Picking cutter, picking cutter structure, thread picking device and yarn inserting robot

Abstract

The invention provides a picking cutter, a picking cutter structure, a thread picking device and a yarn inserting robot, and belongs to the technical field of textile machinery, and the picking cutter comprises a picking cutter main body which is in flexible contact with the surface of cop under the action of external force and is used for picking up outer-layer yarn on the surface, the picking knife main body comprises a rough blunt knife edge used for picking up the yarns, a mounting part mounted on the yarn picking device, and a knife body section connected with the rough blunt knife edge and the mounting part; and the picking cutter blade is arranged on the cutter body section and is used for cutting off the picked yarn and the yarn body. By means of the processing scheme, the bobbin yarn ends can be quickly found out and broken.

Description

Technical Field

[0001] The present invention relates to the technical field of textile machinery, and particularly relates to a picking knife, a picking knife structure, a thread picking 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 intelligent robots for repetitive and boring work. As one of the main labor-intensive industries, the textile industry has high labor costs. Moreover, there are generally problems of high noise pollution and a large amount of short fibers floating in the air in the workshop, which threaten the physical health of workers. Therefore, it has become an urgent problem to carry out intelligent transformation of the workshop to improve production efficiency, improve the working environment, and reduce the employment pressure.

[0003] Although a yarn inserting robot can perform operations such as grasping, inserting, and sorting of tube yarns and bobbins, in the actual operation process, the yarn inserting robot also needs to additionally find the thread ends on the surface of the tube yarn for subsequent supply to the yarn using device. Therefore, how to efficiently and safely find the thread ends of the tube yarn is one of the difficult problems faced by those skilled in the art at present. Summary of the Invention

[0004] Therefore, in order to overcome the above-mentioned disadvantages of the prior art, the present invention provides a picking knife, a picking knife structure, a thread picking device, and a yarn inserting robot that can quickly find the thread ends of the tube yarn and cut them off.

[0005] To achieve the above object, the present invention provides a picking knife, which is used on the picking mouth of a yarn inserting robot and is used to separate the thread ends from the yarn body of the tube yarn. The picking knife includes: a picking knife body, which is in flexible contact with the surface of the tube yarn under the action of an external force and is used to pick up the outer layer of yarn on the surface. The picking knife body includes a thick and blunt cutting edge for picking up the yarn, a mounting portion installed on the thread picking device, and a knife body section connecting the thick and blunt cutting edge and the mounting portion; a picking knife blade, which is arranged on the knife body section and is used to cut off the picked-up yarn from the yarn body.

[0006] In one embodiment, the thick and blunt cutting edge has a first cutting edge line, the knife body section has a second cutting edge line, and the angle between the first cutting edge line and the second cutting edge line is an obtuse angle.

[0007] In one embodiment, the knife body section has a second cutting edge line, and the picking knife blade installed on the knife body section has a third cutting edge line, and the second cutting edge line and the third cutting edge line are parallel.

[0008] In one embodiment, the mounting portion and the first mounting seat are fixedly installed by bolt connection.

[0009] A picking knife structure includes: a first mounting base; at least one picking knife, flexibly mounted on the first mounting base, and the picking knife separates a yarn end from the yarn body of a cheese, wherein the picking knife is the above-mentioned picking knife.

[0010] In one embodiment, it further includes a picking knife opening cylinder and a swing arm, the swing arm is used to adjust the angle between all the picking knives and the surface of the cheese; the picking knife opening cylinder is used to provide power to the swing arm.

[0011] In one embodiment, it further includes a first air jet structure, which corresponds to the position of the picking knife and is used to jet air obliquely above the cheese.

[0012] A thread picking device includes: the above-mentioned picking knife structure; a second mounting base, arranged in the same direction as the first mounting base, and the first mounting base can move relative to the second mounting base; a second air jet structure, corresponding to the position of the picking knife, and used to jet air obliquely below the cheese; a pressing and rotating structure, arranged on the second mounting base, and used to press the cheese and make it rotate along the winding direction of the yarn of the cheese.

[0013] In one embodiment, the thread picking device further includes a guide member, one end of the guide member is slidably connected to one of the first mounting base and the second mounting base, and the other end is fixedly connected to the other of the first mounting base and the second mounting base, and the guide member is used to guide the relative movement of the first mounting base and the second mounting base to approach or move away from the cheese.

[0014] In one embodiment, the pressing and rotating structure includes: a moving seat, arranged at the thread picking station, transporting the cheese in the horizontal direction, and the cheese is sleeved on the moving seat; a rotating mechanism, including a rotating member and a rotating driving member, the rotating member is arranged on the moving seat, and the rotating driving member is connected to the rotating member and used to provide the driving force for the rotating member to make a rotating motion; and a pressing driving member, installed on the second mounting base, capable of being vertically opposite to the moving seat, and used to cooperate with the rotating member to press or release the cheese.

[0015] A yarn inserting robot includes the above-mentioned thread picking device.

[0016] Compared with the prior art, the advantages of the present invention are as follows: the picking knife body is in flexible contact with the surface of the cheese under the action of an external force, and then the blunt edge of the picking knife body is inserted into the outer layer yarn on the surface of the cheese. At this time, the blunt edge will not cut other yarns on the surface of the cheese while picking out the yarn, and then the picking knife blade installed on the knife body segment cuts the yarn picked out by the blunt edge from the yarn body. The whole process will not damage other yarns on the surface of the cheese and has a high fault tolerance. Description of the Drawings

[0017] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic structural diagram of the yarn inserting robot in the embodiment of the present invention;

[0019] Figure 2 It is an enlarged structural view of the thread picking device at the yarn inserting robot in the embodiment of the present invention;

[0020] Figure 3 It is an enlarged structural view of the thread picking device at the yarn inserting robot in the embodiment of the present invention (with the pattern of the tube yarn attached);

[0021] Figure 4 It is a schematic diagram of the structural disassembly position of the thread picking device in the embodiment of the present invention;

[0022] Figure 5 It is a schematic structural diagram of the thread picking device in the embodiment of the present invention;

[0023] Figure 6 It is a schematic structural diagram of the thread picking device in another embodiment of the present invention;

[0024] Figure 7 It is a schematic structural diagram of the thread picking knife in the embodiment of the present invention;

[0025] Figure 8 It is a schematic structural diagram of the rotating mechanism in the embodiment of the present invention. Detailed implementation manners

[0026] The following will describe the embodiments of the present application in detail with reference to the drawings.

[0027] The following illustrates the implementation manners of the present application through specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content 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 manners. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope protected by the present application.

[0028] It should be noted that the following describes various aspects of embodiments within the scope of the present invention. It will 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 illustrative only. Based on this application, those skilled in the art should 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 can be implemented and this method can be practiced using other structures and / or functionality in addition to one or more of the aspects set forth herein.

[0029] It should also be noted that the diagrams provided in the following embodiments only illustrate the basic concept of this application schematically. The diagrams only show the components related to this application, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in its actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0030] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the aspects can be practiced without these specific details.

[0031] As Figure 1 shown, an embodiment of this application provides a yarn inserting robot, which includes a magazine 20, a cheese feeding and lifting device 30, a thread picking device 40, and a grasping and placing device 50.

[0032] The magazine 20 is used to receive cheeses from a cheese transport vehicle and provide cheeses with the entangled thread ends removed to the cheese lifting and feeding device 2. The upper part of the vibrating magazine 20 is provided with a feeding port, and the funnel-shaped bottom of the magazine is provided with a discharging port. A cheese refers to a tubular yarn wound and formed on a bobbin, which is a common shape before the winding process in the spinning process. According to the winding direction of the cheese, the two ends of the cheese are divided into a large-end and a small-end.

[0033] The cheese feeding and lifting device 30 is installed on the discharging side of the magazine 20. The cheese feeding and lifting device 30 includes a feeding side and a discharging side, and the feeding side faces the discharging side of the magazine 20. The bottom of the cheese feeding and lifting device 30 is butt-jointed and fixed to the discharging side of the magazine 20. The cheese feeding and lifting device 30 is used to vertically lift the cheese to a predetermined height.

[0034] The thread picking device 40 is used to separate the thread end from the yarn body of the passing cheese so as to provide the thread end of the cheese to the subsequent grasping and placing device 50. At this time, the cheese is vertically fixed on the moving seat of the pressing and rotating structure 32, and the cheese is arranged with the large-end facing downwards and the small-end facing upwards.

[0035] As shown Figures 2 to 4 in FIG. Figures 2 to 4 , the thread picking device 40 includes a second mounting base 1, a thread picking knife structure 2, a second air jet structure 3, and a pressing and rotating structure 32.

[0036] The bracket 31 is connected to the fuselage, and the bracket is arranged near the track for conveying tube yarn at the thread picking station of the yarn inserting robot. The bracket includes an "L"-shaped column. The short arm of the column is fixed near the track where the thread picking knife station is located, and the long arm is parallel to the track. The second mounting base 1 and the thread picking knife structure 2 are mounted on the long arm of the column.

[0037] The thread picking knife structure 2 is used to separate the yarn end from the yarn body of the tube yarn, and wind the separated yarn end around the small end of the tube yarn under the action of inertia. As Figure 3 shown in FIG. Figure 3 , the thread picking knife structure 2 includes a first mounting base 21 and at least one thread picking knife 22.

[0038] As Figure 5 shown in FIG. Figure 5 , the first mounting base 21 and the second mounting base 1 are arranged in the same direction and can move relative to the second mounting base 1. In one embodiment, the first mounting base and the second mounting base are connected by a descending cylinder 14, and the relative movement between the first mounting base and the second mounting base is realized by controlling the descending cylinder 14.

[0039] The thread picking knife is flexibly mounted on the first mounting base 21, and the thread picking knife separates the yarn end from the yarn body of the tube yarn. In one embodiment, the thread picking knife can be mounted on the first mounting base 21 through elastic members such as torsion springs or rubber parts to achieve flexible mounting. The torsion spring or rubber part can buffer the force and avoid the thread picking knife from cutting off other yarns on the surface of the tube yarn.

[0040] The number of the thread picking knives 22 can be set according to the length of the thread picking knife station and the diameter of the tube yarn, or can be set to a fixed value. The number of the thread picking knives 22 can be 1 to 8. For example, Figure 6 the number of the thread picking knives in FIG. Figure 6 is set to 4.

[0041] As Figure 7 shown in FIG. Figure 7 , the thread picking knife 22 includes a thread picking knife body 16 and a thread picking knife blade 17. The thread picking knife blade 17 can be separately ground and then assembled with the thread picking knife body 16 to form the thread picking knife 22, or the thread picking knife blade 17 and the thread picking knife body 16 can be integrally formed to obtain the thread picking knife 22.

[0042] The thread picking knife body 16 is in flexible contact with the surface of the tube yarn under the action of an external force and is used to pick up the outer layer of yarn on the surface. The thread picking knife body includes a thick and blunt edge 161 for picking up the yarn, a mounting portion 163 mounted on the thread picking device, and a knife body section 162 connecting the thick and blunt edge and the mounting portion.

[0043] The thick and blunt edge 161 can be inserted into the outermost layer of yarn of the tube yarn under the action of an external force without cutting off any yarn.

[0044] The shape of the knife body section 162 can be trapezoidal, trumpet-shaped, etc., and this shape can be not specifically set. However, the cutting edge of the knife body section 162 can be a blunt cutting edge or a sharp cutting edge.

[0045] The installation part 163 is provided with a through hole, through which the picking knife 22 can be installed on the first mounting seat 21. In one embodiment, the installation part 163 and the first mounting seat 21 are fixedly installed by bolt connection.

[0046] The picking knife blade 17 is arranged on the knife body section 162 and is used to cut off the picked yarn from the yarn body. The picking knife blade 17 can be a long and thin and sharp blade, or a sharp blade with a shape slightly smaller than that of the knife body section 162.

[0047] The second air jet structure 3 corresponds to the position of the picking knife 22 and is used to jet air obliquely downward of the cheese to blow the cut yarn end away from the small end of the cheese.

[0048] The pressing and rotating structure 32 is used to press the cheese and make it rotate along the winding direction of the yarn of the cheese. The pressing and rotating structure 32 includes a moving seat 34, a rotating mechanism 4 and a pressing driving part 35.

[0049] The moving seat 34 is arranged at the yarn picking station, transports the cheese in the horizontal direction, and the cheese is sleeved on the moving seat. A traveling track for the moving seat is arranged at the yarn picking station.

[0050] The rotating mechanism 4 includes a rotating part and a rotating driving part. The rotating part is arranged above the moving seat. The rotating driving part is connected to the rotating part and is arranged below the moving seat 34 and is used to provide the driving force for the rotating part to make a rotating motion. For example, as Figure 8 shown, the rotating mechanism 4 can include a belt 607, a driving wheel 608, a belt tensioning wheel 609, a belt guiding wheel 610 and a cheese clamping wheel 611.

[0051] The pressing driving part 35 is installed on the second mounting seat 1, can be vertically opposite to the moving seat 34, and is used to cooperate with the rotating part to press or loosen the cheese.

[0052] The grasping and placing device 50 is used to grasp the cheese and the corresponding yarn end, and place the cheese and the yarn end at the corresponding position in the yarn storage.

[0053] The working process of the yarn picking device 40 is as follows:

[0054] The moving seat 34 transports the cheese along the conveying path to the yarn picking station and then pauses moving. When the number of cheeses reaches the set number, the air cylinder 605 presses down, drives the four pressing driving parts 35 to press the cheese together, and the second air jet structure blows air at the same time.

[0055] A cylinder is provided at the bottom of the moving seat 34, and this cylinder can push the clamping wheel 611 of the spindle base to make the cheese base contact the belt 607;

[0056] The driving wheel 608 drives the belt 607 to rotate reciprocally, and the belt 607 drives the cheese seat and the cheese to rotate.

[0057] The cylinder 14 descends to the lowest position, and at the same time the first air jet structure blows air. After confirming that the picking knife 22 opens, the cylinder 14 rises. During the rising process, the opened picking knife 22 cuts off the yarn. With the cooperation of the first air jet structure and the second air jet structure, the excess yarn ends are blown below the working station, and the found yarn ends will be wound around the small end of the cheese under the guidance of the air jet and based on the inertia of the cheese rotation.

[0058] In the above device, the main body of the picking knife is in flexible contact with the surface of the cheese under the action of an external force, and then the blunt cutting edge of the main body of the picking knife inserts into the outer layer yarn on the surface of the cheese. At this time, when the blunt cutting edge picks out the yarn, it will not cut off other yarns on the surface of the cheese. Then, the picking knife blade installed on the knife body segment cuts off the yarn picked out by the blunt cutting edge from the yarn body. The whole process will not damage other yarns on the surface of the cheese and has a high fault tolerance.

[0059] As Figure 7 shown, in one embodiment, the blunt cutting edge 161 has a first cutting edge line 1611, the knife body segment 162 has a second cutting edge line 1621, and the angle between the first cutting edge line 1611 and the second cutting edge line 1621 is an obtuse angle.

[0060] In one embodiment, the knife body segment 162 has a second cutting edge line 1621, and the picking knife blade 17 installed on the knife body segment has a third cutting edge line 171, and the second cutting edge line and the third cutting edge line are parallel.

[0061] Figure 4 In Figure 1 it can be seen that the picking knife structure 2 is wrapped and blocked by the guide sleeve.

[0062] As Figure 5 shown, the first air jet structure 18 is arranged on the inner wall of the guide sleeve and is used to provide upward power for the yarn cut by the picking knife structure 2 so that the yarn can be wound around the small end of the cheese under the action of inertia.

[0063] In one embodiment, as Figure 5 and 6 shown, the picking knife structure 2 further includes a picking knife opening cylinder 15 and a swing arm 13.

[0064] The swing arm 13 is used to adjust the angle between all the picking knives and the surface of the cheese. As Figure 5 andFigure 6 As shown, the direction of the swing arm 13 can be set as required.

[0065] The knife-picking opening cylinder 15 is used to provide power to the swing arm 13.

[0066] With the above settings, the knife-picking tool can be stored inside the guide sleeve, further reducing the space required for the guide sleeve. When the knife-picking tool is needed, the knife-picking opening cylinder 15 provides power to the swing arm 13, causing all the knife-picking tools 22 to open.

[0067] As Figure 5 shown, in one embodiment, the knife-picking structure further includes a first air jet structure 18, which corresponds to the position of the knife-picking tool and is used to jet air obliquely above the cheese.

[0068] In one embodiment, the knife-picking structure 2 further includes a guide member 33. The number of the guide members 33 can be one or more.

[0069] One end of the guide member 33 is slidably connected to one of the first mounting seat and the second mounting seat, and the other end is fixedly connected to the other of the first mounting seat and the second mounting seat. The guide member is used to guide the relative movement of the first mounting seat with respect to the second mounting seat to approach or move away from the cheese.

[0070] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application.

Claims

1. A pick knife, used on the pick mouth of a yarn insertion robot, for separating the yarn end from the yarn body of a bobbin, characterized in that: include: The lifting knife body is in flexible contact with the surface of the tube yarn under the action of external force, and is used to lift the outer layer of yarn on the surface. The lifting knife body includes a rough and blunt blade for lifting the yarn, a mounting portion mounted on the thread lifting device, and a blade body section connecting the rough and blunt blade and the mounting portion; The lifting blade is arranged on the blade section and is used for cutting the lifted yarn from the yarn body.

2. The picking knife according to claim 1, characterized in that: The rough blunt blade has a first blade line, the blade section has a second blade line, and the angle between the first blade line and the second blade line is an obtuse angle.

3. The picking knife according to claim 1, characterized in that: The blade section has a second blade line, and the pick blade installed on the blade section has a third blade line, and the second blade line is parallel to the third blade line.

4. The picking knife according to claim 1, characterized in that: The mounting portion and the first mounting seat are connected and fixedly mounted by bolts.

5. A knife-lifting structure, characterized in that: include: a first mounting seat; At least one pick knife is flexibly mounted on the first mounting seat, and the pick knife separates the yarn end from the yarn body of the cop yarn. Wherein, the picking knife is the picking knife according to any one of claims 1 to 4.

6. The knife-lifting structure according to claim 5, characterized in that: It also includes a knife opening cylinder and a swing arm. The swing arm is used to adjust the angles between all the pick knives and the surface of the bobbin; The knife-lifting opening cylinder is used to provide power to the swing arm.

7. The knife-lifting structure according to claim 5, characterized in that: It also includes a first jet structure, which corresponds to the position of the pick knife and is used to jet air obliquely upward of the bobbin.

8. A thread taking-up device, characterized in that: include: The pick-knife structure according to any one of claims 5 to 7; A second mounting seat is arranged in the same direction as the first mounting seat, and the first mounting seat can move relative to the second mounting seat; A second jet structure, corresponding to the position of the lifting knife, is used to jet air obliquely downward of the bobbin; The compacting and rotating structure is arranged on the second mounting seat and is used for compacting the cop and making it rotate along the yarn winding direction of the cop.

9. The thread taking-up device according to claim 8, characterized in that: The thread taking-up device further comprises a guide member, One end of the guide member is slidably connected to one of the first mounting seat and the second mounting seat, and the other end is fixedly connected to the other of the first mounting seat and the second mounting seat. The guide member is used to guide the first mounting seat to move relative to the second mounting seat to approach or move away from the bobbin.

10. A yarn inserting robot, characterized in that: It comprises a thread taking-up device as described in any one of claims 8 to 9.

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