Thread collection device and yarn feeding robot

Abstract

This application relates to a thread gathering device and a yarn feeding robot. The thread gathering device includes: a thread suction mechanism having at least two thread suction units spaced apart in a first direction; a gathering mechanism located on one side of the thread suction mechanism in a second direction intersecting the first direction, the gathering mechanism having a negative pressure chamber and a gathering groove, the gathering groove connecting the negative pressure chamber to the external atmosphere; and a thread gathering mechanism including a thread gathering drive and a thread gathering plate, the thread gathering plate being driven by the thread gathering drive and reciprocating along the second direction to move away from or towards the gathering groove; wherein the negative pressure chamber and the gathering groove extend from one end of the gathering mechanism in the first direction to the other end of the gathering mechanism in the first direction. Since the negative pressure chamber can simultaneously gather multiple thread ends through the gathering groove, the thread gathering efficiency of the thread gathering device is improved, further improving the working efficiency of the yarn feeding robot equipped with the thread gathering device.

Description

Technical Field

[0001] This application relates to the field of textile technology, and in particular to a yarn end collection device and a yarn feeding robot. Background Technology

[0002] With economic development and industrial upgrading, existing equipment in the textile industry is gradually being automated, replacing repetitive and tedious work with intelligent equipment, which significantly improves production efficiency while reducing production costs. Yarn-feeding robots, as an important type of textile machinery, can automatically pick up yarn tubes, extract thread ends, and feed yarn into the yarn magazine, offering higher work efficiency compared to manual operation.

[0003] However, due to structural defects, the existing yarn-feeding robots' devices for collecting yarn ends can only collect one yarn end at a time, resulting in low yarn end collection efficiency and thus affecting the overall working efficiency of the yarn-feeding robot. Summary of the Invention

[0004] Therefore, it is necessary to provide a yarn end collection device and a yarn feeding robot to address the problem of low yarn end acquisition efficiency.

[0005] A wire end collection device, comprising:

[0006] The wire suction mechanism has at least two wire suction units arranged at intervals in a first direction;

[0007] A collecting mechanism is located on one side of the thread-absorbing mechanism in a second direction intersecting the first direction. The collecting mechanism has a negative pressure chamber and a collecting groove, the collecting groove connecting the negative pressure chamber to the external atmosphere; and

[0008] A wire gathering mechanism includes a wire gathering drive and a wire gathering plate. The wire gathering plate is throttledly connected to the wire gathering drive. Under the drive of the wire gathering drive, the wire gathering plate reciprocates along the second direction to move away from or closer to the collecting groove.

[0009] The negative pressure chamber and the collecting groove extend from one end of the collecting mechanism in the first direction to the other end of the collecting mechanism in the first direction.

[0010] In one embodiment, the wire suction mechanism includes two wire suction units, and the wire gathering drive is located between the two wire suction units.

[0011] In one embodiment, one side edge of the wire gathering plate has a wire gathering groove, and the wire gathering plate moves between a first position and a second position;

[0012] When the wire gathering plate is in the first position, the wire gathering plate is located on the side of the wire suction unit away from the gathering mechanism; when the wire gathering plate is in the second position, the wire gathering groove is located between the gathering groove and the wire suction unit.

[0013] In one embodiment, the negative pressure chamber has a first end and a second end disposed opposite to each other in the first direction, and the collecting mechanism further has an air extraction channel communicating with the first end of the negative pressure chamber.

[0014] In one embodiment, along the first direction from the first end to the second end, the cross-sectional area of ​​the negative pressure cavity perpendicular to the first direction gradually decreases.

[0015] In one embodiment, the negative pressure chamber has a first chamber wall and a second chamber wall spaced apart in the second direction, and the second chamber wall is located on the side of the first chamber wall away from the wire suction unit. The first chamber wall extends linearly along the first direction, and the second chamber wall extends obliquely along the first direction.

[0016] In one embodiment, the collection channel includes a first sub-collection channel and a second sub-collection channel that are interconnected, the first sub-collection channel extending from the first end to the second end, and the second sub-collection channel located at the second end;

[0017] The width of the second sub-collection channel in the second direction is greater than the width of the first sub-collection channel in the second direction.

[0018] In one embodiment, the thread gathering device further includes a shield located on one side of the gathering mechanism, the shield being controllably movable between a third position and a fourth position;

[0019] When the shielding member is in the third position, the shielding member partially blocks the second sub-collection groove; when the shielding member is in the fourth position, the shielding member moves away from the second sub-collection groove.

[0020] In one embodiment, the wire gathering device further includes a shielding drive member, which is driven to be mounted on one side of the gathering mechanism. The shielding member is tractively connected to the shielding drive member, and the shielding drive member is used to drive the shielding member to reciprocate along the first direction.

[0021] A yarn-feeding robot includes the aforementioned yarn-gathering device.

[0022] In the aforementioned thread-end gathering device, each suction unit can pick up a thread end from one yarn bobbin. The thread ends picked up by all suction units can be pushed to the gathering groove by the gathering plate. The negative pressure chamber can then pick up the thread ends through the gathering groove to achieve thread end gathering. Since the negative pressure chamber and the gathering groove extend from one end of the gathering mechanism in the first direction to the other end in the first direction, the negative pressure chamber can simultaneously gather multiple thread ends through the gathering groove, thereby improving the thread end gathering efficiency of the thread-end gathering device and further improving the working efficiency of the yarn feeding robot equipped with this thread-end gathering device. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of a wire gathering device according to an embodiment of this application.

[0026] Figure 2 This is a schematic diagram of the internal structure of a collection mechanism according to an embodiment of this application.

[0027] Figure 3 This is a schematic diagram of a portion of the structure of a wire gathering device according to an embodiment of this application.

[0028] Figure 4 This is a schematic diagram of a wire-gathering mechanism according to an embodiment of this application.

[0029] Figure 5 This is a schematic diagram of a collection mechanism according to an embodiment of this application.

[0030] Figure 6 for Figure 5 A schematic diagram of the gathering mechanism from another angle.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100. Wire gathering device; 10. Mounting frame; 30. Wire suction mechanism; 32. Wire suction unit; 50. Gathering mechanism; 52. Negative pressure chamber; 52a. First chamber wall; 52b. Second chamber wall; 54. Gathering groove; 541. First sub-gathering groove; 543. Second sub-gathering groove; 56. Air extraction channel; 70. Wire gathering mechanism; 72. Wire gathering drive component; 721. Wire gathering drive component body; 723. Wire gathering output shaft; 74. Wire gathering plate; 741. Wire gathering groove; 90. Shielding mechanism; 91. Shielding component; 93. Shielding drive component. Detailed Implementation

[0033] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0034] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 this application.

[0035] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0036] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0039] See Figure 1 The embodiments of this application provide a yarn feeding robot for use in the winding process. The yarn feeding robot includes a yarn end collection device 100 for acquiring yarn ends on the yarn tubes and collecting the yarn ends of multiple yarn tubes.

[0040] like Figures 1 to 3 As shown, the thread gathering device 100 includes a thread suction mechanism 30, a gathering mechanism 50, and a thread collection mechanism 70. The thread suction mechanism 30 has at least two thread suction units 32 spaced apart in a first direction. The gathering mechanism 50 is located on one side of the thread suction mechanism 30 in a second direction intersecting the first direction. The gathering mechanism 50 has a negative pressure chamber 52 and a gathering groove 54, the gathering groove 54 connecting the negative pressure chamber 52 to the external atmosphere.

[0041] The wire gathering mechanism 70 includes a wire gathering drive 72 and a wire gathering plate 74. The wire gathering plate 74 is throttledly connected to the wire gathering drive 72. Under the drive of the wire gathering drive 72, the wire gathering plate 74 reciprocates along a second direction to move away from or towards the collecting groove 54. The negative pressure chamber 52 and the collecting groove 54 extend from one end of the collecting mechanism 50 in the first direction to the other end of the collecting mechanism 50 in the first direction.

[0042] In this way, each suction unit 32 can pick up the thread end on a corresponding yarn tube. The thread ends picked up by all suction units 32 can be pushed to the collection groove 54 by the yarn gathering plate 74. The negative pressure chamber 52 can pick up the thread ends through the collection groove 54 to achieve the collection of the thread ends.

[0043] Since the negative pressure chamber 52 and the collecting groove 54 extend from one end of the collecting mechanism 50 in the first direction to the other end of the collecting mechanism 50 in the first direction, the negative pressure chamber 52 can simultaneously collect multiple thread ends through the collecting groove 54, thereby improving the thread end collecting efficiency of the thread end collecting device 100 and further improving the working efficiency of the yarn feeding robot equipped with the thread end collecting device 100.

[0044] like Figure 1 As shown, the cable end collection device 100 includes a mounting frame 10, which has a hollow cubic frame structure. In the following embodiments, the length direction of the mounting frame 10 is defined as the first direction (i.e., Figure 1 The width direction of the mounting rack 10 is the second direction (i.e., the X direction). Figure 1 The Y direction), the height direction of the mounting rack 10 is the third direction (i.e., Figure 1 (Z direction). Wherein, the first direction, the second direction, and the third direction intersect each other; in a preferred embodiment, the first direction, the second direction, and the third direction are perpendicular to each other. In the following embodiments, the mounting frame 10 is placed on the ground or a workbench, with the first direction parallel to the vertical direction.

[0045] The yarn suction mechanism 30 is installed on the upper part of the mounting frame 10, and the conveying device for conveying the bobbin yarn is located on the lower part of the mounting frame 10. The conveying device can convey the bobbin yarn in the first direction, so that it passes under the yarn suction mechanism 30 in the first direction.

[0046] The thread suction mechanism 30 includes two thread suction units 32, which are spaced apart in a first direction. Each thread suction unit 32 has a thread suction port at one end near the conveying device in the first direction. Each thread suction port can have a negative pressure to correspondingly suck up the thread end on a yarn tube. It should be noted that the specific structure of the thread suction unit 32 can be configured as needed to meet different requirements, which will not be elaborated here.

[0047] Please see Figure 1 , Figure 3 as well as Figure 4 The wire gathering drive 72 is located between the two wire suction units 32, and the wire gathering drive 72 can be a three-axis cylinder. It is understood that the specific structure of the wire gathering drive 72 is not limited to this, and can be configured as needed to meet different requirements.

[0048] In some embodiments, the wire gathering drive 72 includes a wire gathering drive body 721 and a wire gathering output shaft 723. The wire gathering drive body 721 is located between two wire suction units 32 in a first direction and on the side of the wire suction units 32 away from the gathering mechanism 50 in a second direction. One end of the wire gathering output shaft 723 is connected to the wire gathering drive body 721, and the other end of the wire gathering output shaft 723 extends along the second direction to connect to the wire gathering plate 74. The wire gathering output shaft 723 can reciprocate linearly along the second direction under the drive of the wire gathering drive body 721, thereby driving the wire gathering plate 74 to reciprocate along the second direction.

[0049] The wire-gathering plate 74 has a flat plate structure. The length direction of the wire-gathering plate 74 is parallel to the first direction, the width direction is parallel to the second direction, and the thickness direction is parallel to the third direction. It can be understood that the shape of the wire-gathering plate 74 is not limited and can be set as needed to meet different requirements.

[0050] In some embodiments, the wire gathering plate 74 has at least two wire gathering grooves 741 on one edge near the gathering mechanism 50 in a first direction. All wire gathering grooves 741 are spaced apart along the first direction, and the groove wall of each wire gathering groove 741 is V-shaped. Along a second direction from near the gathering mechanism 50 to away from the gathering mechanism 50, the width of the wire gathering groove 741 gradually decreases in the first direction, thereby guiding and gathering the wire ends. It is understood that the number of wire gathering grooves 741 is the same as the number of wire suction units 32. Specifically, in one embodiment, the wire gathering plate 74 has two wire gathering grooves 741, corresponding to two wire suction units 32.

[0051] Thus, driven by the yarn gathering drive 72, the yarn gathering plate 74 moves between the first position and the second position. When the yarn gathering plate 74 is in the first position, it is located on the side of the yarn suction unit 32 away from the gathering mechanism 50, at which time the yarn suction unit 32 can pick up the yarn ends on the bobbin. When the yarn gathering plate 74 is in the second position, the yarn gathering groove 741 is located between the gathering groove 54 and the yarn suction unit 32, thereby pushing the yarn ends picked up by the yarn suction unit 32 into the gathering groove 54.

[0052] like Figure 2 , Figure 5 as well as Figure 6As shown, the collecting mechanism 50 has a hollow shell structure to form a negative pressure chamber 52. The length of the negative pressure chamber 52 in a first direction matches the length of the suction mechanism 30, and the negative pressure chamber 52 has a first end and a second end that are opposite to each other in the first direction. The collecting mechanism 50 also has an air extraction channel 56, one end of which is connected to the first end of the negative pressure chamber 52, and the other end of which extends in a third direction. In this way, an external air extraction device can be connected to the negative pressure chamber 52 through the air extraction channel 56, thereby generating negative pressure in the negative pressure chamber 52 to extract the thread end.

[0053] Furthermore, along the first direction from the first end of the negative pressure chamber 52 to the second end of the negative pressure chamber 52, the cross-sectional area of ​​the negative pressure chamber 52 perpendicular to the first direction gradually decreases, thereby balancing the suction force of the negative pressure chamber 52 in the first direction and preventing the suction force at the first end from being too small due to its distance from the air extraction channel 56, which would affect the collection of the wire ends that are far from the air extraction channel 56.

[0054] Specifically, in some embodiments, the negative pressure chamber 52 has a first chamber wall 52a and a second chamber wall 52b spaced apart in a second direction, and the second chamber wall 52b is located on the side of the first chamber wall 52a away from the wire suction unit 32. The first chamber wall 52a extends linearly along the first direction, and the second chamber wall 52b extends obliquely along the first direction. From the end near the suction channel 56 to the end away from the suction channel 56, the second chamber wall 52b extends toward the side where the first chamber wall 52a is located, thereby making the cross-sectional area of ​​the negative pressure chamber 52 perpendicular to the first direction gradually decrease.

[0055] In some embodiments, the collecting groove 54 includes a first sub-collecting groove 541 and a second sub-collecting groove 543 that are interconnected. The first sub-collecting groove 541 extends from a first end of the negative pressure cavity 52 to a second end of the negative pressure cavity 52 along one edge of the collecting mechanism 50 in a second direction, near the wire suction unit 32. The second sub-collecting groove 543 is located at the second end, and the width of the second sub-collecting groove 543 in the second direction is greater than the width of the first sub-collecting groove 541 in the second direction.

[0056] In one specific embodiment, the first sub-collecting groove 541 is a narrow, elongated groove, and the second sub-collecting groove 543 is circular, with a diameter much larger than the width of the first sub-collecting groove 541, thus having a larger area. Furthermore, the side wall of the first sub-collecting groove 541 away from the wire-collecting mechanism 30 is recessed inward, thereby cooperating with the wire-collecting groove 741 on the wire-collecting plate 74 to collect the wire ends.

[0057] Thus, the wire ends picked up by the wire suction unit 32 are first pushed into the first sub-collecting groove 541 by the wire gathering plate 74, and then moved along the first sub-collecting groove 541 to the second sub-collecting groove 543. The elongated and narrow first sub-collecting groove 541, extending along the edge of the collecting mechanism 50, can reduce negative pressure loss and improve the attraction of the wire ends while collecting multiple wire ends simultaneously. The larger second sub-collecting groove 543 facilitates subsequent operations to remove the collected wire ends. It can be understood that the specific shape and size of the first sub-collecting groove 541 and the second sub-collecting groove 543 can be set as needed to meet different requirements.

[0058] In some embodiments, the wire gathering device 100 further includes a shielding mechanism 90. The shielding mechanism 90 is mounted on the side surface of the gathering mechanism 50 where a gathering groove 54 is provided in the third direction. The shielding mechanism 90 includes a shielding drive member 93 and a shielding member 91. Specifically, in one embodiment, the shielding drive member 93 may be a three-axis cylinder. The shielding member 91 has an L-shaped structure and is drively connected to the output end of the shielding drive member 93. Under the drive of the shielding drive member 93, the shielding member 91 can move along a first direction between a third position and a fourth position.

[0059] When the shielding member 91 is in the third position, it partially blocks the second sub-collecting groove 543, thereby reducing negative pressure loss without affecting the wire end collection and ensuring the attraction effect on the wire ends. When the shielding member 91 is in the fourth position, it moves away from the second sub-collecting groove 543 so that the second sub-collecting groove 543 is fully exposed, thus avoiding interference with subsequent processes.

[0060] Taking the wire end collecting device 100, which includes two wire suction units 32, as an example, the working principle of the above-mentioned wire end collecting device 100 is as follows:

[0061] First, the two suction units 32 respectively pick up the thread ends from the two yarn tubes. At this time, the yarn gatherer plate 74 is located on the side of the suction port of the suction unit 32 away from the gathering mechanism 50 in the second direction. Then, the yarn gatherer plate 74 moves towards the gathering mechanism 50 in the second direction under the push of the yarn gatherer drive 72, thereby pushing the thread ends on the two yarn tubes into the first sub-gathering groove 541. Afterward, the thread ends follow the movement of the yarn tubes and move to the second sub-gathering groove 543. At this time, the blocking member 91 partially blocks the second sub-gathering groove 543.

[0062] Then, driven by the yarn gathering drive 72, the yarn gathering plate 74 moves in the second direction away from the gathering mechanism 50 to the side of the suction port away from the gathering mechanism 50. Two new yarn tubes move below the suction unit 32, and the two suction units 32 respectively pick up the yarn ends from the two yarn tubes. Then, pushed by the yarn gathering drive 72, the yarn gathering plate 74 moves in the second direction towards the gathering mechanism 50, thereby pushing the yarn ends from the two yarn tubes into the first sub-gathering groove 541. Afterwards, the yarn ends move with the yarn tubes to the second sub-gathering groove 543, at which point the blocking member 91 still partially blocks the second sub-gathering groove 543.

[0063] Thus, after the thread ends from the four yarn tubes are collected in the second sub-collecting groove 543, the blocking member 91 moves away from the second sub-collecting groove 543 under the drive of the blocking drive member 93, and the device for the next process can remove the thread ends and yarn tubes to enter the next process.

[0064] The aforementioned yarn end gathering device 100 and the yarn feeding robot equipped with it can simultaneously adsorb the yarn ends of two yarn tubes by setting the gathering groove 54 in the gathering mechanism 50 of the yarn end gathering device 100, thereby effectively improving the yarn end gathering efficiency and thus improving the overall working efficiency of the yarn feeding robot.

[0065] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A wire end collection device, characterized in that, include: The wire suction mechanism has at least two wire suction units arranged at intervals in a first direction; A collecting mechanism is located on one side of the wire suction mechanism in a second direction intersecting the first direction. The collecting mechanism has a negative pressure chamber and a collecting groove, and the collecting groove connects the negative pressure chamber to the outside atmosphere. as well as A wire gathering mechanism includes a wire gathering drive and a wire gathering plate. The wire gathering plate is throttledly connected to the wire gathering drive. Under the drive of the wire gathering drive, the wire gathering plate reciprocates along the second direction to move away from or closer to the collecting groove. The negative pressure chamber and the collecting groove extend from one end of the collecting mechanism in the first direction to the other end of the collecting mechanism in the first direction.

2. The thread collection device according to claim 1, characterized in that, The wire suction mechanism includes two wire suction units, and the wire gathering drive is located between the two wire suction units.

3. The thread collection device according to claim 1, characterized in that, The wire gathering plate has a wire gathering groove on one side edge, and the wire gathering plate can move between a first position and a second position; When the wire gathering plate is in the first position, the wire gathering plate is located on the side of the wire suction unit away from the gathering mechanism; when the wire gathering plate is in the second position, the wire gathering groove is located between the gathering groove and the wire suction unit.

4. The thread collection device according to claim 1, characterized in that, The negative pressure chamber has a first end and a second end that are disposed opposite to each other in the first direction, and the collecting mechanism also has an air extraction channel that connects to the first end of the negative pressure chamber.

5. The thread collection device according to claim 4, characterized in that, Along the first direction from the first end to the second end, the cross-sectional area of ​​the negative pressure cavity perpendicular to the first direction gradually decreases.

6. The thread collection device according to claim 5, characterized in that, The negative pressure chamber has a first chamber wall and a second chamber wall spaced apart in the second direction, and the second chamber wall is located on the side of the first chamber wall away from the wire suction unit. The first chamber wall extends linearly along the first direction, and the second chamber wall extends obliquely along the first direction.

7. The thread collection device according to claim 4, characterized in that, The collection channel includes a first sub-collection channel and a second sub-collection channel that are interconnected. The first sub-collection channel extends from the first end to the second end, and the second sub-collection channel is located at the second end. The width of the second sub-collection channel in the second direction is greater than the width of the first sub-collection channel in the second direction.

8. The thread collection device according to claim 7, characterized in that, The wire gathering device also includes a shielding member located on one side of the gathering mechanism, the shielding member being controllably movable between a third position and a fourth position; When the shielding member is in the third position, the shielding member partially blocks the second sub-collection groove; when the shielding member is in the fourth position, the shielding member moves away from the second sub-collection groove.

9. The thread collection device according to claim 8, characterized in that, The wire gathering device further includes a shielding drive component, which is driven to be installed on one side of the gathering mechanism. The shielding component is tractively connected to the shielding drive component, and the shielding drive component is used to drive the shielding component to reciprocate along the first direction.

10. A yarn-feeding robot, characterized in that, Includes the thread collection device as described in any one of claims 1 to 9.

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