A feeding robotic arm for manufacturing textile production equipment

Abstract

This invention relates to the field of robotic arm technology and discloses a feeding robotic arm for manufacturing textile production equipment, including an articulated robot. The end effector of the articulated robot is movably connected to the end of the arm. The end effector includes a connecting seat, a mechanical gripper for clamping, and a detection component for detection. The detection component includes a shaft fixedly connected to a motor, a mounting plate fixedly connected to the outer periphery of the shaft by screws, and a detection unit movably disposed inside the mounting plate. By providing the detection unit, through the synergistic action of a ball, a push rod, a spring, and a strain gauge, the rotational friction of the inner wall of the yarn bobbin can be detected in real time during the rotation of the shaft. When the ball is compressed by the inner wall, the spring buffers the impact force and pushes the push rod to squeeze the strain gauge. The strain gauge feeds the data back to the control center, and after comparison with the calibration range, unqualified yarn bobbins are screened out. No additional detection process is required, which helps to ensure the quality of subsequent production and reduces production processes and costs.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically to a feeding robotic arm for manufacturing textile production equipment. Background Technology

[0002] Robotic arms play a crucial role in the entire textile production process. Their core value lies in automating, precisely, and gently handling and positioning raw materials, semi-finished products, and finished products, replacing manual operations and improving efficiency, accuracy, consistency, and safety. In the application of centralized yarn bobbin loading, robotic arms typically locate yarn bobbins through visual recognition or preset positions, then use specialized grippers to remove them and deliver them one by one to the yarn rack. In the centralized yarn bobbin loading stage, in addition to quickly and accurately completing the picking and placing actions, the robotic arm can automatically adjust the gripper force and grasping method according to different yarn bobbin specifications, ensuring that the yarn bobbins are not damaged during handling.

[0003] Current technology has shortcomings: The rotational friction of the yarn bobbin's inner wall directly affects the stability of subsequent yarn feeding. Abnormal friction (too high can lead to yarn breakage, too low can lead to yarn slack) will cause textile quality defects. However, existing feeding equipment only has a handling function and cannot simultaneously detect the friction of the yarn bobbin's inner wall during the feeding process, increasing production costs and time. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a feeding robotic arm for manufacturing textile production equipment to solve the problems existing in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a feeding robotic arm for manufacturing textile production equipment, comprising an articulated robot, wherein an end effector is movably connected to the end of the articulated robot, and a reversing bracket is fixedly connected to one end of the end effector; the articulated robot is used to provide precise positioning and movement capabilities in three-dimensional space; a vacuum suction cup system is provided on the back end of the reversing bracket relative to the end effector for adsorbing the top flange of the yarn bobbin assembly; and the end effector is used to clamp the yarn bobbin and to detect the yarn bobbin.

[0006] The end effector includes a connecting seat, a mechanical gripper for clamping, and a detection component for detection. The mechanical gripper is fixedly connected to the outer periphery of the connecting seat in a ring. The bottom end of the detection component is connected to a motor, which is installed inside the connecting seat and has its axis coaxial with the connecting seat. The detection component includes a shaft fixedly connected to the motor, a mounting plate fixedly connected to the outer periphery of the shaft by screws, a detection unit movably disposed inside the mounting plate, and an adjustment component disposed inside the shaft for pushing the detection unit. The detection unit is used to detect the rotational friction of the inner wall of the yarn bobbin.

[0007] Furthermore, the articulated robot includes a base, a rotary seat rotatably connected to the top of the base, a large arm link movably connected to the rotary seat via a rotary joint, a small arm link movably connected to the large arm link via a rotary joint, and an end effector fixedly connected to the end of the small arm link. The end effector is fixedly connected to the end effector via a link.

[0008] Furthermore, the mechanical gripper includes a cylinder arranged circumferentially along the outer periphery of the connecting seat, a folding rod movably connected to the top of the cylinder's telescopic rod via a hinge, a movable base movably connected to the middle of the folding rod, and a claw finger movably connected to the top of the folding rod. The top of the cylinder's telescopic rod is movably connected to the bottom of the hinge to increase the range of motion of the bottom of the folding rod relative to the cylinder. The folding rod consists of two connecting rods at a fixed angle, and their connection point is rotatably connected to the end of the movable base. The bottom of the claw finger is movably connected to a connecting rod, the other end of which is movably connected to the end of the movable base. One end of the movable base is fixedly connected to the outer surface of the connecting seat.

[0009] Furthermore, the mounting plate includes an arc-shaped plate fixedly connected to the outer cylindrical surface of the shaft by screws and a clamp fixedly connected to the outer surface of the arc-shaped plate. The arc-shaped plate and the clamp are symmetrically arranged, and their opposite sides are parallel to each other and perpendicular to the horizontal plane.

[0010] Furthermore, the detection unit includes a main block, a movable groove opened inside the main block with one end open, a strain gauge located at the end of the movable groove, a top rod slidably disposed inside the movable groove, a fixed sleeve and a spring sleeved outside the top rod, a ball disposed in the space between the top rod and the open side of the movable groove, and a cover plate fixedly connected to the outside of the main block by screws.

[0011] Furthermore, the movable groove consists of two cylindrical cavities with different inner diameters, and a stepped surface is formed at the connection between the two. The diameter of its opening is smaller than that of the ball. The fixed sleeve is used to assist the push rod in sliding stably in the movable groove. One end of the spring abuts against the stepped surface, and the other end abuts against the ball.

[0012] Furthermore, the adjustment assembly includes a stepper motor disposed on the opposite side of the detection unit, a lead screw fixedly connected to the output end of the stepper motor, a sliding seat movably connected to the outside of the lead screw, and a push rod fixedly connected to the side of the sliding seat near the detection unit. The stepper motor is fixedly connected to the outer side of the shaft.

[0013] Furthermore, one end of the push rod is fixedly connected to the side of the main body block, and the shaft has a groove inside that is adapted to the sliding of the lead screw and the sliding seat, and a groove that is adapted to the retraction of the detection unit.

[0014] The technical effects and advantages of this invention are as follows:

[0015] 1. This invention, by incorporating a detection unit, utilizes the synergistic action of a ball, a push rod, a spring, and a strain gauge to detect the rotational friction of the inner wall of the yarn bobbin in real time during the rotation of the shaft. When the ball is compressed by the inner wall, the spring buffers the impact force and pushes the push rod to squeeze the strain gauge. The strain gauge feeds the data back to the control center, and after comparison with the calibration range, unqualified yarn bobbins are screened out. No additional inspection process is required, which helps to ensure the quality of subsequent production and reduces production processes and costs.

[0016] 2. The ball of the detection unit of this invention is made of non-rigid wear-resistant material, which can avoid scratching the inner wall of the yarn bobbin during the detection process. The spring buffer design can dissipate the instantaneous pressure when the ball is impacted by external force, prevent the top rod and strain gauge from being damaged by impact, extend the service life of the equipment, and at the same time avoid damage to the yarn bobbin due to the detection operation, which is conducive to ensuring the safety of materials and equipment.

[0017] 3. By incorporating an adjustment component, the detection radius of the detection unit can be adjusted according to the different inner diameters of different yarn bobbin sleeves, which helps to improve the adaptability of the equipment to yarn bobbins of different specifications and better meet diverse production needs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the articulated robot of the present invention;

[0019] Figure 2 This is a schematic diagram of the overall structure of the end effector of the articulated robot of the present invention;

[0020] Figure 3 This is a schematic diagram of the end effector of the present invention;

[0021] Figure 4 This is a schematic diagram of the mechanical gripper of the present invention;

[0022] Figure 5 This is a schematic diagram of the detection component of the present invention;

[0023] Figure 6 This is a schematic diagram of the mounting plate of the present invention;

[0024] Figure 7 This is a schematic cross-sectional view of the detection unit of the present invention;

[0025] Figure 8 This is a cross-sectional schematic diagram of the adjustment component of the present invention.

[0026] The attached figures are labeled as follows: 1. Articulated robot; 11. Base; 12. Rotating base; 13. Upper arm link; 14. Forearm link; 15. End effector base; 2. Reversing bracket; 3. End effector; 31. Connecting seat; 32. Mechanical gripper; 321. Cylinder; 322. Folding rod; 323. Movable base; 324. Claw finger; 33. Detection component; 331. Shaft; 332. Mounting plate; 3321. 3322, Curved plate; 333, Clamp; 333, Detection unit; 3331, Main block; 3332, Movable groove; 3333, Strain gauge; 3334, Top rod; 3335, Fixed sleeve; 3336, Spring; 3337, Ball; 3338, Cover plate; 334, Adjustment assembly; 3341, Stepper motor; 3342, Lead screw; 3343, Sliding seat; 3344, Push rod; 4, Yarn spool. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The feeding robotic arm for manufacturing textile production equipment involved in the present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Reference Figure 1 This invention provides a feeding robotic arm for manufacturing textile production equipment, including an articulated robot 1. An end effector 3 is movably connected to the end of the articulated robot 1. A reversing bracket 2 is fixedly connected to one end of the end effector 3. The articulated robot 1 is used to provide precise positioning and movement capabilities in three-dimensional space. A vacuum suction cup system is provided on the back end of the reversing bracket 2 relative to the end effector 3 for adsorbing the top flange of the yarn bobbin 4. The end effector 3 is used to clamp the yarn bobbin 4 and to detect the yarn bobbin 4.

[0029] The articulated robot 1 is the main carrier for grasping, handling, and placing actions. An industrial camera is installed on the reversing bracket 2 to form a vision positioning system, which helps the articulated robot 1 to provide accurate spatial coordinates and guide it to complete the grasping and placing actions.

[0030] Reference Figures 2 to 5The end effector 3 includes a connecting seat 31, a mechanical gripper 32 for clamping, and a detection component 33 for detection. The mechanical gripper 32 is fixedly connected to the outer periphery of the connecting seat 31 in a ring. The bottom end of the detection component 33 is connected to a motor, which is installed inside the connecting seat 31 and its axis is coaxial with the connecting seat 31. The detection component 33 includes a shaft 331 fixedly connected to the motor, a mounting plate 332 fixedly connected to the outer periphery of the shaft 331 by screws, a detection unit 333 movably disposed inside the mounting plate 332, and an adjustment component 334 disposed inside the shaft 331 for pushing the detection unit 333. The detection unit 333 is used to detect the friction force of the inner wall of the yarn bobbin 4.

[0031] The connecting seat 31 is fixedly connected to one side of the reversing bracket 2. With the assistance of the vision positioning system, the end effector of the articulated robot 1 brings the end effector 3 directly above the yarn bobbin 4 to perform a grasping action. The mechanical claw 32 is responsible for grasping and fixing the yarn bobbin 4, while the shaft 331 rotates relative to the mechanical claw 32. The detection unit 333, which is fixedly connected to its outer periphery, detects the friction force of the inner sleeve of the yarn bobbin 4. The purpose of the mounting plate 332 is to stabilize the detection unit 333 and prevent it from deflecting during friction with the inner wall of the yarn bobbin 4 sleeve.

[0032] Reference Figure 1 The articulated robot 1 includes a base 11, a rotary seat 12 rotatably connected to the top of the base 11, a large arm link 13 movably connected to the rotary seat 12 via a rotary joint, a small arm link 14 movably connected to the large arm link 13 via a rotary joint, and an end base 15 fixedly connected to the end of the small arm link 14. The end base 15 is fixedly connected to the end effector 3 via a link. The base 11 is fixedly mounted on the worktable or bottom surface via a flange. The rotary seat 12, the large arm link 13, and the small arm link 14 move in coordination, enabling the articulated robot 1 to achieve precise positioning and movement in three-dimensional space and complete grasping and placing actions.

[0033] Reference Figure 4 The mechanical gripper 32 includes a cylinder 321 arranged circumferentially around the outer periphery of the connecting seat 31, a folding rod 322 movably connected to the top end of the telescopic rod of the cylinder 321 via a hinge, a movable base 323 movably connected to the middle of the folding rod 322, and a claw 324 movably connected to the top end of the folding rod 322. The top end of the telescopic rod of the cylinder 321 is movably connected to the bottom end of the hinge to increase the range of motion of the bottom end of the folding rod 322 relative to the cylinder 321. The folding rod 322 is composed of two connecting rods at a fixed angle, and the connection between the two is rotatably connected to the end of the movable base 323. The bottom end of the claw 324 is movably connected to a connecting rod, and the other end of the connecting rod is movably connected to the end of the movable base 323. One end of the movable base 323 is fixedly connected to the outer side of the connecting seat 31.

[0034] During the grasping task, cylinder 321 is activated, controlling its telescopic rod to extend and retract, which in turn moves the folding rod 322, which is movably connected to it via a hinge. Since the folding rod 322 consists of two connecting rods at a fixed angle, and their connection point is rotatably connected to the end of the movable base 323, when the telescopic rod of cylinder 321 extends and retracts, the folding rod 322 rotates accordingly around its connection point with the movable base 323. Simultaneously, because the bottom end of the claw finger 324 is movably connected to a connecting rod, and the other end of this connecting rod is movably connected to the end of the movable base 323, the rotation of the folding rod 322 drives the claw finger 324 to move via the connecting rod, thereby achieving the opening and closing action of the claw finger 324 and completing the grasping of the target object, the yarn bobbin 4. During the gripping process, the movable base 323 provides stable support. One end of it is fixedly connected to the outer side of the connecting seat 31, ensuring the stability of the entire mechanical claw 32 structure. This makes the movement coordination between the cylinder 321, the bending rod 322 and the claw fingers 324 more precise and reliable, ensuring that the object yarn bobbin 4 can be gripped smoothly and stably.

[0035] Reference Figure 6 The mounting plate 332 includes an arc-shaped plate 3321 fixedly connected to the outer cylindrical surface of the shaft 331 by screws and a clamp 3322 fixedly connected to the outer surface of the arc-shaped plate 3321. The arc-shaped plate 3321 and the clamp 3322 are symmetrically arranged, and their opposite sides are parallel to each other and perpendicular to the horizontal plane.

[0036] Reference Figure 7 The detection unit 333 includes a main block 3331, a movable groove 3332 opened inside the main block 3331 and open at one end, a strain gauge 3333 located at the end of the movable groove 3332, a push rod 3334 slidably disposed inside the movable groove 3332, a fixed sleeve 3335 and a spring 3336 sleeved outside the push rod 3334, a ball 3337 disposed in the open space between the push rod 3334 and the movable groove 3332, and a cover plate 3338 fixedly connected to the outside of the main block 3331 by screws.

[0037] The movable groove 3332 consists of two cylindrical cavities with different inner diameters. The connection between the two cavities forms a stepped surface. The diameter of its open opening is smaller than that of the ball 3337. The fixed sleeve 3335 is used to assist the push rod 3334 in sliding stably within the movable groove 3332. One end of the spring 3336 abuts against the stepped surface, and the other end abuts against the ball 3337.

[0038] Ball 3337 is positioned between spring 3336 and the open end of movable groove 3332. When ball 3337 is pressed by the inner wall of yarn bobbin 4, ball 3337 retracts into movable groove 3332, compressing spring 3336. Ball 3337 further abuts against push rod 3334, pushing push rod 3334 to slide into movable groove 3332. During this process, ball 3337 first contacts spring 3336 and then contacts push rod 3334. The purpose is to dissipate the impact force generated when ball 3337 is suddenly subjected to external force, and to avoid affecting push rod 3334. Push rod 3334 moves inward and acts on strain gauge 3333 at the end of movable groove 3332. Strain gauge 3333 feeds back the detected value to the control center.

[0039] Ball 3337 is made of non-rigid wear-resistant material to avoid damage to the inner wall of the yarn bobbin 4 sleeve and reduce replacement frequency. When replacing ball 337, the screws connecting cover plate 3338 and main body block 3331 can be unscrewed, and cover plate 3338 can be disassembled for replacement.

[0040] Multiple detection units 333 can be set on the shaft 331 to cover more of the yarn bobbin 4 wall surface. The spacing of the clamps 3322 is adapted to the thickness of the main block 3331.

[0041] Reference Figure 8 The adjustment component 334 includes a stepper motor 3341 disposed on the opposite side of the detection unit 333, a lead screw 3342 fixedly connected to the output end of the stepper motor 3341, a sliding seat 3343 movably connected to the outside of the lead screw 3342, and a push rod 3344 fixedly connected to the side of the sliding seat 3343 near the detection unit 333. The stepper motor 3341 is fixedly connected to the outer side of the shaft 331, and one end of the push rod 3344 is fixedly connected to the side of the main body block 3331. The shaft 331 has a groove inside that adapts to the sliding of the lead screw 3342 and the sliding seat 3343, and a groove that adapts to the retraction of the detection unit 333.

[0042] Depending on the inner diameter of the yarn bobbin 4, the detection radius of the detection unit 333 can be adjusted by adjusting the distance of the detection unit 333 extending from the outer surface of the shaft 331 through the adjusting component 334.

[0043] Working principle of the invention:

[0044] The articulated robot 1 provides precise positioning and movement capabilities in three-dimensional space, serving as the core carrier for performing grasping, handling, and placement actions. The end effector 3 directly contacts the yarn bobbin 4, achieving reliable grasping and release through the mechanical gripper 32. When the automatic control system controls the end base 15 to flip downwards to grasp the yarn bobbin 4, it can locate the center of the yarn bobbin 4 using a vision positioning system. At this point, the mechanical gripper 32 can grasp the yarn bobbin 4. The specific working principle is as follows:

[0045] Cylinder 321 controls its telescopic rod to move downwards, causing the end of the movable base 323 to move downwards. This causes the folding rod 322, which is at a fixed angle to the movable base 323, to rotate around the connection point between the two, with its other end rotating towards the connecting seat 31. This causes the claw finger 324, which is movably connected to the rotating end of the folding rod 322, to be driven. Since a connecting rod is movably connected to the bottom edge of the claw finger 324 in addition to the folding rod 322, and the end of this connecting rod is movably connected to the side of the connecting seat 31 via a movable base 323, this connecting rod and the claw finger 324... The two connecting joints of 24 and the movable base 323 and the two joints of the upper part of the folding rod 322 form a parallelogram. Therefore, when the cylinder 321 controls the bottom end of the folding rod 322 to move downward, the two vertical sides of the parallelogram tilt towards the connecting seat 31, which means that the top of the claw finger 324 tilts towards the connecting seat 31. Since the claw finger 324 is distributed in a ring along the connecting seat 31, the tilting action is to retract and fix the yarn bobbin 4 on the connecting seat 31, and the center of the yarn bobbin 4 is aligned with the axis of the connecting seat 31.

[0046] The detection component 33 is used to measure the friction force on the inner wall of the yarn bobbin 4, and to filter out unqualified parts with abnormal friction by feeding the friction data back to the control system, so as to ensure the normal use of the yarn bobbin 4 in subsequent processes.

[0047] Calibration of friction range: No-load test, let the detection component 33 rotate at a standard speed, record the basic data fed back by the strain gauge 3333, then let the mechanical claw 32 clamp the known qualified yarn bobbin 4, let the detection component 33 rotate at the same speed, record the experimental data fed back by the strain gauge 3333, measure multiple sets of yarn bobbins 4, and obtain the friction range of qualified products.

[0048] Friction force measurement: After the yarn bobbin 4 is coaxially fixed with the shaft 331, the shaft 331 is rotated at a standard speed. At this time, the inner wall surface of the yarn bobbin 4 contacts the ball 3337 and generates pressure. The ball 337 retracts into the main block 3331 and continues to transmit the force to the push rod 3334, causing it to push inward and apply pressure to the strain gauge 3333. The value detected by the strain gauge 3333 is fed back to the control center and compared with the calibrated friction force range. If it is within the qualified range, the yarn bobbin 4 is transferred to the yarn rack for the next process. If it is not within the qualified range, the yarn bobbin 4 is transferred to the recycling box for recycling and reprocessing.

[0049] The adjustment component 334 is designed to allow the detection unit 333 to adapt to yarn bobbins 4 with different inner diameters. It is worth noting that the friction range needs to be recalibrated after switching to yarn bobbins 4 with different specifications.

[0050] Stepper motor 3341 controls lead screw 3342 to rotate, thereby causing slide block 3343 to move linearly on lead screw 3342. Slide block 3343 pushes and pulls main block 3331 through push rod 3344 on one side. By controlling the feed of slide block 3343, the length of main block 3331 extending out of the outer wall of shaft 331 is controlled, thereby adapting to yarn bobbins 4 with different inner diameter specifications.

[0051] It should be noted that in the description of this invention, the terms "front," "rear," "left," "right," "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "front," "rear," "left," "right," "upper," and "lower" used in the description of this invention refer to the directions shown in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A feeding robot arm for textile production equipment manufacturing, comprising an articulated robot (1), characterized in that, The joint robot (1) is movably connected with an end effector (3), one end of the end effector (3) is fixedly connected with a reverse support (2), the joint robot (1) is used for providing accurate positioning and motion ability in three-dimensional space, the reverse support (2) is provided with a vacuum chuck system relative to the back end of the end effector (3) and is used for adsorbing a flange at the top of a yarn drum (4) group, the end effector (3) is used for clamping the yarn drum (4) and detecting the yarn drum (4); The end effector (3) comprises a connecting seat (31), a mechanical claw (32) for clamping and a detection assembly (33) for detection, the mechanical claw (32) is fixedly connected in a ring shape on the outer periphery of the connecting seat (31), the bottom end of the detection assembly (33) is connected with a motor, the motor is installed in the inside of the connecting seat (31), the shaft center is coaxial with the connecting seat (31), the detection assembly (33) comprises a shaft rod (331) fixedly connected with the motor, a mounting plate (332) fixedly connected with the outer periphery of the shaft rod (331) through a screw, a detection unit (333) movably arranged in the inside of the mounting plate (332) and an adjusting assembly (334) arranged in the inside of the shaft rod (331) and used for pushing the detection unit (333), the detection unit (333) is used for detecting the rotating friction force of the inner wall of the yarn drum (4); The mechanical claw (32) comprises a cylinder (321) arranged in a ring shape along the outer periphery of the connecting seat (31), a folding rod (322) movably connected with the top end of the telescopic rod of the cylinder (321) through a hinge seat, a movable base (323) movably connected with the middle part of the folding rod (322) and a claw finger (324) movably connected with the top end of the folding rod (322), the top end of the telescopic rod of the cylinder (321) is movably connected with the bottom end of the hinge seat, so as to increase the movable range of the bottom end of the folding rod (322) relative to the cylinder (321), the folding rod (322) is composed of two connecting rods with a fixed angle, the connecting rods are movably connected with the end parts of the movable base (323), the bottom end of the claw finger (324) is movably connected with a connecting rod, the other end of the connecting rod is movably connected with the end part of the movable base (323), one end of the movable base (323) is fixedly connected with the outer side surface of the connecting seat (31); The mounting plate (332) comprises an arc-shaped plate (3321) fixedly connected with the outer surface of the shaft rod (331) through a screw and a clamping seat (3322) fixedly connected with the outer surface of the arc-shaped plate (3321), the arc-shaped plate (3321) and the clamping seat (3322) are symmetrically arranged, the opposite surfaces are parallel to each other and perpendicular to the horizontal plane. The detection unit (333) comprises a main body block (3331), a movable slot (3332) formed in the main body block (3331) and open at one end, a strain gauge (3333) located at the end of the movable slot (3332), a top rod (3334) slidingly arranged in the movable slot (3332), a fixed sleeve (3335) and a spring (3336) sleeved on the top rod (3334), a ball (3337) arranged between the top rod (3334) and the open side space of the movable slot (3332), and a cover plate (3338) fixedly connected to the outside of the main body block (3331) by a screw. The movable slot (3332) is composed of two cylindrical cavities with different inner diameters, and a step surface is formed at the communication part of the two cylindrical cavities, and the open port diameter of the step surface is smaller than the diameter of the ball (3337), the fixed sleeve (3335) is used to assist the stable sliding of the top rod (3334) in the movable slot (3332), and one end of the spring (3336) abuts against the step surface, and the other end abuts against the ball (3337).

2. The feeding mechanical arm for manufacturing textile production equipment according to claim 1, characterized in that: The articulated robot (1) comprises a base (11), a rotating seat (12) rotatably connected to the top end of the base (11), a large arm link (13) movably connected to the rotating seat (12) through a rotating joint, a small arm link (14) movably connected to the large arm link (13) through a rotating joint, and an end base (15) fixedly connected to the end of the small arm link (14), wherein the end base (15) is fixedly connected to the end effector (3) through a connecting rod.

3. The feeding mechanical arm for manufacturing textile production equipment according to claim 2, characterized in that: The adjusting assembly (334) comprises a stepping motor (3341) arranged on the opposite side of the detection unit (333), a lead screw (3342) fixedly connected to the output end of the stepping motor (3341), a sliding seat (3343) movably connected to the outside of the lead screw (3342), and a push rod (3344) fixedly connected to the sliding seat (3343) close to the detection unit (333), and the stepping motor (3341) is fixedly connected to the outer side surface of the shaft rod (331).

4. The feeding mechanical arm for manufacturing textile production equipment according to claim 3, characterized in that: One end of the push rod (3344) is fixedly connected to the side surface of the main body block (3331), and the inside of the shaft rod (331) is provided with a groove adapted to the sliding of the lead screw (3342) and the sliding seat (3343), and a groove adapted to the retraction of the detection unit (333).

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