A yarn feeding device and a yarn feeding method

Abstract

The application provides a raw silk frame silk mounting device and a silk mounting method, and relates to the field of automatic chemical fiber equipment. The raw silk frame silk mounting device comprises a silk hanging rod, a raw silk frame, a moving bearing platform and a grabbing device. The silk hanging rod is fixedly arranged on the raw silk frame and is used for hanging a raw silk bobbin. An equipment running area is formed between two adjacent rows of raw silk frames, and the moving bearing platform is movable at the equipment running area. The grabbing device is rotationally connected to the moving bearing platform. The grabbing device comprises joint arms and a moving joint. The number of the joint arms is at least two, and the adjacent joint arms are rotationally connected. The joint arms can rotate in a horizontal plane. The moving joint is located on the last joint arm and is used for extending into a cavity of a blank bobbin or a raw silk bobbin. The raw silk frame silk mounting device and the silk mounting method eliminate the beat loss and mechanical complexity caused by the rotation of the silk hanging rod, realize the simplification of the structure and the optimization of the beat, improve the operation efficiency, and provide safety protection for personnel operation.

Description

Technical Field

[0001] This invention relates to the field of chemical fiber automation equipment technology, and in particular to a raw filament rack feeding device and feeding method. Background Technology

[0002] In the chemical fiber texturing workshop (DTY) production process, the loading of polyester pre-oriented yarn (POY) is a key process to ensure the continuous operation of the production line. Traditionally, the loading process relies entirely on manual labor for handling, hanging, finding the yarn head, and knotting, which has problems such as high labor intensity, long processing time per spindle, high labor costs, and safety hazards caused by falling yarn spindles.

[0003] With the advancement of automation transformation, a semi-automatic solution has emerged in the industry, consisting of robots gripping and feeding yarn while manual knotting. Although this solution replaces heavy manual handling, it has the following systemic drawbacks: the robot's yarn feeding channel and the manual knotting area physically overlap, requiring the configuration of complex safety fences and interlocking systems, which occupies valuable workshop space; the automatic yarn feeding and manual knotting are sequential, and the robot must wait for the manual to complete the knotting and leave before it can enter the next cycle, thus forcing a longer cycle time per spindle.

[0004] In existing technologies, such as TMT's filament feeding roll installation system, filament feeding frame and bobbin frame robot related patents, the existing raw filament frame hanging rods all need to be equipped with a rotary drive mechanism to rotate the filament spindle from the inside towards the working position to the outside towards the hanging position. After the hanging rod on the raw filament frame is rotated into place under the drive of the rotary mechanism, the robot of the filament feeding equipment picks up and puts the paper tube from the hanging rod.

[0005] The applicant has discovered the following drawbacks in existing yarn feeding equipment when adapting it to the rotating mechanism of the yarn feeder:

[0006] From a cycle efficiency perspective, the rotation of the yarn guide increases auxiliary time, directly extending the yarn feeding cycle of a single spindle; accumulated time delays may lead to asynchrony with the texturing host and conveyor line cycles, creating a bottleneck. From a structural complexity perspective, the raw yarn frame needs to be equipped with a rotating mechanism, which also requires the POY raw yarn automated yarn feeding equipment to be compatible, increasing system complexity and coordination difficulty; the rotation trajectory must avoid surrounding spindles and guide components, and the layout is limited, requiring precise locking after rotation, which places high demands on processing and assembly. From a reliability perspective, incomplete or excessive rotation causes the gripping device of the automated yarn feeding equipment to fail to align with the spindle; during rotation, the yarn swings and interferes with and becomes entangled with adjacent spindles.

[0007] In summary, although the rotating yarn hanger on the yarn holder solves the problem of yarn accessibility, it exposes systemic defects such as cycle time loss, complex structure, and low reliability in automated scenarios, becoming a key bottleneck restricting the promotion of polyester pre-oriented yarn (POY) yarn feeding technology. Summary of the Invention

[0008] The purpose of this invention is to provide a yarn feeding device and method for a raw yarn frame, to solve the technical problems in the prior art where the rotatable yarn hanging rod on the raw yarn frame requires a rotating mechanism to achieve the rotation of the hanging rod, resulting in low working efficiency and poor reliability when the yarn feeding equipment is connected to the hanging rod for yarn feeding operations. The various technical effects of the preferred technical solutions provided by this invention are detailed below.

[0009] To achieve the above objectives, the present invention provides the following technical solution: The raw yarn feeding device provided by the present invention includes a yarn hanging rod, a raw yarn frame, a movable support platform, and a gripping device, wherein: The wire hanging rod is fixedly installed on the raw wire frame and is used to suspend the raw wire roll; A device travel area is formed between two adjacent rows of the original wire frames, and the mobile support platform can move within the device travel area; The gripping device is rotatably connected to the mobile support platform. The gripping device includes articulated arms and movable joints. There are at least two articulated arms, and adjacent articulated arms are rotatably connected. The articulated arms can rotate in the horizontal plane. The movable joint is located on the farthest articulated arm and is used to extend into the cavity of an empty paper tube or raw silk roll.

[0010] Preferably, the movable joint includes a joint rod and a boss, wherein: The distal joint arm is provided with a limiting guide rail, the boss is located inside the limiting guide rail and can move horizontally along the limiting guide rail, the joint rod is fixedly connected to the boss, and the joint rod is used to extend into the cavity of the empty paper tube or the raw silk roll.

[0011] Preferably, the articulated arm includes a first articulated arm, a second articulated arm, and a third articulated arm, wherein: One end of the first articulated arm is rotatably connected to the mobile support platform. The first articulated arm, the second articulated arm, and the third articulated arm are rotatably connected in sequence, and the rotation axes of the three are all set vertically, so that the first articulated arm, the second articulated arm, and the third articulated arm all rotate in a horizontal plane. The limiting guide rail is provided on the third joint arm, and the limiting guide rail is arranged opposite to the rotation axis of the third joint arm.

[0012] Preferably, the limiting guide rail is arranged along the width direction of the third joint arm.

[0013] Preferably, the gripping device further includes a lifting seat, which is vertically movable on the mobile support platform, and the articulated arm at the starting end is rotatably connected to the lifting seat.

[0014] Preferably, the mobile support platform is provided with a material rack, which is located at one end or opposite ends of the mobile support platform, and the gripping device is located in the middle of the mobile support platform.

[0015] Preferably, the material carrier is provided with a raw yarn buffer position and an empty paper tube buffer position. The raw yarn buffer position is used to temporarily suspend the raw yarn roll, and the empty paper tube buffer position is used to temporarily suspend the empty paper tube.

[0016] Preferably, the side of the raw yarn frame away from the travel area of ​​the equipment is the manual knotting area.

[0017] This invention provides a method for feeding raw yarn onto a yarn tray, using the aforementioned raw yarn tray feeding device. The method includes: During the empty paper tube removal stage: S101. The mobile carrying platform is located in the travel area of ​​the equipment and receives an empty paper tube picking instruction. The gripping device is started from the standby position and adjusts its posture through the articulated arm and the movable joint so that the axis of the movable joint is parallel to the axis of the hanging screw. S102, the movable joint moves from the end away from the original silk frame towards the target original silk frame; S103, the articulated arm rotates, the movable joint is inserted into the empty paper tube, and the empty paper tube is lifted to separate it from the original wire frame; S104. After the empty paper tube is removed from the original yarn frame, the articulated arm rotates and the movable joint moves away from the original yarn frame, so that the empty paper tube is away from the original yarn frame. S105. The articulated arm moves toward the mobile support platform, and the mobile joint is directly facing the empty paper tube buffer position on the mobile support platform, storing the empty paper tube in the empty paper tube buffer position. During the spinning stage of the raw yarn: S201. Upon receiving the raw yarn loading instruction, the gripping device adjusts its posture through the articulated arm and the movable joint, so that the axis of the movable joint is parallel to the axis of the raw yarn roll at the raw yarn buffer position on the movable bearing platform. S202, The gripping device is placed near the raw silk buffer position; S203, the articulated arm rotates, the movable joint is inserted into the raw yarn drum, and the raw yarn drum is lifted so that it is disengaged from the raw yarn buffer position; S204. After the raw yarn spool is removed from the raw yarn buffer position, the joint arm rotates and the movable joint moves away from the raw yarn buffer position, so that the raw yarn spool moves away from the raw yarn buffer position. S205. The articulated arm moves toward the target raw yarn frame, and the movable joint faces the target yarn hanging rod, storing the raw yarn roll on the target yarn hanging rod; The gripping device returns to the standby position, and the wire feeding cycle is completed.

[0018] Preferably, the side of the raw yarn frame away from the equipment's travel area is the manual knotting area; When the gripping device performs the action of taking out empty paper tubes or feeding raw yarn, the manual operator simultaneously performs the yarn end finding and knotting operation in the manual knotting area, so as to realize the parallel operation of yarn feeding and manual knotting.

[0019] The yarn feeding device and method provided by this invention have the following advantages compared with the prior art: Without altering the original structure of the yarn feeder, the rotating mechanism on the yarn feeder is eliminated; utilizing a movable carrier platform and a multi-degree-of-freedom gripping device, the process of taking empty paper tubes and feeding yarn is achieved through a translational-rotational composite motion. The motion trajectory of the gripping device does not physically interfere with the structure of the yarn feeder, avoiding tension fluctuations and yarn spindle damage caused by path conflicts, thus ensuring the unwinding quality of the yarn cake and the stability of subsequent texturing processes. This yarn feeding device and method eliminates the cycle time loss and mechanical complexity caused by the rotation of the hanging rod, achieving structural simplification and cycle time optimization, improving operational efficiency while providing safety assurance for personnel operation. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the original wire frame in this embodiment; Figure 2 This is a schematic diagram of the structure of the mobile support platform and the gripping device in this embodiment; Figure 3 This is a schematic diagram of the gripping device; Figure 4 This is a schematic diagram of the overall structure of the original wire frame feeding device; Figure 5 ad is a schematic diagram of the different states of the original yarn feeder during the empty paper tube removal stage; Figure 6 "ad" is a schematic diagram of the different states of the raw yarn feeding device during the raw yarn feeding stage.

[0022] In the diagram: 10, raw filament; 20, empty paper tube; 30, raw filament roll; 1. Wire rod holder; 11. Wire hanging rod; 12. Support frame; 2. Mobile support platform; 21. Material rack; 22. Raw yarn buffer position; 23. Empty paper tube buffer position; 3. Gripping device; 301. Limiting guide rail; 31. Articulated arm; 311. First articulated arm; 312. Second articulated arm; 313. Third articulated arm; 32. Moving joint; 321. Articulated rod; 322. Boss; 33. Lifting seat. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0024] In the description of this invention, it should be understood that the terms "center," "length," "width," "height," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and "side," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0025] This invention provides a raw yarn feeder device and method that eliminates cycle time loss and mechanical complexity caused by rotation, simplifies the structure and optimizes the cycle time, and improves work efficiency while providing safety assurance for personnel operation.

[0026] The following is combined with Figures 1-6 The technical solution provided by this invention will be described in more detail below.

[0027] Example 1 See Figures 1-6 As shown, the yarn feeding device of the yarn rack 1 provided by the present invention is suitable for polyester pre-oriented yarn (POY) and is applied to the yarn supply process in the texturing workshop (DTY).

[0028] The yarn feeding device of the yarn rack 1 includes a yarn hanging rod 11, a yarn rack 1, a movable support platform 2, and a gripping device 3. The yarn hanging rod 11 is fixedly installed on the yarn rack 1 and is used to suspend the yarn roll 30. A device travel area is formed between two adjacent rows of yarn racks 1, and the movable support platform 2 can move in the device travel area. The gripping device 3 is rotatably connected to the movable support platform 2. The gripping device 3 includes a joint arm 31 and a movable joint 32. There are two or more joint arms 31, and adjacent joint arms 31 are rotatably connected. The joint arms 31 can rotate in the horizontal plane. The movable joint 32 is located on the last joint arm 31 and is used to extend into the cavity of the empty paper roll 20 or the yarn roll 30.

[0029] See Figure 1 The raw yarn holder 1 includes a hanging rod 11 and a support frame 12. The hanging rod 11 is fixed on the support frame 12 and provides a support structure for suspending the raw yarn roll 30 or the empty paper roll 20. The support frame 12 carries multiple hanging rods 11 to form a storage array of raw yarn rolls 30 or empty paper rolls 20.

[0030] See Figure 2 The mobile support platform 2 can be mounted on a guided rail vehicle (RGV) or an electric rail trolley (EMS) to enable movement within the equipment's operating area. The mobile support platform 2 is used to carry the gripping device 3 and move it within the equipment's operating area.

[0031] Among them, empty paper tube 20 refers to a paper tube in an unloaded state, and raw filament roll 30 (or POY filament spindle) refers to a paper tube with raw filament roll.

[0032] See Figure 3 The movable joint 32, as the end effector of the gripping device 3, can extend into the cavity of the raw yarn roll 30 or the empty paper roll 20 to realize the transfer of the raw yarn roll 30 or the empty paper roll 20.

[0033] The gripping device 3 has at least two articulated arms 31, providing sufficient degrees of freedom to perform complex gripping actions. Adjacent articulated arms 31 are rotatably connected, for example, by means of pins or bearings, to achieve relative rotation between the articulated arms 31, enabling gripping at multiple angles and in multiple directions.

[0034] In this embodiment, the mobile support platform 2 moves within the equipment's travel area, cooperating with a rotating gripping device 3. The gripping device 3 includes multiple articulated arms 31 that can rotate in the horizontal plane and a movable joint 32 at the end, which can flexibly extend into the cavity of the raw yarn roll 30 or the empty paper roll 20, thereby transferring the raw yarn roll 30 or the empty paper roll 20. This achieves efficient handling and placement of the raw yarn roll 30 or the empty paper roll 20, effectively reducing manual labor intensity, shortening the single-spindle operation cycle, and improving the overall safety and efficiency of the yarn loading operation.

[0035] As an alternative implementation, see [link to implementation details]. Figure 3 The movable joint 32 in this embodiment includes a joint rod 321 and a boss 322. The distal joint arm 31 is provided with a limiting guide rail 301. The boss 322 is located inside the limiting guide rail 301 and can move horizontally along the limiting guide rail 301. The joint rod 321 is fixedly connected to the boss 322. The joint rod 321 is used to extend into the cavity of the empty paper tube 20 or the raw silk roll 30.

[0036] See Figure 3 The limiting guide rail 301 is located on the far end of the articulated arm 31, providing a preset movement trajectory and range for the boss 322. The boss 322 is located within the limiting guide rail 301 and moves synchronously with the articulated rod 321.

[0037] Specifically, a linear screw or similar mechanism can be installed within the distal articulated arm 31. A motor drives the linear screw to rotate, and a slider is threaded onto the linear screw. The slider slides linearly within the distal articulated arm 31, and the boss 322 is fixed to the slider, thus achieving linear movement of the slider and boss 322 driven by the motor. Alternatively, a gear and rack transmission mechanism can be used to achieve lateral movement of the articulated rod 321. This is a conventional configuration and will not be elaborated upon here.

[0038] In this embodiment, after the joint arm 31 has rotated into position, the gripping device 3 can still align with the cavity of the empty paper tube 20 or the yarn roll 30 by locally moving the joint 32 horizontally, improving alignment accuracy and operational flexibility. Especially when there are slight deviations in the position of the cavity or when rapid insertion is required, this structure can effectively compensate for errors, ensuring that the joint rod 321 is inserted into the cavity stably and smoothly, improving the success rate and efficiency of yarn loading operations, and reducing the risk of equipment wear or yarn roll damage caused by misalignment.

[0039] As an alternative implementation, see [link to implementation details]. Figure 3 The articulated arm 31 includes a first articulated arm 311, a second articulated arm 312, and a third articulated arm 313. One end of the first articulated arm 311 is rotatably connected to the mobile support platform 2. The first articulated arm 311, the second articulated arm 312, and the third articulated arm 313 are rotatably connected in sequence, and the rotation axes of the three are all vertically arranged, so that the first articulated arm 311, the second articulated arm 312, and the third articulated arm 313 rotate in a horizontal plane. A limiting guide rail 301 is provided on the third articulated arm 313, and the limiting guide rail 301 is arranged opposite to the rotation axis of the third articulated arm 313.

[0040] See Figure 3The first articulated arm 311 serves as the starting point of the entire articulated arm 31. The first articulated arm 311, the second articulated arm 312, and the third articulated arm 313 are sequentially and rotatably connected to form a multi-jointed robotic arm structure. This structure enhances the flexibility and accessibility of the gripping device 3, enabling it to simulate the movements of a human arm and perform insertion, placement, and other operations in complex spaces. Each connection point typically includes a pivot, allowing relative rotation between adjacent articulated arms 31. All pivots are vertically positioned, ensuring that the movement of the first articulated arm 311, the second articulated arm 312, and the third articulated arm 313 is always confined to the horizontal plane.

[0041] The limiting guide rail 301 is located on the third joint arm 313 at the far end. The movable joint 32 can move horizontally directly at the end of the third joint arm 313, thereby providing more precise positioning capability when gripping or releasing the empty paper tube 20 or the silk tube.

[0042] Specifically, regarding the drive structure of the articulated arm 31, a miniature servo motor or stepper motor can be installed at the pivot of the first articulated arm 311, the second articulated arm 312, and the third articulated arm 313, fixed to the previous articulated arm 31. The motor output shaft is connected to a reducer via a coupling. The output end of the reducer is rigidly connected to a crossed roller bearing or a thin-walled slewing bearing. The inner ring of the bearing is fixed to the pivot, and the outer ring is fixed to the current articulated arm 31. This structure is a conventional drive structure for industrial robots and will not be elaborated further here.

[0043] As an alternative implementation, see [link to implementation details]. Figure 3 The limiting guide rail 301 is set along the width direction of the third joint arm 313. When the joint arm 31 positions the movable joint 32 approximately above the target filament roll or empty paper roll 20, even with slight positioning deviations, the movable joint 32 can align with the central axis of the target roll cavity by moving laterally within the limiting guide rail 301, without having to rotate the entire joint arm 31 significantly, thus improving the success rate and efficiency of inserting the movable joint 32 into the roll cavity.

[0044] See Figure 3 In this embodiment, the upper gripping device 3 adopts a composite structure of an articulated robotic arm and a movable joint 32. The articulated arm 31 achieves multi-degree-of-freedom rotation in the plane through a rotation axis, which can quickly adjust the position and posture of the end movable joint 32 to cover a large working range. The movable joint 32 can translate left and right in the plane along the limiting guide rail 301 for precise alignment of the wire hanging position, completing the gripping and hanging action of the raw wire.

[0045] As an alternative implementation, see [link to implementation details]. Figure 2 and Figure 3The gripping device 3 also includes a lifting seat 33, which is mounted on the mobile support platform 2 and can be raised and lowered. The articulated arm 31 at the starting end is rotatably connected to the lifting seat 33.

[0046] The lifting seat 33 can be lifted using various driving methods. For example, the lifting seat 33 can be moved up and down along the vertical guide rail by rotating the lead screw driven by a motor; or a hydraulic cylinder or pneumatic cylinder can be used to provide smooth and powerful vertical lifting; or a gear and rack mechanism can be used to achieve height adjustment.

[0047] The aforementioned structure allows the gripping device 3 to move vertically, effectively addressing the issue of inconsistent heights of the hanging rods 11 on the yarn tray 1, or compensating for height differences between the empty paper rolls 20, the yarn rolls 30, and the hanging rods 11 on the mobile support platform 2. For example, when it is necessary to remove the empty paper rolls 20 or place the yarn rolls 30 from hanging rods 11 at different heights, the lifting seat 33 can raise or lower the articulated arm 31 system to the target height, ensuring that the moving joint 32 can be smoothly inserted into the tube cavity or that the yarn rolls 30 can be placed on the hanging rods 11. This structure improves the operational adaptability and precision of the yarn loading device, avoids frequent overall height adjustments of the mobile support platform 2, and thus improves the efficiency and flexibility of the entire yarn loading operation.

[0048] As an alternative implementation, see [link to implementation details]. Figure 2 and Figure 4 As shown, a material rack 21 is provided on the mobile carrier platform 2. The material rack 21 is located at one end or opposite ends of the mobile carrier platform 2, and the gripping device 3 is located in the middle of the mobile carrier platform 2.

[0049] The rack 21 is a structure used for temporary storage or buffering of materials to be processed. The rack 21 is provided with at least two storage units or hanging points so that the gripping device 3 can easily perform pick-and-place operations. The rack 21 can be a multi-layer shelf made of a metal frame, or a hanging structure composed of multiple hooks and slots.

[0050] In this embodiment, the mobile carrier platform 2 has a temporary material buffering capacity. After the gripping device 3 removes the empty paper roll 20 from the yarn rack 1, it can be placed directly in the material rack 21 on the mobile carrier platform 2 without having to transport the empty paper roll 20 to an external storage area. Similarly, before the yarn loading operation, the gripping device 3 can directly obtain the yarn roll 30 from the material rack 21 on the mobile carrier platform 2. This layout optimizes the working path of the gripping device 3, reduces the need for long-distance movement of the mobile carrier platform 2 within the equipment's travel area, and improves the efficiency of the yarn loading operation.

[0051] As an alternative implementation, see [link to implementation details]. Figure 2 and Figure 4As shown, the material carrier 21 is provided with a raw yarn buffer position 22 and an empty paper tube buffer position 23. The raw yarn buffer position 22 is used to temporarily suspend the raw yarn roll 30, and the empty paper tube buffer position 23 is used to temporarily suspend the empty paper tube 20.

[0052] The raw yarn buffer position 22 and the empty paper tube buffer position 23 are matched with the size and shape of the raw yarn roll 30 and the empty paper tube 20, respectively. For example, they can be set as a set of positioning pins or hanging rods that are adapted to the inner diameter of the empty paper tube 20, so that the empty paper tube 20 or the raw yarn roll 30 can be stably inserted or suspended.

[0053] The material rack 21 described above has different types of materials stored in an orderly manner in designated areas. When performing pick-and-place tasks, the gripping device 3 can directly locate the corresponding buffer position according to the material type, simplifying the operation path of the gripping device 3.

[0054] As an alternative implementation, see [link to implementation details]. Figure 4 As shown, the side of the original wire frame 1 away from the equipment travel area is the manual knotting area. Figure 4 Area A is the manual knot-tying area, and area B is the equipment travel area.

[0055] In this embodiment, manual knotting and automatic yarn feeding are separated into two independent areas. This not only eliminates the cycle time loss and mechanical complexity caused by the rotation of the yarn hanging frame in the prior art, but also simplifies the structure and optimizes the cycle time. It also solves the problems of manual knotting and yarn feeding not being able to be carried out at the same time and the safety risks of human-machine interaction in the previous solution. This improves work efficiency while providing safety for personnel operation.

[0056] The yarn feeding device of the original yarn frame 1 in this embodiment has the following beneficial effects: Firstly, the motion trajectory is decoupled, eliminating the risk of multi-dimensional interference. Through the active movement of the gripping device 3, precise decoupling of the spatial trajectory is achieved. During the process of taking the empty paper tube 20 and loading the POY filament, the motion trajectory of the gripping device 3 does not physically interfere with the structure of the filament frame 1, and strictly follows the optimal tension trajectory curve of the POY filament. This avoids tension fluctuations and filament damage caused by path conflicts, ensuring the quality of the filament unwinding and the stability of the subsequent texturing process.

[0057] Secondly, the original yarn frame 1 adopts a fixed structure, eliminating the rotating mechanism and its driving, positioning, locking and other auxiliary devices; the yarn feeding equipment replaces the multi-degree-of-freedom robot solution with a translation-rotation composite motion. The simultaneous simplification of the structures of both not only reduces the initial equipment investment cost, but also reduces mechanical wear points and sources of failure, significantly reducing maintenance frequency and operation and maintenance costs.

[0058] Third, human-machine space is isolated. The equipment's operating area and the manual knotting area are physically separated. The yarn feeding equipment operates in a closed loop between the raw yarn rack 1, the raw yarn buffer position 22, and the empty paper tube buffer position 23. Workers only work in the independent knotting area. This eliminates the risk of overlap between the robotic arm and the worker's working area in the robotic yarn feeding solution, and eliminates the need to rely on passive protection measures such as safety fences and light grids, thus achieving inherent safety.

[0059] Fourth, the automatic yarn feeding and manual knotting processes have been transformed from a sequential waiting process to a parallel and independent one. Once the equipment finishes storing the yarn spindle (i.e., the aforementioned raw yarn roll 30), it can immediately start the next cycle without waiting for manual knotting to be completed. The operator can work continuously in a dedicated manual knotting area without being constrained by the equipment's operating cycle. After the decoupling of human and machine efficiency, the overall operating cycle of a single spindle is significantly improved compared to the existing solution.

[0060] Example 2 See Figure 5 and Figure 6 As shown, this embodiment provides a method for feeding yarn onto a yarn feeder 1, using the yarn feeder 1 device described in the above embodiment. The method includes: See Figure 5 ad, in stage 20 of empty paper tube removal: S101, the mobile carrying platform 2 is located in the equipment driving area, receives the instruction to take empty paper tube 20, the gripping device 3 is started from the standby position, and adjusts the posture through the articulated arm 31 and the movable joint 32 so that the axis of the movable joint 32 is parallel to the axis of the hanging screw 11. S102, the movable joint 32 moves from the end away from the original wire frame 1 towards the target original wire frame 1; S103, the articulated arm 31 rotates, the movable joint 32 is inserted into the empty paper tube 20, and the empty paper tube 20 is lifted to separate it from the original wire frame 1; S104. After the empty paper tube 20 is removed from the original wire frame 1, the articulated arm 31 rotates and the movable joint 32 moves away from the original wire frame 1, so that the empty paper tube 20 is away from the original wire frame 1. S105, the articulated arm 31 moves toward the mobile support platform 2, and the mobile joint 32 faces the empty paper tube buffer position 23 on the mobile support platform 2, storing the empty paper tube 20 in the empty paper tube buffer position 23. See Figure 6 ad, during the yarn feeding stage of the raw yarn: S201. Upon receiving the raw yarn instruction, the gripping device 3 adjusts its posture via the articulated arm 31 and the movable joint 32, so that the axis of the movable joint 32 is parallel to the axis of the raw yarn drum 30 at the raw yarn buffer position 22 on the movable bearing platform 2. S202, The gripping device 3 is close to the original wire buffer position 22; S203, the articulated arm 31 rotates, the movable joint 32 is inserted into the original yarn drum 30, and the original yarn drum 30 is lifted to disengage it from the original yarn buffer position 22; S204. After the raw yarn drum 30 is removed from the raw yarn buffer position 22, the articulated arm 31 rotates and the movable joint 32 moves away from the raw yarn buffer position 22, so that the raw yarn drum 30 is away from the raw yarn buffer position 22. S205, the articulated arm 31 moves toward the target raw yarn frame 1, and the movable joint 32 faces the target hanging rod 11, storing the raw yarn roll 30 on the target hanging rod 11; The gripping device 3 returns to the standby position, and the wire feeding cycle is completed.

[0061] When the gripping device 3 performs the action of taking out the empty paper tube 20 or feeding the raw yarn, the manual person simultaneously performs the yarn end finding and knotting operation in the manual knotting area, so as to realize the parallel operation of feeding yarn and manual knotting.

[0062] The yarn feeding method of the yarn rack 1 in this embodiment combines the fixed yarn hanging rod 11 with the multi-joint gripping device 3 on the mobile support platform 2, and a specific yarn feeding step sequence, thereby eliminating the rhythm loss caused by the rotation of the yarn hanging rod 11, and realizing the parallel operation of automatic yarn feeding and manual knotting.

[0063] Specifically, since the hanging rod 11 is fixedly mounted on the raw yarn frame 1, no rotation drive mechanism is needed, directly avoiding the accumulation of auxiliary time caused by rotational movements. The gripping device 3 accurately completes the gripping and placement of the yarn tube by rotating the articulated arm 31 in the horizontal plane and moving the horizontal displacement of the joint 32, simplifying the mechanical structure and improving reliability. In addition, when performing the empty paper tube 20 or the raw yarn loading action, the operator can simultaneously perform yarn end finding and knotting operations in the manual knotting area of ​​the raw yarn frame 1 away from the equipment travel area, breaking the traditional serial relationship and significantly shortening the cycle time of a single spindle.

[0064] The above technical solution effectively solves the systemic defects in the existing technology, such as low cycle efficiency, complex structure and poor reliability caused by the rotation of the wire rod 11. At the same time, by parallelizing the wire feeding and knotting operations, the utilization rate of workshop space is optimized, labor costs are reduced, and production continuity and safety are ensured.

[0065] The specific features, structures, or characteristics described in this specification may be combined in any suitable manner in one or more embodiments or examples.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0067] 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 technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A raw yarn feeder device, characterized in that, Includes a wire rod, a wire support frame, a mobile support platform, and a gripping device, wherein: The wire hanging rod is fixedly installed on the raw wire frame and is used to suspend the raw wire roll; A device travel area is formed between two adjacent rows of the original wire frames, and the mobile support platform can move within the device travel area; The gripping device is rotatably connected to the mobile support platform. The gripping device includes articulated arms and movable joints. There are at least two articulated arms, and adjacent articulated arms are rotatably connected. The articulated arms can rotate in the horizontal plane. The movable joint is located on the farthest articulated arm and is used to extend into the cavity of an empty paper tube or raw silk roll.

2. The yarn feeding device according to claim 1, characterized in that, The movable joint includes a joint rod and a boss, wherein: The distal joint arm is provided with a limiting guide rail, the boss is located inside the limiting guide rail and can move horizontally along the limiting guide rail, the joint rod is fixedly connected to the boss, and the joint rod is used to extend into the cavity of the empty paper tube or the raw silk roll.

3. The yarn feeding device according to claim 2, characterized in that, The articulated arm includes a first articulated arm, a second articulated arm, and a third articulated arm, wherein: One end of the first articulated arm is rotatably connected to the mobile support platform. The first articulated arm, the second articulated arm, and the third articulated arm are rotatably connected in sequence, and the rotation axes of the three are all set vertically, so that the first articulated arm, the second articulated arm, and the third articulated arm all rotate in a horizontal plane. The limiting guide rail is provided on the third joint arm, and the limiting guide rail is arranged opposite to the rotation axis of the third joint arm.

4. The yarn feeding device according to claim 3, characterized in that, The limiting guide rail is arranged along the width direction of the third joint arm.

5. The yarn feeding device according to claim 1, characterized in that, The gripping device also includes a lifting seat, which is vertically movable on the mobile support platform, and the articulated arm at the starting end is rotatably connected to the lifting seat.

6. The yarn feeding device according to claim 1, characterized in that, The mobile support platform is equipped with a material rack, which is located at one end or opposite ends of the mobile support platform, and the gripping device is located in the middle of the mobile support platform.

7. The yarn feeding device according to claim 6, characterized in that, The material carrier is provided with a raw yarn buffer position and an empty paper tube buffer position. The raw yarn buffer position is used to temporarily suspend the raw yarn roll, and the empty paper tube buffer position is used to temporarily suspend the empty paper tube.

8. The yarn feeding device according to claim 1, characterized in that, The side of the original wire frame away from the equipment's travel area is the manual knotting area.

9. A method for feeding yarn onto a raw yarn scaffold, characterized in that, Using the yarn feeding device according to any one of claims 1-8, the method includes: During the empty paper tube removal stage: S101. The mobile carrying platform is located in the travel area of ​​the equipment and receives an empty paper tube picking instruction. The gripping device is started from the standby position and adjusts its posture through the articulated arm and the movable joint so that the axis of the movable joint is parallel to the axis of the hanging screw. S102, the movable joint moves from the end away from the original silk frame towards the target original silk frame; S103, the articulated arm rotates, the movable joint is inserted into the empty paper tube, and the empty paper tube is lifted to separate it from the original wire frame; S104. After the empty paper tube is removed from the original yarn frame, the articulated arm rotates and the movable joint moves away from the original yarn frame, so that the empty paper tube is away from the original yarn frame. S105. The articulated arm moves toward the mobile support platform, and the mobile joint is directly facing the empty paper tube buffer position on the mobile support platform, storing the empty paper tube in the empty paper tube buffer position. During the spinning stage of the raw yarn: S201. Upon receiving the raw yarn loading instruction, the gripping device adjusts its posture through the articulated arm and the movable joint, so that the axis of the movable joint is parallel to the axis of the raw yarn roll at the raw yarn buffer position on the movable bearing platform. S202, The gripping device is placed near the raw silk buffer position; S203, the articulated arm rotates, the movable joint is inserted into the raw yarn drum, and the raw yarn drum is lifted so that it is disengaged from the raw yarn buffer position; S204. After the raw yarn spool is removed from the raw yarn buffer position, the joint arm rotates and the movable joint moves away from the raw yarn buffer position, so that the raw yarn spool moves away from the raw yarn buffer position. S205. The articulated arm moves toward the target raw yarn frame, and the movable joint faces the target yarn hanging rod, storing the raw yarn roll on the target yarn hanging rod; The gripping device returns to the standby position, and the wire feeding cycle is completed.

10. The method for feeding yarn onto a raw yarn frame according to claim 9, characterized in that, The side of the original wire frame away from the equipment's travel area is the manual knotting area; When the gripping device performs the action of taking out empty paper tubes or feeding raw yarn, the manual operator simultaneously performs the yarn end finding and knotting operation in the manual knotting area, so as to realize the parallel operation of yarn feeding and manual knotting.

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