A method and device for batch precise transmission of steel needles and high-precision positioning of needle eyes

Abstract

A method and device for the precise batch transmission of steel needles and high-precision positioning of needle holes, characterized in that limit slots made of elastic blocks are evenly arranged on the left and right double-row synchronous transmission belts, and two rotatable rocker arms are suspended above the synchronous belts. The resistance of the rocker arms to the steel needles is utilized to slide the steel needles placed on the synchronous belt into the left and right limit slots. The positioning error caused by the gap between the limit slots is eliminated by magnetic adsorption of the steel needles, and the synchronous belt is controlled to perform intermittent movement by the photoelectric signals reflected by the blocks on the synchronous belt, thereby accurately delivering the steel needles one by one to the predetermined position in batches. Then, the end of the steel needle with the needle hole is inserted into the vertical hole of a T-shaped three-way module, and two ballpoint pen core-shaped ejectors with balls embedded in the heads are respectively inserted into the left and right holes of the T-shaped three-way module to achieve high-precision positioning of the needle hole. The present invention has the advantages of low cost, high precision, high efficiency, high reliability, and compact structure.

Description

Technical Field

[0001] This technology involves the positioning and precise transmission of slender steel needles, belonging to the field of industrial automation technology, especially industrial automation equipment related to sewing and knitting. Specifically, it provides a method and device for the precise transmission of steel needles in batches and the high-precision positioning of needle holes. Background Art

[0002] In the sewing and weaving process of certain special fabrics, a large number of slender steel needles with needle holes at the tail are needed. In order to pass the sewing thread through the needle holes, the steel needles must be accurately transported to a specific position one by one, and the opening of the needle holes must be accurately aligned with the direction of the sewing thread. This requires solving the problem of accurate transmission of batch steel needles and high-precision positioning of the needle holes (i.e., the radial direction of the steel needles). In this regard, one method that can easily be thought of to limit the position of the steel needles is to use the following method: Figure 1 The limit groove shown is made of rigid materials such as metal and hard plastic. In order to facilitate the steel needle to fall into it, this limit groove has a large trumpet-shaped opening on the top. The larger the position error allowed for the placement of the steel needle, the larger the opening size of the trumpet-shaped opening, so the overall size of the limit groove is larger, and the possibility of elastic deformation of the limit groove is correspondingly lower. Once such a limit groove is fixed on the synchronous transmission belt, when it passes through the rotating shafts at both ends of the synchronous belt, the synchronous belt bends, and the bottom of the limit groove is straight and cannot be bent, so it is very easy for the synchronous belt to jam or the limit groove to fall off. In addition, in order for the steel needle to enter and exit the limit groove smoothly, the steel needle and the limit groove must be clearance-fitted, which leads to positioning errors. Therefore, this method of using a rigid limit groove cannot meet the needs of precise transmission of batch steel needles, and changes are needed in the material, structure and method of reducing the limit error of the limit groove.

[0003] Furthermore, to precisely align the needle's eye opening with the thread's insertion direction, it's necessary to accurately identify the needle's eye position and adjust the needle's rotation angle. To accomplish such a delicate control task, the obvious approach is to utilize complex machine vision technology and a servo rotary mechanism. While this approach meets the required precision, it suffers from high equipment cost, complex structure, large footprint, and lengthy identification and adjustment times. To create cost-effective and efficient industrial automation equipment, a technological breakthrough is needed: a new, compact, and cost-effective method for high-precision needle eye positioning. Summary of the Invention

[0004] This invention addresses the issues of precise positioning and high-precision needle eye positioning during batch transport of slender needles, as well as the technical drawbacks of rigid positioning and machine vision methods. It proposes a method for precise batch transport of needles and high-precision needle eye positioning, which has the advantages of adapting to synchronous belt transport, expanding the needle delivery area, improving positioning accuracy and reliability, and reducing positioning time and the size of the positioning device.

[0005] One of the technical solutions of the present invention is:

[0006] A method for accurately limiting the position of a slender steel needle placed on a synchronous belt, characterized in that it is composed of a synchronous transmission belt, an elastic stopper, a magnetic material, a crossbeam, a rocker and other components. Figure 2 The limit device shown in the figure has limit slots made of elastic material arranged on the left and right double-row synchronous belts at uniform intervals and aligned on the left and right sides. Each limit slot consists of two elastic blocks, one low and one high, with magnetic material embedded inside the rear block. A beam is suspended above the synchronous belt, and two swing rods are mounted on the left and right sides of the beam, which can rotate around the beam. When the swing rod does not encounter the steel needle, it is in the following position: Figure 3 (a) shows the natural drooping state. When it hits the steel needle moving forward with the synchronous belt, it will hinder the movement of the steel needle. At this time, the swing arm will Figure 3 As shown in (b), the steel needle rotates around the axis of the beam and becomes tilted. The horizontal resistance causes the steel needle to slide into the left and right limit slots. Since the rear block in the limit slot is embedded with magnetic material, the magnetic force generated by it causes the steel needle to be adsorbed on the inner side of the limit slot, further eliminating the limit error caused by the gap in the limit slot, thereby achieving precise positioning of the steel needle on the synchronous belt. When the steel needle continues to move forward with the synchronous belt, since the steel needle can no longer slide backward, the rocker will continue to rotate around the axis of the beam to produce a greater tilt, as shown in Figure 2. Figure 3 As shown in (c). When the end of the pendulum slides over the surface of the steel needle, there is no longer any interference between the steel needle and the pendulum, and the pendulum returns to its original position. Figure 3 (d) The natural drooping state shown.

[0007] A reflective photoelectric sensor is installed on the outside of the synchronous belt, facing the rear stop of the limit slot. The area above the left and right front stops of the limit slot, behind the two rocker arms, is designated as the needle delivery area. Whenever a needle needs to be delivered, a needle is first placed in the delivery area, resting on the surfaces of the left and right front stops. The synchronous belt is then started to move forward. When the photoelectric sensor detects a signal reflected from the stop of the next limit slot, the synchronous belt stops. During this process, as the synchronous belt moves, the delivered needle is blocked by the rocker in front of it and slides into the left and right limit slots. The needle delivery area behind the two rocker arms is now clear. If the next needle is delivered, the synchronous belt will move forward again until the photoelectric sensor detects a signal reflected from the next stop and stops. This continuous delivery of needles, coupled with intermittent forward movement of the synchronous belt, allows batches of needles to be precisely delivered one by one to the desired location.

[0008] The second technical solution of the present invention is:

[0009] A method for achieving high-precision positioning of the eye of a steel needle is characterized in that, first, a needle eye positioning device consisting of a T-shaped three-way module, a ballpoint pen core-shaped ejector and a synchronous reverse motion mechanism is set up, and the characteristics of the needle eye of the steel needle are flat in shape and the thickness is less than the diameter of the steel needle. The end of the steel needle with the needle eye is inserted into the bottom of the vertical hole of the T-shaped three-way module to limit the axial movement of the steel needle, and then two ballpoint pen core-shaped ejectors with balls embedded in the heads are respectively inserted into the left and right holes of the T-shaped three-way module. The two ejectors use the synchronous reverse motion mechanism to simultaneously and evenly squeeze the needle eye of the steel needle 1-2 times, so that the steel needle rotates around the axis until the direction of the needle eye is consistent with the axial direction of the ejector, thereby achieving high-precision radial positioning of the needle eye, i.e., the steel needle.

[0010] On the basis of the above method principle, in order to improve the positioning reliability and reduce the wear of the ejector pin and the friction force of the needle rotation, Figure 4 As shown, the heads of the left and right ejector pins are embedded with ball bearings, whose diameter is larger than the width of the needle eye and smaller than the diameter of the steel needle. To ensure synchronous movement of the left and right ejector pins, the synchronous reverse motion mechanism in the positioning device is driven by a single power element (such as a cylinder or motor), and the left and right ejector pins are respectively connected to the output component of this mechanism. In addition, the connection points on the ejector pins are equipped with springs and limit nuts to achieve motion buffering and position adjustment, ensuring that the top of the ejector pin simultaneously and evenly applies force to the needle eye.

[0011] When combining the aforementioned method of batch precise transmission of steel needles with the method of high-precision positioning of the eye of the needle to achieve precise transmission of the steel needle to the predetermined position first and then positioning of the eye of the needle, first install the aforementioned eye of the needle positioning device and a power mechanism that can clamp the steel needle and perform plug-in and pull-out movements on the left and right sides of the double-row synchronous belt near the limit slot, and install a photoelectric sensor that can detect the presence of the steel needle between the two. Whenever the synchronous transmission belt completes an intermittent movement, if the photoelectric sensor detects that the predetermined target position of the steel needle transmission carries a steel needle, the power mechanism will clamp the steel needle and insert it into the eye of the needle positioning device. At this time, the steel needle will be released and the eye of the needle positioning device will be started. After the eye of the needle is positioned, the steel needle will be smoothly moved out to return to its original axis position and continue to be transmitted forward with the synchronous belt.

[0012] The third technical solution of the present invention is:

[0013] A device for accurately transporting batches of steel needles and positioning needle eyes with high precision, characterized in that it comprises a front stopper 2 and a rear stopper 3 with steps, which are evenly and symmetrically installed on two synchronously moving synchronous belts 1, wherein the rear stopper is higher than the front stopper; a limiting groove 5 is formed between the front stopper 2 and the rear stopper 3 for the steel needle 4 to fall into, and a magnetic material 6 for adsorbing the steel needle and positioning it is installed on the side of the rear stopper 3 opposite to the limiting groove 5; a bracket 7 is installed on one side of a front stopper 2, a crossbeam 8 is suspended on the bracket 7, and a useful At least two rocker bars 9 are used to push the steel needle into the limit groove 5; a block detection photoelectric sensor 10 is installed on the outside of the synchronous belt 1, aligned with the rear block 3, for detecting whether there is a block reflection signal during the movement of the synchronous belt; a needle eye positioning device 11 is installed on the side of the beam 8 in the forward direction of the synchronous belt and relative to the limit groove 5, a steel needle detection photoelectric sensor 12 is installed at the lower part of the steel needle that needs to be positioned, and a steel needle clamping and plugging mechanism 13 is installed on one side of the steel needle detection photoelectric sensor 12 for clamping the steel needle to move in the limit groove.

[0014] The magnetic material 6 is a magnetic rod.

[0015] The front stopper 2 and the rear stopper 3 with steps are both made of elastic material.

[0016] The needle eye positioning device 11 includes a T-shaped three-way module 1101, which is provided with a longitudinal slot 1102 for inserting the needle hole of the steel needle 4 and realizing axial positioning, and a transverse slot 1104 that is transversely connected to the longitudinal slot 1102 for inserting left and right ejectors 1103 to adjust the direction of the needle hole. The ejector 1103 is connected to the drive rod 1107 through a nut 1105 and a spring 1106. The drive rod 1107 is connected to a transverse slider 1108. The transverse slider 1108 is hingedly connected to one end of the swing link 1109. The other end of the swing link 1109 is hingedly connected to the longitudinal slider 1110. The longitudinal slider 1110 is connected to the output rod of the drive cylinder 1111.

[0017] The driving cylinder 1111 is a pneumatic cylinder or an electric cylinder.

[0018] The beneficial effects of the present invention are:

[0019] 1) The flat limit groove is made of elastic material, and the limit groove consists of two parts: a front stopper and a rear stopper, so that the limit groove can bend and deform along with the synchronous belt, so that it can be firmly fixed on the surface of the synchronous belt, overcoming the movement jamming or falling off phenomenon caused by the bending of the synchronous belt when the synchronous belt passes through the rotating shafts at both ends of the integral limit groove made of rigid material.

[0020] 2) The steel needle is adsorbed by magnetic material on the inner side of the rear stopper of the limit slot, which eliminates the limiting error caused by the gap in the limit slot and greatly improves the positioning accuracy of the steel needle axis. Since the axis positioning accuracy is not related to the front stopper, the processing accuracy requirements for the limit slot module are reduced.

[0021] 3) There is no need for a large-size V-shaped opening structure. The steel needle only needs to be placed on the surface of the left and right front blocks. The steel needle will be blocked by the rocker arm and slide into the limit groove. Even if the steel needle is not perpendicular to the synchronous belt, it will not be affected. Therefore, the area of ​​the steel needle placement area is greatly widened and the reliability of the steel needle entering the limit groove is improved.

[0022] 4) The proposed high-precision needle eye positioning method does not require the use of complex machine vision technology and servo rotary mechanism, and fully considers the various initial orientations of the needle eye including the dead point. The needle eye can be reliably positioned by 1-2 reverse extrusion movements of the left and right push rods. It has the advantages of low cost, high precision, high efficiency, high reliability, and compact structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the steel needle transmission method and device structure using a rigid limit groove.

[0024] Figure 2 This is a schematic diagram of the steel needle transmission method and device structure using front and rear double block elastic limit grooves.

[0025] Figure 3 This is a schematic diagram of the steel needle transmission method using front and rear double block elastic limit grooves.

[0026] Figure 4 This is a schematic diagram of the needle eye (i.e., the radial direction of the steel needle) high-precision positioning method and device structure.

[0027] Figure 5 This is a schematic diagram of the principle of the high-precision positioning method for the needle eye (i.e. the radial direction of the steel needle).

[0028] Figure 6 This is a schematic diagram of an embodiment of a steel needle transmission method using front and rear double-block elastic limiting grooves.

[0029] Figure 7 Schematic diagram of an embodiment of a needle eye high-precision positioning method.

[0030] Figure 8 This is an embodiment diagram of the combination of batch precise transmission of steel needles and high-precision positioning method of needle eyes. DETAILED DESCRIPTION

[0031] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 6-8 shown.

[0033] A method for batch precise transmission of steel needles and high-precision positioning of needle holes, firstly, design a corresponding device, the structure of the device is as follows Figure 8 As shown, it includes a front stopper 2 and a rear stopper 3 with steps made of elastic material, which are evenly spaced and symmetrically installed on two synchronously moving synchronous belts 1. A limiting groove 5 for a steel needle 4 to fall into is formed between the front stopper 2 and the rear stopper 3. A magnetic material 6 (magnetic bar) for adsorbing the steel needle and positioning it is installed on the side of the rear stopper 3 opposite to the limiting groove 5; a bracket 7 is installed on one side of a front stopper 2, and a crossbeam 8 is suspended on the bracket 7. At least two swing rods for pushing the steel needle into the limiting groove 5 are installed on the crossbeam 8. Rod 9; a block detection photoelectric sensor 10 is installed on the outside of the synchronous belt 1, aligned with the rear block 3, for detecting whether there is a rear block reflection signal during the movement of the synchronous belt; a needle eye positioning device 11 is installed on the side of the beam 8 in the forward direction of the synchronous belt and relative to the limit groove 5, and a steel needle detection photoelectric sensor 12 is installed at the bottom of the steel needle that needs to be positioned, and a steel needle clamping and plugging mechanism 13 (same as the existing technology and structure) for moving the steel needle along the limit groove is installed on one side of the steel needle detection photoelectric sensor 12. The needle eye positioning device 11 (such as Figure 7 The T-shaped three-way module 1101 is provided with a longitudinal slot 1102 for inserting the needle hole of the steel needle 4 and realizing axial positioning, and a transverse slot 1104 which is transversely connected with the longitudinal slot 1102 and for inserting left and right ejector pins 1103 to adjust the direction of the needle hole. The ejector pin 1103 is connected to the driving rod 1107 through a nut 1105 and a spring 1106. The driving rod 1107 is connected to a transverse slider 1108. The transverse slider 1108 is hingedly connected to one end of a swing link 1109. The other end of the swing link 1109 is hingedly connected to the longitudinal slider 1110. The longitudinal slider 1110 is connected to the piston rod of a driving cylinder 1111 (a pneumatic cylinder or a hydraulic cylinder, preferably a pneumatic cylinder).

[0034] Figure 6 This is an implementation example of a method for accurately transmitting steel needles in batches using elastic limit slots constructed with front and rear double blocks. A series of limit slots made of elastic material are pasted on the left and right synchronous belts at a uniform spacing L. Each limit slot contains two front and rear blocks, which are aligned left and right. Figure 6 As shown. The area above the left front block 2 and the right front block 2 behind the synchronous belt is set as the steel needle placement area, as shown in the dotted box in the figure. This means that as long as the steel needle is placed in this area, it can slide into the limit slot due to the obstruction of the rocker bar as the synchronous belt continues to move forward. Because the inner side of the rear block in the limit slot is embedded with magnetic material, the steel needle is magnetically attracted to the inner side of the limit slot, eliminating the limit error caused by the gap in the limit slot, thereby achieving precise positioning of the steel needle on the synchronous belt.

[0035] In addition, Figure 6 A reflective photoelectric sensor is installed on the outside of the rear of the middle right synchronous belt, facing the right rear block 2. Since the rear block is higher than the front block, every time a rear block passes the photoelectric sensor, the photoelectric sensor will receive a reflection signal. In this way, when the synchronous transmission belt moves forward, if the photoelectric sensor detects the signal reflected by the rear block of the next limit slot, the synchronous transmission belt will stop moving, thereby controlling the synchronous transmission belt to move forward intermittently. During this process, as the synchronous transmission belt moves, the steel needles released are blocked by the rocker in front of it and slide into the left and right limit slots. The steel needle release area behind the two rocker bars has been cleared. If the next steel needle is released, the synchronous belt will move forward again until the photoelectric sensor detects the signal reflected by the next block and stops. By continuously releasing steel needles in this way, batches of steel needles can be accurately transferred to the predetermined position one by one.

[0036] Figure 7 The figure is a schematic diagram of an embodiment of a method for high-precision positioning of the eye of a needle. A positioning device is composed of a T-shaped three-way module 1101, a ballpoint pen core-shaped ejector pin 1103 and a synchronous reverse motion mechanism. The synchronous reverse motion mechanism is composed of a cylinder 1111, a longitudinal slider 1110, four transverse sliders 1108, two drive rods 1107 and four swinging connecting rods 1109. When the cylinder 1111 performs forward and backward telescopic movement, the four swinging connecting rods 1109 can drive the two drive rods 1107 to open and close left and right in the transverse chute, thereby causing the left and right ejector pins 1103 to squeeze the eye of the needle with equal force. Since the eye of the steel needle inserted into the T-shaped three-way module is in an unstable state, it only needs to squeeze the part 1-2 times to reliably rotate the steel needle until the direction of the eye of the needle and the ejector pin are consistent, thereby achieving high-precision positioning of the eye of the needle (i.e., the radial direction of the steel needle).

[0037] Figure 8 The figure shows an embodiment of combining the method of batch precise transmission of steel needles with the method of high-precision positioning of needle eyes. Figure 6 and Figure 7 The steel needle batch precision transmission device shown is combined with the needle eye high-precision positioning device. A needle eye positioning device is installed on the left side of the limit slot near the predetermined steel needle transmission target position in front of the left synchronous belt. In order to control the steel needle to enter and exit the needle eye positioning device, a power mechanism that can clamp the steel needle and perform insertion and extraction is added to the right side of the limit slot. A photoelectric sensor that can detect the presence of the steel needle is also installed between the power mechanism and the needle eye positioning device. In order to improve the transmission accuracy of the steel needle, it can also be Figure 6The reflective photoelectric sensor at the rear of the synchronous belt in the illustrated embodiment moves to the vicinity of the needle eye positioning device in front of the synchronous belt. Every time the synchronous transmission belt completes an intermittent movement, if the photoelectric sensor detects that the predetermined target position for the steel needle transmission is loaded with a steel needle, the steel needle is clamped by the power mechanism and inserted into the needle eye positioning device. At this time, the steel needle is released, and the needle eye positioning device is activated. After the needle eye positioning is completed, the steel needle is smoothly moved out, so that the steel needle returns to its original axial position and continues to be transmitted forward with the synchronous belt. In this way, the synchronous conveyor belt is controlled to perform intermittent movement forward over and over again, and the steel needle insertion and extraction mechanism performs corresponding insertion and extraction movement, and finally the steel needles placed on the synchronous belt are accurately sent to the predetermined position one by one and their needle eyes are accurately adjusted to a uniform direction.

[0038] Any details not mentioned in the specific embodiments of the present invention belong to the common knowledge in this field and can be implemented with reference to the common knowledge.

[0039] The above specific implementation methods and examples are only for illustrating the technical ideas of the present invention and cannot be used to limit the scope of protection of the present invention. Any equivalent changes or equivalent modifications made on the basis of the technical solutions in accordance with the technical ideas proposed by the present invention fall within the scope of protection of the present invention.

[0040] Parts not covered by the present invention, such as the clamping and insertion of the steel needle, and the mechanism for placing the steel needle on the upper part of the synchronous belt, are the same as those in the prior art or can be implemented using the prior art.

Claims

1. A method for batch precise transmission of steel needles and high-precision positioning of needle holes, characterized in that: The invention includes a method for accurately limiting the transmission of a slender steel needle placed on a synchronous belt and a method for high-precision positioning of the needle eye of the steel needle; wherein: The method for accurately limiting the transmission of slender steel needles placed on a synchronous belt includes the following steps: first, limiting grooves made of elastic material are arranged at uniform intervals and aligned on the left and right sides on the left and right double-row synchronous belts, each limiting groove is composed of two elastic blocks, one low and one high, front and back, wherein the inner side of the rear block is embedded with magnetic material, and a beam is suspended above the synchronous belt, and two swing rods are respectively set on the left and right sides of the beam and can rotate around the beam. The swing rod is in a natural drooping state when it does not encounter the steel needle. When it encounters the steel needle moving forward with the synchronous belt, it will hinder the movement of the steel needle and make the steel needle slide into the left and right limiting grooves, and further eliminate the limiting error caused by the gap in the limiting groove by magnetically adsorbing the steel needle, thereby realizing accurate limiting of the steel needle on the synchronous belt; secondly, a reflective photoelectric sensor is installed on the rear block of the limiting groove on the outer side of the synchronous belt, and The space above the left front block and the right front block of the limit slot behind the two rocker arms is set as the steel needle delivery area; whenever a steel needle needs to be transmitted, first place a steel needle in the delivery area so that it rests on the surface of the left and right front blocks, and then start the synchronous transmission belt to move forward. When the photoelectric sensor detects the signal reflected by the block of the next limit slot, the synchronous belt is stopped; in this process, as the synchronous transmission belt moves, the delivered steel needle is blocked by the rocker arm in front of it and slides into the left and right limit slots, while the steel needle delivery area behind the two rocker arms has been cleared. If the next steel needle is delivered, the synchronous belt will move forward again until the photoelectric sensor detects the signal reflected by the next block and stops; in this way, the steel needles are continuously delivered, and the synchronous transmission belt is controlled to move forward intermittently, so that batches of steel needles are accurately delivered to the predetermined positions one by one; The method for high-precision positioning of the eye of a steel needle includes the following steps: first, a needle eye positioning device consisting of a T-shaped three-way module, a ballpoint pen core-shaped ejector pin and a synchronous reverse motion mechanism is set up, and the needle eye end of the steel needle is inserted into the bottom of the vertical hole of the T-shaped three-way module by utilizing the characteristics that the needle eye of the steel needle is flat and the thickness is smaller than the diameter of the steel needle to limit the axial movement of the steel needle; then, two ballpoint pen core-shaped ejectors are respectively inserted into the left and right holes of the T-shaped three-way module, and the two ejectors use the synchronous reverse motion mechanism to simultaneously and evenly squeeze the needle eye of the steel needle 1-2 times, so that the steel needle rotates around the axis until the direction of the needle eye is consistent with the axial direction of the ejector pin, thereby achieving radial high-precision positioning of the needle eye, i.e., the steel needle.

2. The method according to claim 1, characterized in that The head of the thimble is embedded with a ball, the diameter of which is larger than the width of the needle eye and smaller than the diameter of the steel needle. The synchronous reverse motion mechanism is driven by a single power element. The left and right thimbles are respectively connected to the output components of the synchronous reverse motion mechanism. A spring and a nut are sleeved on the connection part of the thimble to achieve motion buffering and position adjustment, ensuring that the top part of the thimble applies balanced force to the needle eye of the steel needle at the same time.

3. The method according to claim 1, characterized in that A needle eye positioning device and a power mechanism that can clamp the steel needle and perform plugging and pulling movements are respectively installed on the left and right sides of the double-row synchronous belt near the limit slot, and a photoelectric sensor that can detect the presence of the steel needle is installed between the two; whenever the synchronous transmission belt completes an intermittent movement, if the photoelectric sensor detects that the predetermined target position of the steel needle transmission is loaded with a steel needle, the steel needle is clamped by the power mechanism and inserted into the needle eye positioning device. At this time, the steel needle is released and the needle eye positioning device is started. After the needle eye positioning is completed, the steel needle is smoothly moved out to return to the original axial position and continue to be transmitted forward with the synchronous belt.

4. A device for batch precise transmission of steel needles and high-precision needle eye positioning method according to claim 1, characterized in that It comprises a front stopper (2) with a step and a rear stopper (3) which are evenly and symmetrically installed on two synchronously moving synchronous belts (1), wherein the rear stopper is higher than the front stopper; a limiting groove (5) for a steel needle (4) to fall into is formed between the front stopper (2) and the rear stopper (3); a magnetic material (6) for adsorbing the steel needle and positioning it is installed on a side of the rear stopper (3) opposite to the limiting groove (5); a bracket (7) is installed on one side of a front stopper (2); a crossbeam (8) is suspended on the bracket (7); and a device for inserting the steel needle into the limiting groove ( 5) at least two rocker bars (9); a block detection photoelectric sensor (10) for detecting whether there is a block reflection signal during the movement of the synchronous belt is installed on the outer side of the synchronous belt (1) and aligned with the rear block (3); a needle eye positioning device (11) is installed on one side of the beam (8) in the forward direction of the synchronous belt and at a position relative to the limit groove (5); a steel needle detection photoelectric sensor (12) is installed at the lower part of the steel needle for needle eye positioning; and a steel needle clamping and plugging mechanism (13) for clamping the steel needle to move in the limit groove is installed on one side of the steel needle detection photoelectric sensor (12).

5. The device according to claim 4, characterized in that The magnetic material (6) is a magnetic rod.

6. The device according to claim 4, characterized in that The front stopper (2) and the rear stopper (3) with steps are both made of elastic material.

7. The device according to claim 4, characterized in that The needle eye positioning device (11) includes a T-shaped three-way module (1101), which is provided with a longitudinal slot (1102) for inserting the needle hole of the steel needle (4) and realizing axial positioning, and a transverse slot (1104) that is transversely connected to the longitudinal slot (1102) and for inserting left and right ejector pins (1103) to adjust the direction of the needle hole. The ejector pins (1103) are connected to a driving rod (1107) through a nut (1105) and a spring (1106). The driving rod (1107) is connected to a transverse slider (1108). The transverse slider (1108) is hingedly connected to one end of a swing connecting rod (1109). The other end of the swing connecting rod (1109) is hingedly connected to a longitudinal slider (1110). The longitudinal slider (1110) is connected to an output rod of a driving cylinder (1111).

8. The device according to claim 7, characterized in that The driving cylinder (1111) is a pneumatic cylinder or an electric cylinder.

Images