Spindle pose adjusting device and method

Abstract

The invention relates to the technical field of cotton spinning, in particular to a spindle pose adjusting device and method. Comprising a vibration disc, a sliding way, a conveying belt, a supporting frame, an overturning clamping jaw, an in-place sensor, a mechanical arm and a control system. The width of the guide channel is larger than the diameter of the spindle and smaller than the height of the spindle; an outlet of the guide channel is connected with a sliding way, the sliding way extends downwards from the connection position at a preset inclination angle, a spindle slides to the surface of the conveying belt along the sliding way under the gravity effect, the conveying belt is provided with an infrared sensor, an overturning clamping jaw, a mechanical arm and an in-place sensor, and the control system is electrically connected with the infrared sensor and the pneumatic overturning clamping jaw. The driving module is used for generating a clamping jaw adjusting instruction and driving the clamping jaw to move according to sensor feedback; the driving device is electrically connected with the in-place sensor and the mechanical arm and drives the mechanical arm to grab the spindles according to feedback of the in-place sensor. The spindle processing precision can be effectively improved, the error rate is reduced, and the automation level of a production line is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cotton spinning, and particularly relates to a spindle position and attitude adjustment device and an adjustment method. Background Art

[0002] In the textile production process, as the core intermediate product connecting spinning and subsequent processing, the accuracy of the position and attitude (i.e., position and orientation) of the spindle directly determines the efficiency of automated production and the quality of the final product. In traditional processes, the sorting, positioning, and attitude adjustment of spindles mainly rely on manual operations or semi-automated equipment. However, due to the diverse shapes of spindles, their smooth surfaces, and the tendency to move irregularly during transportation, conventional mechanical guiding devices are difficult to ensure the consistency of their upright postures. Manual intervention not only has low efficiency and high labor intensity but also easily causes spindles to tilt or shift due to operation errors, thereby triggering a chain of errors in subsequent weighing, sorting, packaging, and other processes. In the prior art, although there are material sorting solutions using vibrating bowls in combination with mechanical grippers, their channel designs and actuators are often not optimized for the physical characteristics of spindles. For example, the narrow channels of traditional vibrating bowls are prone to causing spindle jams. In addition, traditional detection means (such as contact sensors or basic vision systems) are difficult to achieve real-time high-precision detection due to susceptibility to environmental interference or response delays, resulting in lag or failure of actuator adjustments. These problems together have caused industry pain points such as low efficiency, high error rates, and poor adaptability in the spindle processing process. Therefore, there is an urgent need for a spindle position and attitude adjustment device and an adjustment method that can monitor and adjust the position and attitude of spindles. Summary of the Invention

[0003] In view of the technical problems existing in the prior art, the present invention provides a spindle position and attitude adjustment device and an adjustment method to achieve the monitoring and adjustment of the spindle position and attitude, thereby ensuring its stability and consistency during transportation. This system can effectively improve the accuracy of spindle processing, reduce error rates, and enhance the automation level of the production line.

[0004] The technical solution for the present invention to solve the above technical problems is as follows: A spindle position and attitude adjustment device, comprising: A vibrating bowl for receiving and sorting spindles, with a guiding channel provided inside, the width of the guiding channel being greater than the diameter of the spindle and less than the height of the spindle; A hopper located directly above the vibrating bowl, both the vibrating bowl and the hopper being installed on a workbench; A chute, whose feeding end is connected to the outlet of the guiding channel, and the chute extends downward at a preset inclination angle from the connection point, enabling the spindle to slide along the chute to the surface of the conveyor belt under the action of gravity; A conveyor belt, whose feeding end is connected to the end of the chute, for transporting spindles; The support frame is arranged on the conveyor belt. A sensor is arranged on the support frame and used to detect the posture of the spindle. The flipping gripper is arranged on the conveyor belt and is located behind the support frame along the conveying path. The moving flipping gripper is used to adjust the position and posture of the spindle. The in-place sensor is arranged at the end of the conveyor belt and is used to detect that the spindle reaches the end of the conveyor belt. The robotic arm is arranged at the end of the conveyor belt and is used to grab the spindle and send it to the material box. The control system is electrically connected to the infrared sensor and the pneumatic flipping gripper, and is used to generate a gripper adjustment instruction and drive its movement according to the spindle position and posture data fed back by the infrared sensor; it is electrically connected to the in-place sensor and the robotic arm, and is used to drive the robotic arm to grab the spindle according to the spindle position fed back by the in-place sensor.

[0005] Based on the above technical solutions, the present invention can also be improved as follows.

[0006] Further, there are two flipping grippers, symmetrically arranged on both sides of the slideway. The flipping gripper includes a gripper, a cylinder, a thrust ball bearing, a bearing seat and a stepping motor; the thrust ball bearing is installed in the bearing seat, a cylinder is installed on the thrust ball bearing, a gripper is installed on the cylinder, and the stepping motor drives the cylinder to drive the gripper to clamp the spindle from both sides, and drives the thrust ball bearing to drive the gripper to rotate to realize the flipping and angle correction of the spindle. Wherein, an outer shell is sleeved on the cylinder; a cover plate is sleeved on the stepping motor, there is a support block below, and a bottom plate is arranged on the side for convenient connection.

[0007] Further, the robotic arm includes a base, a rotating seat, a lower arm, an upper arm and a movable claw connected in sequence. The rotating seat realizes the rotation of the movable claw, and the relative movement of the lower arm and the upper arm drives the movable claw to move up and down. The movable claw is used to grab the spindle.

[0008] Further, a movable plate is hinged on the support frame. An electromagnet is installed on the support frame and is located between the support frame and the movable plate. The on-off of the electromagnet is realized through the control system to realize the closed and movable states of the movable plate.

[0009] Further, the end of the guiding channel bends outwards, and the bending part is in the opposite direction of the guiding direction of the guiding channel, passes through the side wall of the guiding channel and points to the central area of the vibrating disk, and an opening is arranged at this side wall; the slideway includes a first slideway area and a second slideway area connected to each other. The first slideway area is connected to the outlet of the guiding channel and the width gradually becomes larger. The width of the second slideway area is fixed; two first elastic members are arranged on both sides of the end of the first slideway area, and a restoring force pointing to the opening is generated through elastic deformation.

[0010] Further, the first elastic member includes two iron sheets connected by a spring, and the axial direction of the spring is parallel to the slideway, and the axial direction of the spring faces the opening, and one of the iron sheets is fixed on one side of the outlet of the guiding channel.

[0011] Further, a one-way movable door is provided at the opening for opening and closing the opening, and the opening direction of the opening only faces the inside of the vibrating disk.

[0012] Further, one side of the opening is hinged with a one-way movable door, and a baffle is provided on the other side, and the baffle is located on the side of the side wall of the guiding channel away from the vibrating disk.

[0013] Further, a second elastic member is provided on each of the two sides of the second slideway area, and the second elastic member includes a spring and a guiding plate, and the guiding plate is connected to the side wall of the slideway by a spring, and the axial direction of the spring is perpendicular to the slideway.

[0014] The present invention also provides an adjustment method for a yarn spindle posture adjustment device, including the following steps: S1. Import the yarn spindles completed in production into the vibrating disk, and after sorting the yarn spindles through the vibration of the vibrating disk, pass them through the guiding channel to the slideway and enter the first slideway area of the slideway. The non-erect yarn spindles will collide with the first elastic member and rebound into the vibrating disk. S2. The slideway extends downward at a preset inclination angle, so that the yarn spindles slide along the slideway under the action of gravity to the conveyor belt. When passing through the second slideway area, the second elastic members on both sides correct the lateral offset of the yarn spindles during sliding in real time through the guiding plates. S3. An infrared sensor is arranged at the movable plate of the conveyor belt to monitor the posture information of the yarn spindles in real time, and the posture information includes position, angle and inclination. S4. Transmit the posture data detected by the infrared sensor to the control system, and the control system calculates the deviation between the actual posture and the target posture and generates an adjustment instruction. S5. Drive the pneumatic flipping gripper to adjust the posture of the yarn spindle according to the adjustment instruction so that it is adjusted to the target posture of standing upright. At the same time, the control system energizes the electromagnet so that the movable plate is in a closed state. After the adjustment is completed, the control system energizes the electromagnet so that the movable plate is in a movable state. S6. An in-place sensor is arranged at the end of the conveyor belt. The in-place sensor detects that the yarn spindle reaches the end of the conveyor belt and transmits the information to the control system. The control system stacks the adjusted yarn spindles in a unified posture into the material box through the robotic arm.

[0015] The beneficial effects of the present invention are: 1. Through the collaborative optimization design of the vibrating bowl and the chute, combined with the dynamic screening mechanism of multiple elastic components, the present invention significantly improves the efficiency and stability of spindle posture sorting: the end of the guiding channel of the vibrating bowl bends outward and is provided with a one-way movable door, which cooperates with the first elastic components on both sides of the first chute area. When a non-vertical spindle passes through, its center of gravity shifts, and the lateral width widens, triggering spring compression. The resilience pushes the spindle back into the vibrating bowl through the opening for re-sorting, while the vertical spindle passes smoothly; the second elastic components on both sides of the second chute area, through the spring guiding plate structure perpendicular to the chute, during the sliding of the spindle, the spring is compressed to generate an inward resilience to dynamically correct the lateral deviation, ensuring that the vertical spindle enters the conveyor belt centered. The design of the elastic component spacing in the second chute area not only avoids jamming but also strengthens the dynamic deviation correction ability. Combined with the gravity-assisted conveying of the chute inclination angle, a "screening - correction" closed-loop is formed; the elastic component springs and iron sheets are detachable and replaceable to adapt to the weights and sizes of different specifications of spindles, balancing the resilience response and durability. This design reduces the posture deviation from the source through a "physical screening - dynamic correction" double-level barrier, reduces the redundant actions of the pneumatic gripper, improves the overall adjustment efficiency, and meets the requirements of automated production.

[0016] 2. Through the collaborative sorting of the vibrating bowl and the chute, the non-contact detection of the infrared sensor, the precise adjustment of the pneumatic flipping gripper, and the dynamic feedback of the closed-loop control system, the present invention realizes the full-process automated intelligent correction of the spindle posture. It utilizes the optimized design of the vibrating bowl channel size and elastic components, combines the infrared beam reflection principle to monitor the spindle posture in real time, and dynamically corrects the position, inclination, and angle deviation of the spindle through the rapid response and multi-angle flipping of the pneumatic gripper; at the same time, the linkage control of the robotic arm and the in-place sensor ensures the consistency of the palletizing posture, ultimately significantly improving the spindle adjustment accuracy and production line efficiency, reducing manual intervention and the error rate of subsequent processes, and providing a reliable solution for the automation and stability of textile production. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the spindle posture adjustment device according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of the flipping gripper according to an embodiment of the present invention; Figure 3 is a schematic diagram of the flipping of the flipping gripper according to an embodiment of the present invention; Figure 4 is a schematic diagram of the flipping of the flipping gripper according to an embodiment of the present invention; Figure 5 is a schematic structural diagram of the support frame according to an embodiment of the present invention; Figure 6 is a schematic structural diagram of the robotic arm according to an embodiment of the present invention; Figure 7 is a schematic structural diagram of the vibrating bowl according to an embodiment of the present invention; Figure 8 Structural schematic diagram of the slideway according to an embodiment of the present invention; Figure 9 Structural schematic diagram of the conveyor belt according to an embodiment of the present invention; Figure 10 Structural schematic diagram of the material box according to an embodiment of the present invention.

[0018] In the drawings, the list of components represented by each reference numeral is as follows: 1. Hopper, 2. Vibration disk, 3. Workbench, 4. Slideway, 5. Spindle, 6. Support frame, 7. Flipping gripper, 8. Conveyor belt, 9. Robot arm, 10. Material box, 11. Gripper, 12. Cylinder, 13. Housing, 14. Thrust ball bearing, 15. Bearing seat, 16. Stepper motor, 17. Cover plate, 18. Support block, 19. Base plate, 20. Baffle, 21. Electromagnet, 22. Infrared sensor, 23. Movable plate, 24. Base, 25. Rotating seat, 26. Lower arm, 27. Upper arm, 28. Movable claw, 29. In-place sensor, 30. Conveyor belt end, 31. First elastic member, 31. Second elastic member, 33. Guide plate, 34. First slideway area, 35. Second slideway area, 36. Guide channel, 37. One-way movable door, 38. Bearing. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0020] In the description of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0021] In the description of the present application, the term "for example" is used to mean "serving as an example, illustration, or explanation". Any embodiment described in the present application as "for example" is not necessarily to be construed as more preferred or advantageous than other embodiments. The following description is given to enable any person skilled in the art to implement and use the present invention. In the following description, details are set forth for purposes of explanation. It should be understood that those of ordinary skill in the art can recognize that the present invention can be implemented without the use of these specific details. In other instances, well-known structures and processes are not elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in the present application.

[0022] Embodiment A spindle position and attitude adjustment device, as Figure 1 shown, includes: a vibrating bowl 2, a hopper 1, a chute 4, a conveyor belt 8, a support frame 6, a flipping gripper 7, a position sensor 29, and a robotic arm 9.

[0023] The vibrating bowl 2 is used to receive and sort spindles 5. A guiding channel 36 is provided inside it. The width of the guiding channel 36 is greater than the diameter of the spindle 5 and less than the height of the spindle 5, enabling the spindle 5 to enter the chute 4 upright. The hopper 1 is located directly above the vibrating bowl 2. Both the vibrating bowl 2 and the hopper 1 are installed on a workbench 3. The chute 4 has its feeding end connected to the outlet of the guiding channel 36. The chute 4 extends downward at a preset inclination angle from the connection point, enabling the spindle 5 to slide along the chute 4 under the action of gravity to the surface of the conveyor belt 8, reducing disorderly accumulation. The conveyor belt 8 has its feeding end connected to the end of the chute 4 and is used to transport the spindle 5. As Figure 5 shown, the support frame 6 is provided on the conveyor belt 8. A sensor is provided on the support frame 6 for detecting the attitude of the spindle 5. A movable plate 23 is hinged on the support frame 6. An electromagnet 21 is installed on the support frame 6 and is located between the support frame 6 and the movable plate 23. By controlling the energization and de-energization of the electromagnet 21 through a control system, the movable plate 23 can be in a closed and movable state. The state switching of the electromagnet 21 and the movable plate 23 optimizes the coordination efficiency of detection and transportation. The movable plate 23 cooperates with the electromagnet 21 to control the opening and closing of the detection area: Closed state: Ensure that when the flipping gripper 7 flips the spindle 5, no new spindle 5 will enter and affect it; Movable state: Release the spindle 5 to enter the next process. As Figures 2 - 4As shown in the figure, the flipping gripper 7 is arranged on the conveyor belt 8, behind the support frame 6 along the conveying path. The movable flipping gripper 7 is used to adjust the posture of the spindle 5. There are two flipping grippers 7, symmetrically arranged on both sides of the slideway 4. The flipping gripper 7 includes a gripper 11, a cylinder 12, a thrust ball bearing 14, a bearing seat 15 and a stepping motor 16. The thrust ball bearing 14 is installed in the bearing seat 15. The cylinder 12 is installed on the thrust ball bearing 14. The gripper 11 is installed on the cylinder 12. The stepping motor 16 drives the cylinder 12 to drive the gripper 11 to clamp the spindle 5 from both sides, and drives the thrust ball bearing 14 to drive the gripper 11 to rotate to realize the flipping and angle correction of the spindle 5. Among them, the cylinder 12 is sheathed with a housing 13. The stepping motor 16 is sheathed with a cover plate 17, there is a support block 18 below, and a bottom plate 19 is provided on the side for convenient connection. As Figure 9 shown, the in-position sensor 29 is arranged at the end 30 of the conveyor belt, and is used to detect that the spindle 5 reaches the end 30 of the conveyor belt. As Figure 6 and Figure 10 shown, the robotic arm 9 is arranged at the end 30 of the conveyor belt. The robotic arm 9 includes a base 24, a rotating seat 25, a lower arm 26, an upper arm 27 and a movable claw 28 connected in sequence. The rotating seat 25 realizes the rotation of the movable claw 28. The relative movement of the lower arm 26 and the upper arm 27 drives the movable claw to move up and down. The movable claw is used to grab the spindle 5 and send it to the material box 10. The control system is electrically connected to the infrared sensor 22 and the pneumatic flipping gripper 7, and is used to generate a gripper 11 adjustment instruction and drive its movement according to the spindle 5 posture data fed back by the infrared sensor 22. It is electrically connected to the in-position sensor 29 and the robotic arm 9, and is used to drive the robotic arm 9 to grab the spindle 5 according to the spindle 5 position fed back by the in-position sensor 29.

[0024] In a preferred solution, as Figure 7 shown, the end of the guiding channel 36 bends outward, and the bending part is in the opposite direction of the guiding direction of the guiding channel 36, passes through the side wall of the guiding channel 36 and points to the central area of the vibrating disk 2, and there is an opening at this side wall. One side of the opening is hinged with a one-way movable door 37 through a bearing 38 for opening and closing the opening, and a baffle 20 is provided on the other side. The baffle 20 is located on the side of the side wall of the guiding channel 36 away from the vibrating disk 2, ensuring that the direction in which the one-way movable door 37 opens the opening only faces the inside of the vibrating disk 2, and ensuring that the spindle 5 in the central area of the vibrating disk 2 will not leak out through this opening.

[0025] As Figure 8As shown, in a preferred embodiment, the slideway 4 includes a first slideway area 34 and a second slideway area 35 which are connected to each other. The end of the first slideway area 34 is connected to the outlet of the guiding channel 36 and its width gradually increases. The width of the second slideway area 35 is fixed. On both sides of the end of the first slideway area 34, there is a first elastic member 31 each, which generates a restoring force pointing to the opening through elastic deformation. Specifically, the first elastic member 31 includes two iron sheets connected by a spring, and the axis direction of the spring is parallel to the slideway 4, and the axis direction of the spring faces the opening, and one of the iron sheets is fixed on one side of the outlet of the guiding channel 36. Among them, the narrowest width of the first slideway area 34 is 12 - 18 mm greater than the diameter of the yarn spindle 5 and 2 - 8 mm less than the height. The distance between the two first elastic members 31 is 0 - 5 mm greater than the diameter of the yarn spindle 5 and 20 - 25 mm less than the height of the yarn spindle 5.

[0026] When the non-erect yarn spindle 5 passes through the first slideway area 34, the offset of its center of gravity causes it to collide with the first elastic member 31, and the restoring force generated by the compression of the spring pushes the yarn spindle 5 back into the vibrating disk 2 for re-arrangement. While the erect yarn spindle 5 smoothly passes through the gap between the elastic members (the distance between the two elastic members is greater than the diameter of the yarn spindle 5), thus completing the preliminary screening.

[0027] In a preferred embodiment, on both sides of the second slideway area 35, there is a second elastic member 32 each. The second elastic member 32 includes a spring and a guiding plate 33. The guiding plate 33 is connected to the side wall of the slideway 4 through a spring, and the axis direction of the spring is perpendicular to the slideway 4. Among them, the distance between the two second elastic members 32 is 10 - 15 mm greater than the diameter of the yarn spindle 5 and 5 - 15 mm less than the height of the yarn spindle 5. The second elastic members 32 on both sides of the slideway 4 further optimize the conveying process: the guiding plate 33 is connected to the side wall of the slideway 4 through a spring. When the yarn spindle 5 has a lateral offset during sliding, the springs on both sides are compressed to generate an inward restoring force, dynamically correcting the attitude of the yarn spindle 5 to ensure that it slides into the conveyor belt 8 in an erect state.

[0028] According to the adjustment method of the yarn spindle posture adjustment device described above, it includes the following steps: S1. Import the completed yarn spindles 5 into the vibrating disk 2. After being arranged by the vibration of the vibrating disk 2, the yarn spindles 5 pass through the guiding channel 36 to the slideway 4 and enter the first slideway area 34 of the slideway 4. The non-erect yarn spindles 5 will collide with the first elastic member 31 and rebound into the vibrating disk 2. S2. The slideway 4 extends downward at a preset inclination angle, so that the yarn spindles 5 slide along the slideway 4 under the action of gravity to the conveyor belt 8. When passing through the second slideway area 35, the second elastic members 32 on both sides correct the lateral offset of the yarn spindles 5 during sliding in real time through the guiding plate 33. S3. An infrared sensor 22 is arranged at the movable plate 26 of the conveyor belt 8 to monitor the posture information of the yarn spindles 5 in real time. The posture information includes position, angle and inclination. S4. Transmit the pose data detected by the infrared sensor 22 to the control system. The control system calculates the deviation between the actual pose and the target pose and generates an adjustment instruction. S5. Drive the pneumatic flipping gripper 7 to adjust the pose of the spindle 5 according to the adjustment instruction to make it adjust to the target posture of standing upright. At the same time, the control system energizes the electromagnet 21 to make the movable plate 23 in a closed state. After the adjustment is completed, the control system energizes the electromagnet 21 to make the movable plate 23 in a movable state. S6. A position sensor 29 is arranged at the end of the conveyor belt 8. The position sensor 29 detects that the spindle 5 reaches the end 30 of the conveyor belt and transmits the information to the control system. The control system stacks the adjusted spindles 5 in a unified pose onto the material box 10 through the robotic arm 9.

[0029] In summary, the present invention integrates the sorting of the vibrating disk 2, infrared detection, pneumatic execution and closed-loop control, and solves the problems of low precision and poor efficiency in the traditional processing of spindles 5. Its technical effects are reflected in high adaptability, dynamic adjustment ability and full-process automation, significantly improving the stability and consistency of the textile production line. In summary, the present invention integrates the sorting of the vibrating disk, infrared detection, pneumatic execution and closed-loop control, and solves the problems of low precision and poor efficiency in the traditional processing of spindles. Its technical effects are reflected in high adaptability, dynamic adjustment ability and full-process automation, significantly improving the stability and consistency of the textile production line.

[0030] Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above methods, systems and devices are merely exemplary embodiments or examples. The scope of the present invention is not limited by these embodiments or examples, but is only defined by the authorized claims and their equivalent scope. Various elements in the embodiments or examples can be omitted or replaced by their equivalent elements. In addition, the steps can be executed in a sequence different from that described in the present disclosure. Further, various elements in the embodiments or examples can be combined in various ways. Importantly, with the evolution of technology, many elements described herein can be replaced by equivalent elements that appear after the present disclosure.

Claims

1. A yarn spindle pose adjustment device, characterized in that Comprising: A vibrating bowl, used for receiving and sorting spindles, with a guiding channel provided inside. The width of the guiding channel is greater than the diameter of the spindle and less than the height of the spindle. A slideway, whose feeding end is connected to the outlet of the guiding channel. The slideway extends downward at a preset inclination angle from the connection point, enabling the spindle to slide along the slideway to the surface of the conveyor belt under the action of gravity. A conveyor belt, whose feeding end is connected to the end of the slideway, for transporting spindles. A support frame, arranged on the conveyor belt. A sensor is provided on the support frame for detecting the posture of the spindle. A flipping gripper, arranged on the conveyor belt, located behind the support frame along the conveying path. The flipping gripper is used for adjusting the position and posture of the spindle. A position sensor, arranged at the end of the conveyor belt for detecting the arrival of the spindle at the end of the conveyor belt. A robotic arm, arranged at the end of the conveyor belt for grasping the spindle and sending it to a material box. A control system, electrically connected to the infrared sensor and the pneumatic flipping gripper, for generating a gripper adjustment instruction and driving its movement according to the spindle position and posture data fed back by the infrared sensor. It is electrically connected to the position sensor and the robotic arm, and is used for driving the robotic arm to grasp the spindle according to the spindle position fed back by the position sensor.

2. The spindle attitude adjustment device according to claim 1, wherein There are two flipping grippers, symmetrically arranged on both sides of the slideway. The flipping gripper includes a gripper, a cylinder, a thrust ball bearing, a bearing seat and a stepping motor. The thrust ball bearing is installed in the bearing seat, a cylinder is installed on the thrust ball bearing, a gripper is installed on the cylinder, and the stepping motor drives the cylinder to clamp the spindle from both sides and drives the thrust ball bearing to drive the gripper to rotate to realize the flipping and angle correction of the spindle.

3. The spindle attitude adjustment device according to claim 1, characterized in that, The robotic arm includes a base, a rotating seat, a lower arm, an upper arm and a movable claw connected in sequence. The rotating seat realizes the rotation of the movable claw, and the relative movement of the lower arm and the upper arm drives the movable claw to adjust up and down. The movable claw is used for grasping the spindle.

4. The yarn spindle pose adjustment device according to claim 1, characterized in that A movable plate is hinged on the support frame. An electromagnet is installed on the support frame, which is located between the support frame and the movable plate. The on-off of the electromagnet is realized through the control system to realize the closed and movable states of the movable plate.

5. The spindle position and posture adjustment device according to claim 1, characterized in that the end of the guiding channel bends outward, and the bending part is in the opposite direction of the guiding direction of the guiding channel, passing through the side wall of the guiding channel and pointing to the central area of the vibrating bowl, and an opening is provided at this side wall. The slideway includes a first slideway area and a second slideway area connected to each other. The first slideway area is connected to the outlet of the guiding channel and its width gradually increases, and the width of the second slideway area is fixed. A first elastic member is provided on both sides of the end of the first slideway area, and its resilience force pointing to the opening is generated through elastic deformation.

6. The yarn spindle pose adjustment device according to claim 5, characterized in that, The first elastic member includes two iron sheets connected by a spring, and the axis direction of the spring is parallel to the slideway, and its axis direction faces the opening. One of the iron sheets is fixed on one side of the outlet of the guiding channel.

7. The spindle attitude adjustment device according to claim 5, characterized in that A one-way movable door is provided at the opening for opening and closing the opening, and its opening direction is only towards the inside of the vibrating bowl.

8. The spindle attitude adjustment device according to claim 7, characterized in that, One side of the opening is hinged with a one-way movable door, and a baffle is provided on the other side. The baffle is located on the side of the side wall of the guiding channel away from the vibrating disk.

9. The spindle attitude adjustment device according to claim 1, wherein, A second elastic member is provided on each of the two sides of the second slideway area. The second elastic member includes a spring and a guiding plate. The guiding plate is connected to the side wall of the slideway through the spring, and the axial direction of the spring is perpendicular to the slideway.

10. The adjustment method of the spindle position and attitude adjustment device according to any one of claims 1-9, characterized in that, It includes the following steps: S1. Import the completed spindles into the vibrating disk. After the spindles are sorted by the vibration of the vibrating disk, they pass through the guiding channel to the slideway and enter the first slideway area of the slideway. The non-erect spindles will collide with the first elastic member and rebound into the vibrating disk. S2. The slideway extends downward at a preset inclination angle, so that the spindles slide along the slideway under the action of gravity to the conveyor belt. When passing through the second slideway area, the second elastic members on both sides correct the lateral offset of the spindles during sliding in real time through the guiding plates. S3. An infrared sensor is provided at the movable plate of the conveyor belt to monitor the pose information of the spindles in real time. The pose information includes position, angle and inclination. S4. Transmit the pose data detected by the infrared sensor to the control system. The control system calculates the deviation between the actual pose and the target pose and generates an adjustment instruction. S5. Drive the pneumatic flipping gripper to adjust the pose of the spindles according to the adjustment instruction so that it is adjusted to the target pose of standing upright. At the same time, the control system energizes the electromagnet so that the movable plate is in a closed state. After the adjustment is completed, the control system energizes the electromagnet so that the movable plate is in a movable state. S6. An in-place sensor is provided at the end of the conveyor belt. The in-place sensor detects that the spindles reach the end of the conveyor belt and transmits the information to the control system. The control system stacks the adjusted spindles in a unified pose into the material box through the robotic arm.

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