibers floating in the air in the workshop, which threatens the health of workers. Therefore, it has become an urgent problem to carry out intelligent transformation of workshops to improve production efficiency, improve the working environment, and reduce labor pressure.

[0003] Although the yarn inserting robot can be used to grab, insert, and sort the bobbins and spools, in actual operation, the yarn inserting robot also needs to collect the thread ends of multiple bobbins so that the bobbins can be provided in batches according to the situation of the yarn storage device. Therefore, how to accurately collect and sort the thread ends of bobbins is one of the problems currently faced by technicians in this field. Summary of the invention

[0004] Therefore, in order to overcome the above-mentioned shortcomings of the prior art, the present invention provides a negative pressure yarn feeding device and a yarn inserting robot which can collect and sort the thread ends of a plurality of bobbins.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a negative pressure yarn feeding device, which is used to sort the tube yarns whose thread ends have been found on the yarn insertion robot. The tube yarns are transported and transferred on the workbench of the yarn insertion robot according to a specified path through a conveying device, including: 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 yarns transported to the first specified 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 ends 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 multiple tube yarns delivered by the swing arm; a control part, which is 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.

[0006] 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 sleeved on the outer wall; a telescopic pipeline, one end of which is connected to the first negative pressure pipeline, and the other end of which can perform vertical reciprocating motion along the vertical guide rod driven by the movable seat.

[0007] In one embodiment, 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 guides the yarn end into the swing arm; and a driving unit, which is used to drive the thread end shifting plate.

[0008] In one of the embodiments, the nozzle of the thread end flicking plate is arranged toward the bobbin, the nozzle has a first blade line and a second blade line intersecting each other, and the thread end flicking plate can seal the telescopic pipeline of the first suction head.

[0009] In one of the embodiments, a second sensor is installed at the connection between the telescopic pipeline and the first negative pressure pipeline.

[0010] In one of the embodiments, the first negative pressure suction part further includes a shearing unit, which is disposed at a connection port between the communicating negative pressure pipe and the first negative pressure pipe, and is used to shear thread ends entering the communicating negative pressure pipe.

[0011] In one embodiment, the negative pressure rotating suction part includes: a rotating unit, which is arranged on the workbench and can rotate around an axis; a second negative pressure pipeline, which is fixed on the rotating unit and connected to the external negative pressure unit; a swing arm, which is connected to the second negative pressure pipeline and coaxial with the axis, to complete the transmission of the thread end under the control of negative pressure.

[0012] In one embodiment, the rotating unit includes: a rotatable bearing seat, the bottom surface of which is fixed on the workbench; and a motor, which provides power for the rotation of the bearing seat.

[0013] In one of the embodiments, a filter unit is further provided on the second negative pressure pipeline to prevent the yarn head from being exposed to external negative pressure.

[0014] A yarn inserting robot comprises the negative pressure yarn feeding device as described above.

[0015] Compared with the prior art, the advantages of the present invention are that multiple bobbin yarns with thread ends found can be sorted in batches through negative pressure, the negative pressure can suck the thread ends of the bobbin yarns into the first suction head, and then the bobbin yarns enter the first negative pressure pipeline to ensure that the yarn ends are absorbed by the swing arm and do not fall out during the subsequent bobbin yarn migration, thereby improving production efficiency, reducing the labor intensity of operators, and having a good yarn suction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 is a schematic structural diagram of a yarn inserting robot in an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of a negative pressure yarn feeding device in an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of a first negative pressure suction portion in an embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of a negative pressure rotary suction unit in an embodiment of the present invention;

[0021] Figure 5 is a partial schematic diagram of a yarn end transfer unit in an embodiment of the present invention;

[0022] Figure 6 Schematic diagram of a portion of a yarn end transfer unit in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] like Figure 1 As shown, an embodiment of the present application provides a yarn insertion robot, including a material bin 20, a bobbin loading and lifting device 30, a thread taking-up device 40 and a negative pressure yarn feeding device 50.

[0029] The silo 20 is used to receive the bobbin from the bobbin transport vehicle and provide the bobbin with the wound thread ends removed to the bobbin lifting and loading device 30. The upper part of the vibrating silo 20 is provided with a feeding port, and the funnel-shaped bottom of the silo is provided with a discharge port. Cop refers to the tubular yarn wound on the bobbin, which is a common shape before the winding process in the spinning process. The two ends of the cop are divided into a large end and a small end according to the winding direction of the cop.

[0030] The bobbin feeding and lifting device 30 is installed on the discharge side of the silo 20. The bobbin feeding and lifting device 30 includes a feeding side and a discharging side, and the feeding side faces the discharge side of the silo 20. The bottom of the bobbin feeding and lifting device 30 is fixedly docked with the discharge side of the silo 20. The bobbin feeding and lifting device 30 is used to vertically lift the bobbin to a predetermined height.

[0031] The thread picking device 40 is used to separate the yarn end from the yarn body of the passing cop so as to provide the yarn end of the cop to the subsequent negative pressure yarn feeding device 50. At this time, the cop is vertically fixed on the movable seat for transporting the cop, and the cop is arranged with the big end facing down and the small end facing up.

[0032] like Figure 2 As shown, the negative pressure yarn feeding device 50 is used to sort the bobbins whose thread ends have been found by the thread taking-up device 40, and the bobbins are transported and transferred on the working table of the yarn inserting robot according to the specified path 21 through the transport device.

[0033] The negative pressure yarn feeding device 50 includes a first negative pressure suction portion 51, a negative pressure rotary suction portion 52, a third negative pressure suction portion 53, and a control portion (not shown in the figure).

[0034] like Figure 3 As shown, the first negative pressure suction part 51 includes a first suction head 17, a yarn end transfer unit 22 and a first negative pressure pipeline 2. The first suction head 17 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 2, and at this time, part of the yarn will also enter the first negative pressure pipeline 2 together with the yarn ends. The first designated position can be a position on the workbench corresponding to the bottom of the first suction head.

[0035] The bobbins are transported to the first designated position one by one through the tray, and the first suction head 17 sucks the yarn heads of the bobbins one by one at the first designated position. The first negative pressure pipeline 2 provides negative pressure power for the first suction head 17. At this time, the yarn heads together with a part of the yarn will also enter the first negative pressure pipeline 2, and then the tray continues to transport the bobbins.

[0036] The yarn end transfer unit 22 can guide the yarn end into the first suction head 17 with the assistance of negative pressure; it can also temporarily block the first suction head 17 and move the yarn end to the vicinity of the swing arm 13 so that the swing arm 13 can use negative pressure to absorb the yarn ends one by one.

[0037] like Figure 4 As shown, the negative pressure rotary suction portion 52 has a swing arm 13 and a second negative pressure pipeline 23 connected to the swing arm.

[0038] The swing arm 13 can be first arranged close to the first suction head 17 so as to suck the yarn ends of the bobbin in time. When the first suction head 17 sucks the yarn ends of the predetermined number of bobbin yarns, the swing arm 13 is moved to the vicinity of the third negative pressure suction part 53. The predetermined number can be set as needed, and the value range can be 1 to 8. The larger the value of the predetermined number, the more tortuous the route of the designated path 21 close to the swing arm 13 is, so as to ensure that the yarn ends of all bobbin yarns are absorbed in the swing arm 13 and will not fall out with the movement of the bobbin yarn.

[0039] When the swing arm 13 moves to the vicinity of the first suction head 17, the first negative pressure pipeline 2 stops providing negative pressure. The swing arm 13 uses negative pressure to simultaneously absorb and transfer the thread ends of multiple bobbins in the first suction head.

[0040] The swing arm 13 can rotate around the axis under the action of external force, and the height of the air inlet of the swing arm is similar to the height of the first suction head 17. In one embodiment, the height of the air inlet of the swing arm can be slightly lower than the height of the first suction head 17.

[0041] The second negative pressure pipeline 23 provides negative pressure for the swing arm 13. The negative pressure control of the first negative pressure pipeline 2 and the second negative pressure pipeline 23 can be controlled simultaneously.

[0042] When the swing arm 13 absorbs the thread ends of all the bobbins, the tray continues to transport the bobbins along the designated path 21. The third negative pressure suction part 53 uses negative pressure to absorb the thread ends of multiple bobbins delivered by the swing arm 13. Preferably, after the third negative pressure suction part 53 absorbs the thread ends of all the bobbins, the tray transports the bobbins along the designated path 21 to the vicinity of the third negative pressure suction part 53.

[0043] The control unit is used to control the negative pressure of the first negative pressure suction unit, the negative pressure rotating suction unit, and the third negative pressure suction unit. The control unit can provide negative pressure to the first negative pressure suction unit and the negative pressure rotating suction unit at the same time, and then alternately provide negative pressure to the third negative pressure suction unit; or it can provide negative pressure to the first negative pressure suction unit, the negative pressure rotating suction unit, and the third negative pressure suction unit separately.

[0044] The above device can sort out the thread ends of multiple bobbins in batches through negative pressure. The negative pressure can suck the thread ends of the bobbins into the first suction head, and then the bobbins enter the first negative pressure pipeline to ensure that the yarn ends are absorbed by the swing arm and do not fall out when the subsequent bobbins migrate, thereby improving production efficiency, reducing the labor intensity of operators, and having a good yarn suction effect.

[0045] like Figure 3 As shown, in one embodiment, the first negative pressure suction part 51 includes a hollow pillar 1, a first negative pressure pipe 2, a first suction head 17 and a yarn end transfer unit 22.

[0046] The hollow support 1 is fixed on the table of the workbench, and has a connecting negative pressure pipeline inside. A yarn end sensor is arranged at a predetermined position of the connecting negative pressure pipeline. The yarn end sensor is used to sense whether the yarn end enters the connecting negative pressure pipeline of the hollow support 1.

[0047] One end of the first negative pressure pipeline 2 is connected to the connecting negative pressure pipeline, and the port at the other end is provided with a first suction head 17. The first negative pressure pipeline 2 can be a transparent pipeline or an opaque pipeline.

[0048] The first suction head 17 has a telescopic pipeline, and the port can move up and down so as to fit the end of the cop at the first designated position. When the end of the cop enters the telescopic tube 7 of the telescopic pipeline, the end of the cop is in a negative pressure environment, so the yarn head can smoothly enter the telescopic tube 7 and the first negative pressure pipeline 2.

[0049] The yarn end transfer unit 22 is arranged at the port of the first suction head 17, and the yarn end transfer unit 22 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.

[0050] In one embodiment, Figure 3 and Figure 6 As shown, the first suction head 17 includes a vertical guide rod 5, a movable seat 13 and a telescopic pipeline.

[0051] The vertical guide rod 5 is arranged near the first designated position, and a movable seat 13 is sleeved on the outer wall. The movable seat 13 is fixed on the vertical guide rod 5 through a guide sleeve 6. The guide sleeve 6 can move up and down along the vertical guide rod 5. The vertical guide rod 5 and the guide sleeve 6 guide the sleeve lowering cylinder 4, so that the sleeve lowering cylinder 4 moves vertically up and down.

[0052] One end of the telescopic pipeline is connected to the first negative pressure pipeline, and the other end can perform vertical reciprocating motion along the vertical guide rod driven by the movable seat. The telescopic pipeline can include a telescopic tube and a sleeve sleeved thereon; the telescopic pipeline can also only include the telescopic tube. In one embodiment, Figure 5 and Figure 6 As shown, the telescopic pipeline includes a telescopic tube 7 fixed to the first negative pressure pipeline 2, and a sleeve 8 fixed to the movable seat 13. The guide rod 5 and the guide sleeve 6 guide the sleeve lowering cylinder 4, so that the sleeve lowering cylinder 4 moves vertically up and down, so that the sleeve 8 accurately covers the top of the bobbin, so that the first suction head 17 can absorb the yarn end of the bobbin.

[0053] In one embodiment, Figure 3 As shown, the yarn end transfer unit includes a driving unit and a yarn end shifting plate 12.

[0054] like Figure 6 As shown, the thread end pick plate 12 is arranged on the bottom surface of the movable seat 13, and can be horizontally rotated along the port at the other end of the telescopic pipe under the action of external force to guide the yarn end into the telescopic pipe or guide the yarn end into the negative pressure rotating suction part 52.

[0055] The driving unit drives the rotation of the thread end paddle 12. In one embodiment, the driving unit includes a paddle 11, a connecting arm 10 and a yarn feeding cylinder 9. The yarn feeding cylinder 9 provides power to drive the connecting arm 10 to move, and then the connecting arm 10 drives the paddle 11 to rotate a certain angle to send the yarn end to the spout 14 of the swing arm 13 of the negative pressure rotary suction part 52.

[0056] like Figure 6As shown, in one embodiment, the nozzle of the thread end paddle 12 is arranged toward the bobbin, and the nozzle has a first blade line 25 and a second blade line 26 intersecting each other. The shape of the thread end paddle 12 is approximately fan-shaped. The thread end paddle 12 can seal the telescopic pipeline of the first suction head.

[0057] The thread end prying plate 12 has a rough and blunt prying mouth. The thread end prying plate 12 rotates around the prying rod 11 to guide the yarn end into the telescopic pipe or guide the yarn end into the negative pressure rotating suction part 52.

[0058] In one embodiment, the included angle between the first blade line 25 and the second blade line 26 is an obtuse angle, so as to guide the multiple yarn ends into the third negative pressure suction part.

[0059] In one embodiment, a second sensor is installed at the connection between the telescopic pipeline and the first negative pressure pipeline. The second sensor is used to sense whether the yarn end is sucked into the telescopic pipeline. When the second sensor does not sense the yarn end, the sleeve lowering cylinder 4 descends to drive the sleeve 8 close to the bobbin and continues to find the bobbin yarn end until the second sensor senses the yarn end.

[0060] In one embodiment, the first negative pressure suction part 2 further includes a shearing unit.

[0061] The shearing unit is arranged at the connecting port between the connecting negative pressure pipe and the first negative pressure pipe, and is used to shear the thread ends entering the connecting negative pressure pipe, so as to avoid that part of the yarn still remains in the first negative pressure suction part when the yarn ends are transferred to the third negative pressure suction part.

[0062] like Figure 4 As shown, in one embodiment, the negative pressure rotary suction portion includes a rotating unit, a second negative pressure pipeline 23 and a swing arm 13 .

[0063] The rotating unit is arranged on the workbench and can rotate around an axis.

[0064] The second negative pressure pipeline 23 is fixed on the rotating unit and communicated with the external negative pressure unit.

[0065] The swing arm 13 is connected to the second negative pressure pipeline and is coaxial with the axis, and completes the transmission of the thread end under the control of negative pressure.

[0066] In one embodiment, the rotating unit includes a rotatable bearing housing 15 and a motor 24 .

[0067] The bottom surface of the rotatable bearing seat 15 is fixed on the workbench, and a negative pressure interface 16 is provided on the rotatable bearing seat 15. The negative pressure interface 16 is used to connect with an external negative pressure unit to provide negative pressure for the second negative pressure pipeline 23.

[0068] The motor 24 provides power for the rotation of the bearing seat.

[0069] In one embodiment, a filter unit is further provided on the second negative pressure pipeline. The filter unit can be provided at the negative pressure interface 16 to prevent the yarn end from entering the external negative pressure unit.

[0070] 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 included in the protection scope of the present application.

Claims

1. A negative pressure yarn feeding device, used for arranging the bobbins whose thread ends have been found on a yarn inserting robot, the bobbins are transported and transferred on the working table of the yarn inserting robot according to a specified path through a conveying device, characterized in that: include: 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.

2. The negative pressure yarn feeding device according to claim 1, 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 can perform vertical reciprocating motion along the vertical guide rod.

3. The negative pressure yarn feeding device according to claim 1, characterized in that: 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.

4. The negative pressure yarn feeding device according to claim 3, characterized in that: The thread end flicking plate has a flicking nozzle disposed toward the bobbin, and the flicking nozzle has a first blade line and a second blade line intersecting each other. The thread end flicking plate can seal the telescopic pipeline of the first suction head.

5. The negative pressure yarn feeding device according to claim 2, characterized in that: A second sensor is installed at the connection between the telescopic pipeline and the first negative pressure pipeline.

6. The negative pressure yarn feeding device according to claim 2, characterized in that: The first negative pressure suction part further includes a shearing unit. The shearing unit is arranged at the connection port between the communicating negative pressure pipe and the first negative pressure pipe, and is used for shearing the thread ends entering the communicating negative pressure pipe.

7. The negative pressure yarn feeding device according to claim 1, characterized in that: The negative pressure rotating suction part comprises: A rotating unit, arranged on the workbench and rotatable around an axis; A second negative pressure pipeline is fixed on the rotating unit and communicated with an external negative pressure unit; The swing arm is connected with the second negative pressure pipeline and is coaxial with the axis, and completes the transmission of the thread end under the control of negative pressure.

8. The negative pressure yarn feeding device according to claim 7, characterized in that: The rotating unit comprises: A rotatable bearing seat, the bottom surface of which is fixed on the workbench; The motor provides power for the rotation of the bearing seat.

9. The negative pressure yarn feeding device according to claim 7, characterized in that: The second negative pressure pipeline is also provided with a filter unit, which is used to prevent the yarn end from entering the external negative pressure unit.

10. A yarn inserting robot, characterized in that: It comprises the negative pressure yarn feeding device as described in any one of claims 1 to 9.

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