Manipulator capable of automatically feeding yarns

Abstract

The invention relates to the technical field of textile equipment, in particular to an automatic yarn feeding manipulator which comprises a movable chassis, placing tables are arranged on the two sides of the upper end of the movable chassis, a base is arranged in the middle of the upper end of the movable chassis, and a multi-angle mechanical arm is arranged at the upper end of the base. The multi-angle mechanical arm comprises a multi-angle mechanical arm body, a connecting mechanism is arranged at the connecting end of the upper portion of the multi-angle mechanical arm body, an expanding device is arranged at the lower end of the connecting mechanism, and a plurality of clamping components are arranged on the outer surface of the expanding device. According to operation scenes, yarn bars accurately positioned in a material disc of a placement table are accurately grabbed through an inner wall fixing mechanism, waste yarn bars with large installation position deviation on a textile machine are externally clamped through a clamping mechanism, the grabbing precision and the operation error-tolerant rate are both considered, and the stability and reliability of yarn feeding operation are improved.

Description

Technical Field

[0001] This invention relates to the field of textile equipment technology, specifically to an automatic yarn feeding robot. Background Technology

[0002] As the manufacturing industry transforms towards intelligence and automation, the intelligent manufacturing equipment industry is ushering in a period of rapid development. As an important part of traditional manufacturing, the textile industry has an increasingly urgent need for automation upgrades to its production lines. In the textile production process, yarn feeding, material handling, and replacement of waste yarn bobbins are among the core processes, directly affecting production efficiency and yarn quality.

[0003] Chinese Patent Publication No. CN113696219B discloses a raw yarn handling robot for a doubling machine, comprising a robotic arm and a robotic claw; the robotic claw includes a connecting plate, a torque control module, and at least two mechanical clamping plates; the torque control module is connected to the at least two mechanical clamping plates and opens and closes the at least two mechanical clamping plates by outputting torque; the at least two mechanical clamping plates are connected to the connecting plate, and the gripping direction of the at least two mechanical clamping plates is perpendicular to the connecting plate and downwards, wherein at least one mechanical clamping plate actuates a first doubling machine guide rod perpendicular to the horizontal plane; at least one of the at least two mechanical clamping plates is provided with a paddle, and the paddle actuates a second doubling machine guide rod parallel to the horizontal plane. The aforementioned yarn handling robot for the twisting machine can automatically handle the handling of raw yarn, improving work efficiency and accuracy. However, in actual use, existing automated yarn feeding equipment mostly adopts a single clamping method, which can only achieve external clamping of yarn bars and cannot be adapted to yarn bars of different specifications. It is also difficult to meet the needs of grabbing waste yarn bars with large installation position deviations on textile machines. At the same time, the clamping diameter of the mechanical gripping structure of existing yarn feeding equipment cannot be flexibly adjusted, making it difficult to match the installation positions of yarn bars of different sizes. Summary of the Invention

[0004] The main objective of this invention is to provide an automatic yarn feeding robot that can effectively solve the problems of existing automated yarn feeding equipment, which mostly adopt a single clamping method, can only achieve external clamping of yarn bars, cannot adapt to yarn bars of different specifications, and is difficult to meet the needs of grasping waste yarn bars with large installation position deviations on textile machines.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a mobile chassis, on both sides of the upper end of the mobile chassis, a base in the middle of the upper end of the mobile chassis, a multi-angle robotic arm at the upper end of the base, a connecting mechanism at the upper connecting end of the multi-angle robotic arm, an extension device at the lower end of the connecting mechanism, and multiple gripping components on the outer surface of the extension device.

[0006] Preferably, the connecting mechanism includes a fixed cylinder, which is fixedly installed on the connecting end of the upper part of the multi-angle robotic arm. A hydraulic cylinder is provided in the middle of the fixed cylinder, a connecting piece is provided at the output end of the hydraulic cylinder, and a fixed plate is provided at the lower end of the fixed cylinder.

[0007] Preferably, the connector includes a connecting ring, the inner wall of the middle part of the connecting ring is fixedly connected to the output end of the hydraulic cylinder, and the outer surface of the connecting ring is provided with connecting handles in an array.

[0008] Preferably, the extension device includes a mounting plate, the upper end of which is fixedly connected to the lower end of a fixed plate. Multiple extension handles are slidably mounted on the lower inner wall of the mounting plate. Limit handles are provided on the sides of the lower ends of the multiple extension handles that are close to each other. A gear is rotatably mounted on the lower center of the mounting plate. Multiple limiting holes are arrayed on the outer side of the middle of the gear. The multiple limiting handles are respectively adapted to the multiple limiting holes. A gear is provided on the outer side of the lower end of the mounting plate, meshing with the gear. A motor is provided on the outer side of the upper end of the mounting plate, with the output end of the motor passing through the mounting plate and fixedly connected to the middle of the gear.

[0009] Preferably, the clamping component includes a mounting ring, a fixing block is provided on one side of the outer surface of the mounting ring, the fixing block is fixedly connected to the outer surface of the corresponding protruding handle, a clamping mechanism is provided on the outer side of the middle part of the mounting ring, a multi-stage telescopic mechanism is provided on the inner surface of the mounting ring, a hydraulic cavity is provided at the upper end of the multi-stage telescopic mechanism, and an inner wall fixing mechanism is provided at the protruding end of the multi-stage telescopic mechanism.

[0010] Preferably, the clamping mechanism includes a connecting plate, the upper end of which is fixedly connected to the outer surface of the corresponding connecting handle away from the fixed cylinder. The lower end of the connecting plate is provided with a plurality of pushing handles, which are slidably mounted on the inner wall of the mounting ring. The lower part of the outer surface of the plurality of pushing handles is rotatably mounted with a gripper. The outer surfaces of the plurality of grippers away from each other are rotatably mounted with a limit link, the upper end of which is fixedly connected to the lower end of the mounting ring.

[0011] Preferably, the multi-stage telescopic mechanism includes a fixed ring, which is fixedly installed on the inner surface of the mounting ring. The upper end of the fixed ring is fixedly connected to the lower end of the hydraulic chamber, and the inner cavity of the hydraulic chamber communicates with the inner cavity of the fixed ring. A first-stage extension ring is provided in the middle of the inner cavity of the fixed ring, and the lower end of the first-stage extension ring extends to the outside of the fixed ring. A plurality of springs are fixedly connected to the top wall of the inner cavity of the fixed ring at the upper end of the first-stage extension ring. The inner cavity of the first-stage extension ring communicates with the inner cavity of the fixed ring. A second-stage extension ring is provided in the middle of the inner cavity of the first-stage extension ring, and the lower end of the second-stage extension ring extends to the outside of the first-stage extension ring. A plurality of springs are fixedly connected to the top wall of the inner cavity of the first-stage extension ring at the upper end of the second-stage extension ring. A limit ring is provided at the lower part of the inner surface of the fixed ring.

[0012] Preferably, the inner wall fixing mechanism includes a fixed seat, the upper end of which is fixedly connected to the lower end of the secondary extension ring. A control handle is provided at the lower end of the fixed seat. A slip ring is slidably installed on the middle of the outer surface of the control handle. A tapered member is provided on the lower part of the outer surface of the control handle. A spring is provided on the outer side of the upper end of the tapered member and fixedly connected to the lower end of the slip ring. Multiple support handles are rotatably installed on the middle of the outer surface of the slip ring. The middle parts of the multiple support handles are rotatably connected to the outer surface of the control handle through connecting rods.

[0013] Preferably, the control handle includes a fixed connecting rod, the upper end of which is fixedly connected to the lower end of the fixed seat. A push rod is slidably installed in the lower part of the inner cavity of the fixed connecting rod, the lower end of which extends to the outside of the fixed connecting rod. The lower part of the outer surface of the push rod is fixedly connected to the inner surface of the tapered member. A pull rod is provided at the upper end of the push rod, which extends to the inner side of the fixed ring. The pull rod is adapted to be used with the support handle.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, through the coordinated operation of a mobile chassis, a multi-angle robotic arm, a connecting mechanism, an extension device, and a gripping component, the entire process of automatically grabbing, transferring, feeding yarn, and unloading waste yarn bars is automated, eliminating the need for frequent manual intervention, effectively reducing labor intensity, and significantly improving the continuous operation efficiency of textile production lines.

[0015] 2. In this invention, the diameter of the circle formed by the multiple gripping components can be flexibly adjusted by the extension device, which can be adapted to yarn bobbins of different specifications and yarn bobbin installation positions of different sizes on textile machines. At the same time, the multi-angle robotic arm has multiple joint rotational degrees of freedom, which can match the distributed yarn feeding needs of multiple textile machines and has a wide range of applications.

[0016] 3. In this invention, the clamping component integrates two gripping structures: a clamping mechanism and an inner wall fixing mechanism. The choice can be made flexibly according to the working scenario: for yarn bars that are precisely positioned in the tray, the inner wall fixing mechanism is used for precise gripping; for waste yarn bars that are installed on the textile machine with large positional deviations, the clamping mechanism is used for external clamping. This balances gripping accuracy and operational error tolerance, improving the stability and reliability of yarn feeding operations. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the overall structure of the present invention. Figure 3 ; Figure 4 This is a schematic diagram of the overall structure of the present invention. Figure 4 ; Figure 5 This is a schematic diagram of the connecting mechanism, the expansion device, and the clamping component of the present invention; Figure 6 This is a schematic diagram of the connection mechanism structure of the present invention; Figure 7 This is a schematic diagram of the connector structure of the present invention; Figure 8 This is a schematic diagram of the expansion device structure of the present invention; Figure 9 This is a schematic diagram of the clamping component assembly of the present invention; Figure 10 This is a schematic diagram of the clamping component structure of the present invention. Figure 1 ; Figure 11 This is a schematic diagram of the clamping component structure of the present invention. Figure 2 ; Figure 12 This is a schematic diagram of the clamping mechanism of the present invention. Figure 1 ; Figure 13 This is a schematic diagram of the clamping mechanism of the present invention. Figure 2 ; Figure 14 This is a schematic diagram of the multi-stage telescopic mechanism structure of the present invention. Figure 1 ; Figure 15 This is a schematic diagram of the multi-stage telescopic mechanism structure of the present invention. Figure 2 ; Figure 16 This is a schematic diagram of the control handle structure of the present invention.

[0018] The components represented by each number in the attached diagram are listed below: 1. Movable chassis; 11. Placement platform; 2. Base; 3. Multi-angle robotic arm; 4. Connecting mechanism; 41. Fixed cylinder; 42. Hydraulic cylinder; 43. Fixed plate; 44. Connecting component; 441. Connecting ring; 442. Connecting handle; 5. Extension device; 51. Mounting plate; 52. Extending handle; 521. Limiting handle; 53. Gear plate; 54. Limiting hole; 55. Gear; 56. Motor; 6. Clamping component; 61. Mounting ring; 611. Fixed... 62. Fixed block; 621. Clamping mechanism; 622. Connecting plate; 623. Push handle; 624. Gripper; 625. Limiting link; 63. Hydraulic chamber; 64. Inner wall fixing mechanism; 641. Fixed seat; 642. Control handle; 6421. Fixed link; 6422. Push rod; 6423. Pull rod; 643. Slip ring; 644. Conical part; 645. Support handle; 65. Multi-stage telescopic mechanism; 651. Fixed ring; 652. First-stage extension ring; 653. Second-stage extension ring; 654. Limiting ring. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1, as Figure 1 - Figure 16 As shown, this embodiment discloses an automatic yarn feeding robot, including a movable chassis 1. Placement platforms 11 are provided on both sides of the upper end of the movable chassis 1. A base 2 is provided in the middle of the upper end of the movable chassis 1. A multi-angle robotic arm 3 is provided on the upper end of the base 2. A connecting mechanism 4 is provided at the upper connecting end of the multi-angle robotic arm 3. An extension device 5 is provided at the lower end of the connecting mechanism 4. Multiple gripping parts 6 are provided on the outer surface of the extension device 5.

[0021] Specifically, during the yarn feeding operation, the mobile chassis 1 can drive the multi-angle robotic arm 3 to move along a preset trajectory. Multiple textile machines are arranged on this trajectory. During the movement of the mobile chassis 1, the multi-angle robotic arm 3, through the extension device 5 and the clamping component 6, cooperates to clamp the yarn bar and complete the feeding action.

[0022] Furthermore, the placement platforms 11 on both sides of the upper end of the mobile chassis 1 can hold auxiliary components such as material trays that carry yarn bars, so that the extension device 5 and the clamping component 6 can quickly clamp the yarn bars and improve the feeding efficiency.

[0023] Furthermore, the multi-angle robotic arm 3 can drive the extension device 5 and gripping component 6 through the connecting mechanism 4 to achieve multi-directional movement. Each of its joints has rotational freedom, which can flexibly adapt to the yarn feeding operation needs under different working conditions and improve the versatility of the equipment.

[0024] To secure the extension device 5, multiple gripping components 6 are driven to operate in concert, such as... Figure 6 As shown, the connecting mechanism 4 includes a fixed cylinder 41, which is fixedly installed on the connecting end of the upper part of the multi-angle robotic arm 3. A hydraulic cylinder 42 is provided in the middle of the fixed cylinder 41, and a connecting piece 44 is provided at the output end of the hydraulic cylinder 42. A fixed plate 43 is provided at the lower end of the fixed cylinder 41.

[0025] Furthermore, such as Figure 7 As shown, the connector 44 includes a connecting ring 441, the inner wall of the middle part of the connecting ring 441 is fixedly connected to the output end of the hydraulic cylinder 42, and the outer surface of the connecting ring 441 is provided with connecting handles 442 in an array.

[0026] Specifically, the fixing cylinder 41 securely fixes the extension device 5 through the fixing plate 43; at the same time, when the clamping component 6 performs the yarn bar clamping action, the connecting component 44 is driven by the hydraulic cylinder 42, thereby driving multiple clamping components 6 to work together to achieve synchronous clamping and fixing of the yarn bar by multiple clamping components 6.

[0027] To achieve adjustable diameter of the circle formed by the multiple clamping components 6, the extension device 5 can adaptively adjust according to the diameter of the yarn bar mounting station on the textile machine. Simultaneously, during the process of the multiple clamping components 6 clamping the yarn bar, by reducing the diameter of the circle enclosed by the multiple clamping components 6, the yarn bar carrying platform can accommodate more yarn bars, improving feeding continuity. Figure 8 As shown, the extension device 5 includes a mounting plate 51, the upper end of which is fixedly connected to the lower end of a fixed plate 43. Multiple extension handles 52 are slidably mounted on the lower inner wall of the mounting plate 51. Limit handles 521 are provided on the side of the lower ends of the multiple extension handles 52 that are close to each other. A gear plate 53 is rotatably mounted on the lower middle part of the mounting plate 51. Multiple limit holes 54 are arrayed on the outer side of the middle part of the gear plate 53. The multiple limit handles 521 are respectively adapted to the multiple limit holes 54. A gear 55 is provided on the outer side of the lower end of the mounting plate 51. The gear 55 meshes with the gear plate 53. A motor 56 is provided on the outer side of the upper end of the mounting plate 51. The output end of the motor 56 passes through the mounting plate 51 and is fixedly connected to the middle part of the gear 55.

[0028] Specifically, when it is necessary to adjust the diameter of the circle enclosed by multiple clamping components 6, the motor 56 drives the gear disk 53 to rotate through the gear 55. During the rotation of the gear disk 53, the multiple limiting holes 54 opened therein drive multiple protruding handles 52 to slide along the inner wall of the mounting plate 51 through the corresponding limiting handles 521. Then, the multiple protruding handles 52 drive the corresponding clamping components 6 to move synchronously, so as to achieve precise adjustment of the clamping diameter.

[0029] Example 2 further improves upon Example 1 by modifying the clamping component 6 to achieve stable clamping of the yarn bar. It also provides two pick-and-place methods, enhancing equipment adaptability. Figure 9 - Figure 11 As shown, the clamping component 6 includes a mounting ring 61. A fixing block 611 is provided on one side of the outer surface of the mounting ring 61. The fixing block 611 is fixedly connected to the outer surface of the corresponding protruding handle 52. A clamping mechanism 62 is provided on the outer side of the middle part of the mounting ring 61. A multi-stage telescopic mechanism 65 is provided on the inner surface of the mounting ring 61. A hydraulic cavity 63 is provided at the upper end of the multi-stage telescopic mechanism 65. An inner wall fixing mechanism 64 is provided at the protruding end of the multi-stage telescopic mechanism 65.

[0030] Specifically, when the hydraulic cylinder 42 is activated, its output end drives the clamping mechanism 62 to move through the connector 44. When the hydraulic cylinder 42 drives the connector 44 to move the clamping mechanism 62 upward, the clamping mechanism 62 completes the clamping of the yarn bar. When it moves downward, the clamping mechanism 62 unfolds outward to loosen the clamp. When the clamping mechanism 62 unfolds to a preset angle, the lower part of the connecting plate 621 contacts the hydraulic cavity 63 and triggers the hydraulic cavity 63 to move, causing the hydraulic oil in the inner cavity of the hydraulic cavity 63 to be injected into the inner cavity of the multi-stage telescopic mechanism 65, driving the multi-stage telescopic mechanism 65 to extend, thereby driving the inner wall fixing mechanism 64 to move downward, so that the inner wall fixing mechanism 64 extends into the inner cavity of the yarn bar. When the inner wall fixing mechanism 64 moves downward to the preset position, it unfolds itself, forming support for the inner surface of the yarn bar, thus fixing the inner wall of the yarn bar. Subsequently, the multi-angle robotic arm 3 drives the extension device 5 and the clamping component 6 to move through the connecting mechanism 4, transferring the yarn bar to the preset installation position.

[0031] Furthermore, when the multi-angle robotic arm 3 drives the extension device 5 and the connecting mechanism 4 to grip the yarn bar on the placement platform 11, precise gripping can be achieved through the inner wall fixing mechanism 64; when it is necessary to remove the yarn bar that has been used up on the textile machine, since there is a deviation in the installation position of the yarn bar on the textile machine, it can be flexibly gripped through the gripping mechanism 62, thereby improving the reliability of the operation.

[0032] To achieve stable clamping of the yarn bar, such as Figure 12 and Figure 13As shown, the clamping mechanism 62 includes a connecting plate 621. The upper end of the connecting plate 621 is fixedly connected to the outer surface of the corresponding connecting handle 442 away from the fixed cylinder 41. The lower end of the connecting plate 621 is provided with a plurality of pushing handles 622. The plurality of pushing handles 622 are slidably mounted on the inner wall of the mounting ring 61. The lower part of the outer surface of the plurality of pushing handles 622 is rotatably mounted with a gripper 623. The outer surface of the plurality of grippers 623 is rotatably mounted on the side away from each other. The upper end of the plurality of limiting links 624 is fixedly connected to the lower end of the mounting ring 61.

[0033] Specifically, when the hydraulic cylinder 42 drives the connecting plate 621 to move downward through the connecting member 44, the connecting plate 621 drives the corresponding grippers 623 to rotate outward through multiple push handles 622, thereby unfolding the gripping mechanism 62. When the hydraulic cylinder 42 drives the connecting plate 621 to move upward, the multiple push handles 622 drive the corresponding grippers 623 to rotate inward, thereby clamping the yarn bar through the multiple grippers 623.

[0034] To drive the inner wall fixing mechanism 64 to move downward, such as Figure 14 and Figure 15 As shown, the multi-stage telescopic mechanism 65 includes a fixed ring 651, which is fixedly installed on the inner surface of the mounting ring 61. The upper end of the fixed ring 651 is fixedly connected to the lower end of the hydraulic chamber 63, and the inner cavity of the hydraulic chamber 63 communicates with the inner cavity of the fixed ring 651. A first-stage extension ring 652 is provided in the middle of the inner cavity of the fixed ring 651, and the lower end of the first-stage extension ring 652 extends to the outside of the fixed ring 651. A plurality of springs are provided at the upper end of the first-stage extension ring 652 and fixedly connected to the top wall of the inner cavity of the fixed ring 651. The inner cavity of the first-stage extension ring 652 communicates with the inner cavity of the fixed ring 651. A second-stage extension ring 653 is provided in the middle of the inner cavity of the first-stage extension ring 652, and the lower end of the second-stage extension ring 653 extends to the outside of the first-stage extension ring 652. A plurality of springs are provided at the upper end of the second-stage extension ring 653 and fixedly connected to the top wall of the inner cavity of the first-stage extension ring 652. A limit ring 654 is provided at the lower part of the inner surface of the fixed ring 651.

[0035] Specifically, when the hydraulic cylinder 42 drives the connecting plate 621 to move downward to a preset distance, the connecting plate 621 contacts the upper part of the hydraulic cavity 63 and squeezes the hydraulic cavity 63, causing the hydraulic oil in the inner cavity of the hydraulic cavity 63 to be injected into the inner cavity of the fixing ring 651, and then flows into the inner cavity of the first-stage extension ring 652. The hydraulic oil injected into the inner cavity of the fixing ring 651 pushes the first-stage extension ring 652 to move downward, and the hydraulic oil injected into the inner cavity of the first-stage extension ring 652 pushes the second-stage extension ring 653 to move downward. During this process, spring one and spring two are stretched, and the first-stage extension ring 652 and the second-stage extension ring 653 move downward synchronously, driving the inner wall fixing mechanism 64 to move downward synchronously.

[0036] Furthermore, after the inner wall fixing mechanism 64 places the yarn bar in the preset position, the connecting plate 621 resets upward. At this time, the hydraulic chamber 63 draws back the hydraulic oil in the inner cavity of the fixing ring 651, and the springs one and two elastically reset, assisting the first-stage extension ring 652 and the second-stage extension ring 653 to return to their initial positions, preparing for the next operation.

[0037] To achieve multi-mode clamping of yarn bars and improve equipment adaptability, such as Figure 14 As shown, the inner wall fixing mechanism 64 includes a fixing seat 641. The upper end of the fixing seat 641 is fixedly connected to the lower end of the secondary extension ring 653. A control handle 642 is provided at the lower end of the fixing seat 641. A slip ring 643 is slidably installed in the middle of the outer surface of the control handle 642. A tapered part 644 is provided in the lower part of the outer surface of the control handle 642. A spring 643 is provided on the outer side of the upper end of the tapered part 644 and is fixedly connected to the lower end of the slip ring 643. Multiple support handles 645 are rotatably installed in the middle of the outer surface of the slip ring 643. The middle of the multiple support handles 645 and the outer surface of the control handle 642 are rotatably connected through connecting rods.

[0038] To drive the conical component 644 to move, and in turn, to drive the slip ring 643 to move, as follows: Figure 16 As shown, the control handle 642 includes a fixed connecting rod 6421. The upper end of the fixed connecting rod 6421 is fixedly connected to the lower end of the fixed seat 641. A push rod 6422 is slidably installed in the lower part of the inner cavity of the fixed connecting rod 6421. The lower end of the push rod 6422 extends to the outside of the fixed connecting rod 6421. The lower part of the outer surface of the push rod 6422 is fixedly connected to the inner surface of the tapered member 644. A pull rod 6423 is provided at the upper end of the push rod 6422. The pull rod 6423 extends to the inner side of the fixed ring 651. The pull rod 6423 is adapted to be used with the support handle 645.

[0039] Specifically, during the downward extension of the multi-stage telescopic mechanism 65, when the multi-stage telescopic mechanism 65 drives the inner wall fixing mechanism 64 to move downward to a preset distance, the pull rod 6423 contacts the upper end of the limiting ring 654. Subsequently, the multi-stage telescopic mechanism 65 continues to drive the inner wall fixing mechanism 64 to move downward, while the pull rod 6423 cannot continue to move downward under the limiting action of the limiting ring 654. Then, the push rod 6422 drives the tapered part 644 to move upward. The tapered part 644 drives the slip ring 643 to move upward synchronously through the spring. The slip ring 643 pushes multiple support handles 645 to rotate upward, so that the support handles 645 unfold outward under the limiting action of the connecting rod. Then, the multiple support handles 645 form a stable support for the inner surface of the yarn bar, thereby achieving the fixation of the inner wall of the yarn bar.

[0040] Furthermore, the spring three can act as a buffer to prevent the support handle 645 from applying excessive pressure to the inner surface of the yarn bar, thus preventing damage to the yarn bar and ensuring its normal use in the future.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic yarn feeding robot, comprising a movable chassis (1), characterized in that: The mobile chassis (1) has a placement platform (11) on both sides of its upper end. The mobile chassis (1) has a base (2) in the middle of its upper end. The base (2) has a multi-angle robotic arm (3) at its upper end. The multi-angle robotic arm (3) has a connecting mechanism (4) at its upper connecting end. The connecting mechanism (4) has an extension device (5) at its lower end. The extension device (5) has multiple gripping parts (6) on its outer surface.

2. The automatic yarn feeding robot according to claim 1, characterized in that: The connecting mechanism (4) includes a fixed cylinder (41), which is fixedly installed on the connecting end of the upper part of the multi-angle robotic arm (3). A hydraulic cylinder (42) is provided in the middle of the fixed cylinder (41), and a connector (44) is provided at the output end of the hydraulic cylinder (42). A fixed plate (43) is provided at the lower end of the fixed cylinder (41).

3. The automatic yarn feeding robot according to claim 2, characterized in that: The connector (44) includes a connecting ring (441), the inner wall of the middle part of the connecting ring (441) is fixedly connected to the output end of the hydraulic cylinder (42), and the outer surface of the connecting ring (441) is provided with connecting handles (442).

4. The automatic yarn feeding robot according to claim 1, characterized in that: The extension device (5) includes a mounting plate (51), the upper end of which is fixedly connected to the lower end of a fixed plate (43). Multiple extension handles (52) are slidably mounted on the lower inner wall of the mounting plate (51). Limit handles (521) are provided on the side of the lower ends of the multiple extension handles (52) that are close to each other. A gear plate (53) is rotatably mounted on the lower middle part of the mounting plate (51). Multiple limit holes (54) are arrayed on the outer side of the middle part of the gear plate (53). The multiple limit handles (521) are adapted to the multiple limit holes (54) respectively. A gear (55) is provided on the outer side of the lower end of the mounting plate (51). The gear (55) meshes with the gear plate (53). A motor (56) is provided on the outer side of the upper end of the mounting plate (51). The output end of the motor (56) passes through the mounting plate (51) and is fixedly connected to the middle part of the gear (55).

5. The automatic yarn feeding robot according to claim 3, characterized in that: The clamping component (6) includes a mounting ring (61), a fixing block (611) is provided on one side of the outer surface of the mounting ring (61), the fixing block (611) is fixedly connected to the outer surface of the corresponding extension handle (52), a clamping mechanism (62) is provided on the outer side of the middle part of the mounting ring (61), a multi-stage telescopic mechanism (65) is provided on the inner surface of the mounting ring (61), a hydraulic cavity (63) is provided at the upper end of the multi-stage telescopic mechanism (65), and an inner wall fixing mechanism (64) is provided at the extension end of the multi-stage telescopic mechanism (65).

6. The automatic yarn feeding robot according to claim 5, characterized in that: The clamping mechanism (62) includes a connecting plate (621). The upper end of the connecting plate (621) is fixedly connected to the side of the outer surface of the corresponding connecting handle (442) away from the fixed cylinder (41). The lower end of the connecting plate (621) is provided with a plurality of push handles (622). The plurality of push handles (622) are slidably mounted on the inner wall of the mounting ring (61). The lower part of the outer surface of the plurality of push handles (622) is rotatably mounted with a gripper (623). The side of the outer surface of the plurality of grippers (623) away from each other is rotatably mounted with a limit link (624). The upper end of the plurality of limit links (624) is fixedly connected to the lower end of the mounting ring (61).

7. The automatic yarn feeding robot according to claim 5, characterized in that: The multi-stage telescopic mechanism (65) includes a fixed ring (651), which is fixedly installed on the inner surface of the mounting ring (61). The upper end of the fixed ring (651) is fixedly connected to the lower end of the hydraulic cavity (63), and the inner cavity of the hydraulic cavity (63) communicates with the inner cavity of the fixed ring (651). A first-stage extension ring (652) is provided in the middle of the inner cavity of the fixed ring (651). The lower end of the first-stage extension ring (652) extends to the outside of the fixed ring (651). The upper end of the first-stage extension ring (652) is provided with multiple... A spring is fixedly connected to the top wall of the inner cavity of the fixed ring (651). The inner cavity of the first-stage extension ring (652) is connected to the inner cavity of the fixed ring (651). A second-stage extension ring (653) is provided in the middle of the inner cavity of the first-stage extension ring (652). The lower end of the second-stage extension ring (653) extends to the outside of the first-stage extension ring (652). A plurality of springs are fixedly connected to the top wall of the inner cavity of the first-stage extension ring (652) at the upper end of the second-stage extension ring (653). A limit ring (654) is provided on the lower part of the inner surface of the fixed ring (651).

8. The automatic yarn feeding robot according to claim 7, characterized in that: The inner wall fixing mechanism (64) includes a fixing seat (641), the upper end of which is fixedly connected to the lower end of the secondary extension ring (653). A control handle (642) is provided at the lower end of the fixing seat (641). A slip ring (643) is slidably installed in the middle of the outer surface of the control handle (642). A tapered part (644) is provided at the lower part of the outer surface of the control handle (642). A spring three is provided on the outer side of the upper end of the tapered part (644) and fixedly connected to the lower end of the slip ring (643). Multiple support handles (645) are rotatably installed in the middle of the outer surface of the slip ring (643). The middle of the multiple support handles (645) and the outer surface of the control handle (642) are rotatably connected by a connecting rod.

9. The automatic yarn feeding robot according to claim 8, characterized in that: The control handle (642) includes a fixed connecting rod (6421), the upper end of which is fixedly connected to the lower end of the fixed seat (641). A push rod (6422) is slidably installed in the lower part of the inner cavity of the fixed connecting rod (6421). The lower end of the push rod (6422) extends to the outside of the fixed connecting rod (6421). The lower part of the outer surface of the push rod (6422) is fixedly connected to the inner surface of the tapered member (644). A pull rod (6423) is provided at the upper end of the push rod (6422). The pull rod (6423) extends to the inner side of the fixed ring (651). The pull rod (6423) is adapted to the support handle (645).

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