Residual yarn stripping method and automatic residual yarn removing method

Abstract

The invention provides a residual yarn stripping method and an automatic residual yarn removing method. The residual yarn stripping method comprises the following steps that 201, small tube yarns on a yarn removing position are pushed to move forwards; in the forward moving process of the small tube yarn, when the tail of the small tube yarn reaches a first tube clamping cavity formed by the first clamping cutter assembly, the first clamping cutter assembly clamps the small tube yarn; when the tail of the small tube yarn reaches a second tube clamping cavity formed by the second clamping cutter assembly, the second clamping cutter assembly clamps the small tube yarn; the first cutter clamping assembly and the second cutter clamping assembly clamp the small tube yarn all the time; and when the head of the small tube yarn penetrates through the second tube clamping cavity, the residual yarn is separated from the bobbin. According to the residual yarn stripping method and the automatic residual yarn removing method, residual yarns on different bobbins can be successfully removed, and the yarn removing efficiency is high.

Description

Technical Field

[0001] This invention belongs to the field of textile technology, specifically relating to a method for stripping residual yarn and an automatic method for removing residual yarn. Background Technology

[0002] During the spinning process, the spinning machine generates a large number of small yarn bobbins due to yarn breakage, splicing failure, or trial spinning. These small yarn bobbins need to be removed to remove residual yarn before the bobbins can be reused. Traditionally, residual yarn is removed manually using a hook knife, which is inefficient and poses safety hazards. Currently, there is a semi-automatic residual yarn removal machine on the market. This machine requires manual arrangement of the small yarn bobbins and uses two semi-circular hard metal clamping blocks to clamp the yarn bobbin at the tail. A large air cylinder pushes the yarn bobbin from the head, forcing it out between the two clamping blocks. The residual yarn is then confined above the two clamping blocks, achieving yarn-bobbin separation. However, this residual yarn removal machine requires the two clamping blocks to clamp the yarn bobbin, which can damage or scratch it. Furthermore, it can only remove residual yarn from smooth, regularly shaped aluminum spindle rods, but cannot effectively remove residual yarn from grooved, irregularly shaped steel top rods. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method for stripping residual yarn and an automatic method for removing residual yarn, which can successfully remove residual yarn on different yarn tubes with high yarn removal efficiency.

[0004] To solve the above-mentioned technical problems, in a first aspect, embodiments of the present invention provide a method for stripping residual yarn, comprising the following steps: Step 201: Push the small bobbin at the yarn removal position forward; during the forward movement of the small bobbin, when the tail of the small bobbin reaches the first clamping cavity formed by the first clamping knife assembly, the first clamping knife assembly clamps the small bobbin; when the tail of the small bobbin reaches the second clamping cavity formed by the second clamping knife assembly, the second clamping knife assembly clamps the small bobbin; the first clamping knife assembly and the second clamping knife assembly always clamp the small bobbin; when the head of the small bobbin passes through the second clamping cavity, the residual yarn is separated from the yarn tube.

[0005] As a further improvement of this embodiment of the invention, the contact between the first clamping blade assembly and the bobbin is a hard contact, and the contact between the second clamping blade assembly and the bobbin is a soft contact.

[0006] As a further improvement to this embodiment of the invention, the small tube yarn remains horizontal throughout its forward movement.

[0007] As a further improvement to the embodiment of the present invention, a push rod is used to push the small yarn tube forward; Also includes: Step 202: Open the first clamping chamber of the first clamping tool assembly and the second clamping chamber of the second clamping tool assembly; Step 203: The push rod moves backward with the residual yarn separated from the yarn tube. During the backward movement of the push rod, the residual yarn on the push rod is removed.

[0008] As a further improvement of this embodiment of the invention, in step 201, before pushing the small bobbin at the yarn removal position forward, the position of the small bobbin at the yarn removal position is first adjusted so that the axis of the small bobbin is located on the yarn removal axis.

[0009] As a further improvement of this embodiment of the invention, adjusting the position of the small bobbin in step 201 and removing the residual yarn on the top rod in step 203 are both accomplished using a clamping assembly.

[0010] As a further improvement of this embodiment of the invention, in step 201, when the tail of the small tube yarn reaches the first clamping cavity formed by the first clamping knife assembly, the pushing of the small tube yarn forward is stopped, and after the first clamping knife assembly clamps the small tube yarn, the small tube yarn is pushed forward continuously.

[0011] As a further improvement of the present invention, in step 201, after the first clamping knife assembly clamps the small tube yarn, before the tail of the small tube yarn reaches the second clamping cavity formed by the second clamping knife assembly, when the tail of the small tube yarn reaches the third clamping cavity formed by the third clamping knife assembly, the third clamping knife assembly clamps the small tube yarn.

[0012] As a further improvement of this embodiment of the invention, the contact between the third clamping knife assembly and the small yarn tube is a hard contact.

[0013] Secondly, embodiments of the present invention also provide an automatic method for removing residual yarn, comprising the following steps: Step 10: Automatically transport the small yarn tubes one by one to the yarn removal position; Step 20: Using the residual yarn stripping method provided in the first aspect above, remove the small tube yarn at the yarn removal position.

[0014] As a further improvement to this embodiment of the invention, step 10 includes: Step 101: Automatically remove the yarn tubes from the storage box and transport them one by one to the identification position; Step 102: Identify the yarn tube at the identification position. If it is a small yarn tube, proceed to step 103; otherwise, reject the yarn tube. Step 103: The small bobbin is fed to the adjustment position, and the falling posture of the small bobbin is adjusted according to the recognition result so that when the small bobbin is fed to the yarn removal position, the tail of the small bobbin is close to the first clamping knife assembly. Step 104: Transport the small tube yarn to the yarn removal position.

[0015] As a further improvement to this embodiment of the invention, step 104 specifically includes: Step 1041: Transport the small tube yarn to the yarn storage position; Step 1042: Check if there is a small tube of yarn at the yarn removal position. If there is, proceed to step 201; otherwise, transport one small tube of yarn from the yarn storage position to the yarn removal position and proceed to step 201.

[0016] As a further improvement of this embodiment of the invention, in step 1041, the falling bobbin is changed from a vertical state to a horizontal state and transported to the yarn storage position, so that the bobbin on the yarn storage position is in a horizontal state; in step 1042, when a bobbin on the yarn storage position is transported to the yarn removal position, the bobbin is transported from a horizontal state to the yarn removal position, so that the bobbin on the yarn removal position is in a horizontal state, and the tail of the bobbin faces the first clamping knife assembly.

[0017] As a further improvement of this embodiment of the invention, in step 1041, the falling bobbin is conveyed to the yarn storage position in a vertical state, so that the bobbin on the yarn storage position is in a vertical state; in step 1042, when a bobbin on the yarn storage position is conveyed to the yarn removal position, the bobbin is changed from a vertical state to a horizontal state and conveyed to the yarn removal position, so that the bobbin on the yarn removal position is in a horizontal state, and the tail of the bobbin faces the first clamping knife assembly.

[0018] Compared with the prior art, the technical solution of the present invention has the following beneficial effects: (1) The residual yarn stripping method and automatic residual yarn removal method of the present invention employ a double-layer clamping knife assembly during yarn removal. The first clamping knife assembly first acts on the residual yarn on the yarn tube, agitating it. The second clamping knife assembly then acts on a small amount of residual yarn, agitating it again, causing the residual yarn to detach from the yarn tube. Under the combined action of the first and second clamping knife assemblies, the residual yarn can be completely removed from the yarn tube. Whether it is an aluminum ingot rod with a smooth surface and regular shape, or a steel top rod with grooves and irregular shape, the residual yarn on it can be removed cleanly.

[0019] (2) In the residual yarn stripping method and automatic residual yarn removal method of the present invention, the small tube yarn at the yarn removal position is in a horizontal state, and the small tube yarn is always in a horizontal state during yarn removal. Compared with vertical yarn removal, when the tube is fed, the upper and lower positioning tips are required for positioning. After yarn removal, the yarn tube needs to be separated from the tips. The residual yarn is restricted on the clamping knife and affects the yarn removal of the next tube yarn. The present invention adopts a horizontal yarn removal method, which has a fast tube feeding speed. After the yarn tube is separated from the residual yarn, it falls directly after passing horizontally through the clamping cavity formed by the two clamping knife components. The residual yarn is wrapped on the top rod and moves backward with the top rod, which makes it convenient to remove the residual yarn from the top rod. The overall efficiency is higher.

[0020] (3) The residual yarn stripping method and the automatic residual yarn removal method of the present invention can identify not only the large and small ends of the yarn tube, but also the abnormal yarn tube when identifying the yarn tube. Only the small yarn tube is transported to the adjustment position, while the abnormal yarn tube is removed, so as to avoid the abnormal yarn tube flowing into the next process and improve the yarn removal efficiency.

[0021] (4) The residual yarn stripping method and the residual yarn automatic removal method of the present invention automatically separate the yarn tubes in the storage box and feed them one by one, thereby realizing automatic feeding, reducing manual labor intensity and improving yarn removal efficiency. Detailed Implementation

[0022] The technical solution of the present invention will be described in detail below.

[0023] It should be noted that the term "small tube yarn" in this article refers to the yarn tube itself, with a small amount of residual yarn wrapped around its outer edge near the tail. The head of the small tube yarn is the small end of the yarn tube, and the tail is the large end. Moving forward refers to moving along the axis of the small tube yarn towards the head from its original position to the tail's original position, while moving along the axis of the small tube yarn towards the tail from its original position to the head's original position is called moving backward. When the small tube yarn is in the unwinding position, the tail of the small tube yarn is close to the first clamping assembly (i.e., the tail faces the first clamping assembly), and the head is away from the first clamping assembly. The second clamping assembly is located on the side of the first clamping assembly away from the tail of the small tube yarn. In the horizontal state, the angle between the axis of the small tube yarn and the horizontal plane is greater than or equal to 0° and less than 30°. In the vertical state, the angle between the axis of the small tube yarn and the vertical plane is greater than or equal to 0° and less than 30°.

[0024] This invention provides a method for stripping residual yarn, comprising the following steps: Step 201: Push the small bobbin at the yarn removal position to move it forward. During this forward movement, when the tail of the small bobbin reaches the first clamping cavity formed by the first clamping blade assembly, the first clamping blade assembly narrows the cavity to clamp the small bobbin. When the tail of the small bobbin reaches the second clamping cavity formed by the second clamping blade assembly, the second clamping blade assembly narrows the cavity to clamp the small bobbin. The small bobbin moves forward within both the first and second clamping cavities. The first and second clamping blade assemblies adjust the clamping force according to the change in the bobbin diameter, always clamping the small bobbin. When the head of the small bobbin passes through the second clamping cavity, the remaining yarn separates from the bobbin, and the forward movement of the small bobbin stops.

[0025] The residual yarn stripping method provided in this embodiment uses a double-layer clamping blade assembly to strip residual yarn from the yarn tube. During the forward movement of the small yarn tube, the first clamping blade assembly clamps the small yarn tube first, followed by the second clamping blade assembly. Furthermore, as the small yarn tube moves forward within the first and second clamping cavities, the first and second clamping blade assemblies adjust their clamping force according to the change in the yarn tube diameter, ensuring the yarn tube is always clamped. The first clamping blade assembly first agitates the residual yarn, preventing it from moving forward with the yarn tube. If a small amount of residual yarn moves forward with the yarn tube, the second clamping blade assembly agitates this small amount, preventing it from moving forward with the yarn tube. Under the action of the first and second clamping blade assemblies, all residual yarn does not move forward with the yarn tube, but instead moves backward relative to the yarn tube (i.e., from the tail to the head). Since the yarn tube diameter gradually decreases from the tail to the head, the wrapping force of the residual yarn on the yarn tube gradually decreases. When the head of the small yarn tube passes through the second clamping cavity, the residual yarn completely detaches from the yarn tube. The residual yarn stripping method provided in this embodiment can completely remove residual yarn from the yarn tube. Whether it is an aluminum ingot rod with a smooth surface and regular shape, or a steel top rod with grooves and irregular shape, the residual yarn on it can be removed cleanly.

[0026] As a preferred example, in step 201, when the tail of the bobbin reaches the first clamping cavity formed by the first clamping blade assembly, the forward movement of the bobbin is stopped. After the first clamping blade assembly clamps the bobbin, the bobbin is continuously moved forward.

[0027] In this embodiment, when the tail of the small tube yarn reaches the first clamping cavity formed by the first clamping knife assembly, the small tube yarn stops moving forward, so that the first clamping knife assembly can clamp the small tube yarn onto the yarn tube without clamping the residual yarn, and so that the residual yarn can be easily removed from the yarn tube.

[0028] In a preferred embodiment, the clamping end of the first clamping blade assembly makes a hard contact with the yarn bobbin, while the clamping end of the second clamping blade assembly makes a soft contact with the yarn bobbin. The first clamping blade assembly utilizes hard contact; if the yarn bobbin is a smooth-surfaced and regularly shaped aluminum ingot, it can move all residual yarn on the yarn bobbin, completely eliminating the wrapping force between the residual yarn and the yarn bobbin, thus restricting all residual yarn from moving forward with the yarn bobbin. If the yarn bobbin is a grooved and irregularly shaped steel rod, it can first reduce the wrapping force between the residual yarn and the yarn bobbin, restricting most of the residual yarn from moving forward with the yarn bobbin. The second clamping blade assembly, utilizing soft contact, strengthens the fit with the yarn bobbin, further eliminating the wrapping force between the small amount of residual yarn moving forward with the yarn bobbin and the yarn bobbin, allowing the residual yarn to completely detach from the yarn bobbin and be cleanly removed from it.

[0029] As a preferred example, in step 201, after the first clamping blade assembly clamps the bobbin, before the tail of the bobbin reaches the second clamping cavity formed by the second clamping blade assembly, the third clamping blade assembly clamps the bobbin of the bobbin. More preferably, the contact between the third clamping blade assembly and the bobbin is a hard contact.

[0030] Both the first and third clamping components utilize hard contact. Under the action of the two clamping components, the wrapping force between most or even all of the residual yarn and the yarn tube can be reduced to a very small amount. The second clamping component utilizes soft contact to enhance the fit with the yarn tube, which can further eliminate the wrapping force between the remaining small amount of residual yarn and the yarn tube. After passing through the first, second, and third clamping components, the residual yarn can be effectively detached from the yarn tube and removed cleanly from the yarn tube.

[0031] Considering that vertical yarn removal requires positioning centers at both the top and bottom during tube feeding, and the tube needs to detach from the centers after removal, residual yarn is confined to the clamping blades, affecting the removal of the next tube, a preferred method is to have the small tube at the removal position in a horizontal state, and maintain this horizontal state throughout its forward movement. This horizontal removal method results in faster tube feeding, and the tube head falls directly after horizontally passing through the clamping cavity formed by the two clamping blade assemblies, improving removal efficiency.

[0032] As a preferred example, a push rod is used to push the small yarn tube forward.

[0033] The method for stripping residual yarn in this embodiment also includes: Step 202: Open the first clamping chamber of the first clamping knife assembly and the second clamping chamber of the second clamping knife assembly.

[0034] Step 203: The push rod moves backward with the residual yarn separated from the yarn tube. During the backward movement of the push rod, the residual yarn on the push rod is removed.

[0035] In this embodiment, the yarn is removed horizontally, and the remaining yarn after detaching from the yarn tube is placed on the top rod and moves backward with the top rod, thereby facilitating the removal of the remaining yarn from the top rod and improving overall efficiency.

[0036] As a preferred example, in step 201, before pushing the bobbin forward, the position of the bobbin at the yarn removal position is adjusted so that the bobbin axis is located on the yarn removal axis. Specifically, the axes of the push rod, the first clamping cavity, the second clamping cavity, and the third clamping cavity are all located on the yarn removal axis, and the push rod moves along its axis. This ensures that the bobbin, push rod, first clamping cavity, and second clamping cavity are all coaxial, allowing the bobbin to smoothly pass through the first and second clamping cavities for yarn removal under the push of the push rod. The angle between the yarn removal axis and the horizontal plane is greater than or equal to 0° and less than 30°, preferably equal to 0°.

[0037] Preferably, the adjustment of the position of the small tube yarn at the yarn removal position in step 201 and the removal of residual yarn on the top rod in step 203 are both accomplished using a clamping assembly.

[0038] Specifically, in step 201, after the small yarn tube is conveyed to the yarn removal position, the small yarn tube is located in the clamping cavity of the clamping assembly. The clamping assembly reduces the clamping cavity and adjusts the small yarn tube so that its axis is aligned with the yarn removal axis, and then expands the clamping cavity. The push rod moves forward to abut against the head of the small yarn tube, pushing the small yarn tube forward. During this process, the push rod head passes through the clamping cavity of the clamping assembly, and the push rod moves within the clamping cavity. Once the yarn tube head passes through the second clamping cavity, the push rod moves backward with the remaining yarn. Simultaneously, the clamping assembly reduces the clamping cavity. During the backward movement of the push rod, the clamping assembly restricts the remaining yarn from following the push rod backward until the push rod head passes through the clamping cavity, and the remaining yarn disengages from the push rod.

[0039] This invention also provides an automatic method for removing residual yarn, comprising the following steps: Step 10: Automatically transport the small yarn tubes one by one to the yarn removal position.

[0040] Step 20: Using the residual yarn stripping method provided in the above embodiment, remove the small tube yarn at the yarn removal position.

[0041] The automatic yarn removal method of this invention automatically feeds each small yarn bobbin to the yarn removal station, achieving automatic feeding, reducing manual labor intensity, and improving yarn removal efficiency. During yarn removal, a double-layer clamping blade assembly is used to peel off the residual yarn on the yarn bobbin. As the small yarn bobbin moves forward, the first clamping blade assembly clamps the small yarn bobbin first, followed by the second clamping blade assembly. Furthermore, as the small yarn bobbin moves forward within the first and second clamping cavities, the first and second clamping blade assemblies adjust their clamping force according to changes in the yarn bobbin diameter, ensuring the small yarn bobbin is always clamped. The first clamping blade assembly first agitates the residual yarn, preventing it from moving forward with the yarn bobbin. If a small amount of residual yarn moves forward with the yarn bobbin, the second clamping blade assembly agitates these small amounts of residual yarn, preventing them from moving forward with the yarn bobbin. Under the action of the first and second clamping assemblies, all residual yarn does not move forward with the yarn tube, but moves backward relative to the yarn tube (i.e., from the tail to the head). As the diameter of the yarn tube gradually decreases from the tail to the head, the wrapping force of the residual yarn on the yarn tube gradually decreases. When the head of the small tube yarn passes through the second clamping cavity, the residual yarn completely detaches from the yarn tube. The automatic residual yarn removal method provided in this embodiment can completely remove residual yarn from the yarn tube, whether it is a smooth and regularly shaped aluminum ingot rod or a grooved and irregularly shaped steel top rod, it can remove the residual yarn cleanly.

[0042] As a preferred example, step 10 includes: Step 101: Automatically separate the yarn tubes in the storage box and transport them one by one to the identification position.

[0043] Step 102: Identify the yarn tube at the identification position. If it is a small yarn tube, proceed to step 103. If it is not a small yarn tube, reject the yarn tube.

[0044] Specifically, the identification of the yarn tube at the identification position can be achieved by measuring the cross-section of the yarn tube to determine whether it is a small yarn tube or not, and at the same time, whether the large diameter end or the small diameter end of the small yarn tube is the same (i.e., large and small ends).

[0045] Step 103: The small bobbin is conveyed to the adjustment position, and the falling posture of the small bobbin is adjusted according to the recognition result so that when the small bobbin is conveyed to the yarn removal position, the tail of the small bobbin is close to the first clamping knife assembly (i.e. the tail is facing the first clamping knife assembly).

[0046] Step 104: Transport the small tube yarn to the yarn removal position.

[0047] In the above embodiments, when identifying the yarn tubes, not only can the size of the yarn tubes be identified, but also abnormal yarn tubes (full yarn or empty tubes) can be identified. Thus, only the small yarn tubes are transported to the adjustment position, and the abnormal yarn tubes are rejected, so as to avoid the abnormal yarn tubes flowing into the next process and affecting the yarn removal efficiency.

[0048] Further optimization, step 104 specifically includes: Step 1041: Transport the small tube yarn to the yarn storage position.

[0049] Step 1042: Check if there is a small tube of yarn at the yarn removal position. If there is, proceed to step 201; otherwise, transport one small tube of yarn from the yarn storage position to the yarn removal position and proceed to step 201.

[0050] Considering that the material supply is not continuous and uniform, with varying speeds, this embodiment sets up a storage position before the yarn removal position. This ensures that the material is first delivered to the storage position and then from the storage position to the yarn removal position, always keeping the storage position stocked. After the previous small yarn tube has completed yarn removal, the yarn removal position can be supplied with material in a timely manner to avoid material shortages and waiting during the yarn removal process, thereby reducing waiting time and significantly improving yarn removal efficiency.

[0051] Preferably, in step 1041, the falling bobbin is changed from a vertical to a horizontal state and conveyed to the yarn storage position, so that the bobbin at the yarn storage position is in a horizontal state. In step 1042, when a bobbin at the yarn storage position is conveyed to the yarn removal position, the bobbin is kept in a horizontal state and conveyed to the yarn removal position, so that when it is at the yarn removal position, the bobbin is in a horizontal state and the tail of the bobbin faces the first clamping knife assembly.

[0052] Alternatively, preferably, in step 1041, the falling bobbin is conveyed to the yarn storage position while maintaining a vertical position, so that the bobbin at the yarn storage position is in a vertical position. In step 1042, when conveying a bobbin from the yarn storage position to the yarn removal position, the bobbin is changed from a vertical position to a horizontal position before being conveyed to the yarn removal position, so that when it is at the yarn removal position, the bobbin is in a horizontal position and the tail of the bobbin faces the first clamping knife assembly.

[0053] In the above embodiments, by changing the yarn bobbin from a vertical to a horizontal state during the transfer process from the adjustment position to the yarn storage position, or by changing the yarn bobbin from a vertical to a horizontal state during the transfer process from the yarn storage position to the yarn removal position, the yarn bobbin at the yarn removal position is kept horizontal. During yarn removal, the yarn bobbin remains horizontal, resulting in a fast feeding speed. Furthermore, after the yarn bobbin head passes through the clamping cavity formed by the two clamping knife assemblies, the yarn bobbin falls directly, while the remaining yarn is caught on the top rod and moves backward with the push rod, facilitating the removal of the remaining yarn from the top rod, thus improving the overall yarn removal efficiency.

[0054] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for peeling off residual yarn, characterized in that, Includes the following steps: Step 201: Push the small bobbin at the yarn removal position forward; during the forward movement of the small bobbin, when the tail of the small bobbin reaches the first clamping cavity formed by the first clamping knife assembly, the first clamping knife assembly clamps the small bobbin; when the tail of the small bobbin reaches the second clamping cavity formed by the second clamping knife assembly, the second clamping knife assembly clamps the small bobbin; the first clamping knife assembly and the second clamping knife assembly always clamp the small bobbin; when the head of the small bobbin passes through the second clamping cavity, the residual yarn is separated from the yarn tube.

2. The method for peeling off residual yarn according to claim 1, characterized in that, The contact between the first clamping blade assembly and the bobbin is a hard contact, while the contact between the second clamping blade assembly and the bobbin is a soft contact.

3. The method for peeling off residual yarn according to claim 1, characterized in that, The small tube of yarn remains horizontal as it moves forward.

4. The method for peeling off residual yarn according to claim 3, characterized in that, A push rod is used to move the small yarn tube forward; Also includes: Step 202: Open the first clamping chamber of the first clamping tool assembly and the second clamping chamber of the second clamping tool assembly; Step 203: The push rod moves backward with the residual yarn separated from the yarn tube. During the backward movement of the push rod, the residual yarn on the push rod is removed.

5. The method for peeling off residual yarn according to claim 4, characterized in that, In step 201, before pushing the small bobbin at the yarn removal position forward, the position of the small bobbin at the yarn removal position is adjusted so that the axis of the small bobbin is located on the yarn removal axis.

6. The method for peeling off residual yarn according to claim 5, characterized in that, The adjustment of the position of the small bobbin in step 201 and the removal of residual yarn on the top rod in step 203 are both accomplished using a clamping assembly.

7. The method for peeling off residual yarn according to claim 1, characterized in that, In step 201, when the tail of the small tube yarn reaches the first clamping cavity formed by the first clamping knife assembly, the forward movement of the small tube yarn is stopped. After the first clamping knife assembly clamps the small tube yarn, the small tube yarn is pushed forward continuously.

8. The method for peeling off residual yarn according to claim 1, characterized in that, In step 201, after the first clamping knife assembly clamps the bobbin, before the tail of the bobbin reaches the second clamping cavity formed by the second clamping knife assembly, the third clamping knife assembly clamps the bobbin.

9. The method for peeling off residual yarn according to claim 8, characterized in that, The contact between the third clamping blade assembly and the small yarn tube is a hard contact.

10. A method for automatically removing residual yarn, characterized in that, Includes the following steps: Step 10: Automatically transport the small yarn tubes one by one to the yarn removal position; Step 20: Using the residual yarn stripping method according to any one of claims 1 to 9, the small tube yarn at the yarn removal position is removed.

11. The automatic yarn residue removal method according to claim 10, characterized in that, Step 10 includes: Step 101: Automatically remove the yarn tubes from the storage box and transport them one by one to the identification position; Step 102: Identify the yarn tube at the identification position. If it is a small yarn tube, proceed to step 103; otherwise, reject the yarn tube. Step 103: The small bobbin is fed to the adjustment position, and the falling posture of the small bobbin is adjusted according to the recognition result so that when the small bobbin is fed to the yarn removal position, the tail of the small bobbin is close to the first clamping knife assembly. Step 104: Transport the small tube yarn to the yarn removal position.

12. The automatic yarn residue removal method according to claim 11, characterized in that, Step 104 specifically includes: Step 1041: Transport the small tube yarn to the yarn storage position; Step 1042: Check if there is a small tube of yarn at the yarn removal position. If there is, proceed to step 201; otherwise, transport one small tube of yarn from the yarn storage position to the yarn removal position and proceed to step 201.

13. The automatic yarn residue removal method according to claim 12, characterized in that, In step 1041, the falling bobbin is changed from a vertical state to a horizontal state and transported to the yarn storage position, so that the bobbin at the yarn storage position is in a horizontal state; in step 1042, when a bobbin at the yarn storage position is transported to the yarn removal position, the bobbin is transported from a horizontal state to the yarn removal position, so that the bobbin at the yarn removal position is in a horizontal state, and the tail of the bobbin faces the first clamping knife assembly.

14. The automatic yarn residue removal method according to claim 12, characterized in that, In step 1041, the falling bobbin is conveyed vertically to the yarn storage position, so that the bobbin at the yarn storage position is in a vertical position; in step 1042, when a bobbin at the yarn storage position is conveyed to the yarn removal position, the bobbin is changed from a vertical position to a horizontal position and conveyed to the yarn removal position, so that the bobbin at the yarn removal position is in a horizontal position and the tail of the bobbin faces the first clamping knife assembly.