Multi-shaft driving material taking and placing device and automatic yarn supply equipment applying same

Abstract

The utility model discloses a multi-shaft driving material taking and placing device and automatic yarn supply equipment applying the same, the multi-shaft driving material taking and placing device comprises a first driving mechanism, a second driving mechanism, a third driving mechanism, a fourth driving mechanism and a material taking and placing mechanism, the material taking and placing mechanism is matched with a yarn roll, and the material taking and placing mechanism is installed on the fourth driving mechanism. The fourth driving mechanism is installed on the third driving mechanism, the third driving mechanism is installed on the second driving mechanism, and the second driving mechanism is installed on the first driving mechanism. The first driving mechanism is used for driving the material taking and placing mechanism to feed in the X-axis direction; the second driving mechanism is used for driving the material taking and placing mechanism to feed in the Y-axis direction; the third driving mechanism is used for driving the material taking and placing mechanism to turn over; and the fourth driving mechanism is used for driving the material taking and placing mechanism to feed in the Z-axis direction. According to the device, a multi-shaft driving mode is adopted, automatic taking and feeding of the yarn rolls are achieved, the feeding or supplementing efficiency of the yarn rolls is greatly improved, and the labor cost is effectively saved.

Description

Technical Field

[0001] This utility model relates to the field of knitting machinery and equipment technology, and in particular to a multi-axis driven material feeding and unloading device and an automatic yarn feeding device using the same. Background Technology

[0002] Circular knitting machines, also known as circular weft knitting machines, have needles mounted on circular cylinders. These machines mainly consist of a yarn feeding mechanism, a knitting mechanism, a take-up and tensioning mechanism, and a transmission mechanism. The yarn feeding mechanism's function is to unwind the yarn from the bobbin and deliver it to the knitting area; its stable operation is crucial for the efficient operation of the circular knitting machine.

[0003] As shown in the Chinese utility model patent with announcement number CN 219137077 U, it discloses a circular knitting machine with convenient yarn feeding. Existing circular knitting machines generally include a knitting machine body and at least one yarn feeding frame set on the side of the knitting machine body. Dozens or even hundreds of yarn rolls are placed on the yarn feeding frame, and the yarn is fed to the knitting machine body for knitting operations through a guiding mechanism.

[0004] In the existing technology, yarn rolls are all manually fed. That is, the initial feeding work and the replenishment work after a yarn roll is used up during use both require manual feeding. Manual feeding is inefficient and labor-intensive. Utility Model Content

[0005] The purpose of this invention is to provide a multi-axis driven material handling device and an automatic yarn feeding device using the same, which can at least solve one of the above-mentioned problems.

[0006] According to one aspect of the present invention, a multi-axis driven material handling device is provided, including a first drive mechanism, a second drive mechanism, a third drive mechanism, a fourth drive mechanism and a material handling mechanism, wherein the material handling mechanism cooperates with a yarn roll, the material handling mechanism is installed on the fourth drive mechanism, the fourth drive mechanism is installed on the third drive mechanism, the third drive mechanism is installed on the second drive mechanism, and the second drive mechanism is installed on the first drive mechanism.

[0007] The first drive mechanism is used to drive the material handling mechanism to feed in the X-axis direction;

[0008] The second drive mechanism is used to drive the material handling mechanism to feed in the Y-axis direction;

[0009] The third drive mechanism is used to drive the material handling mechanism to rotate.

[0010] The fourth drive mechanism is used to drive the material handling mechanism to feed in the Z-axis direction.

[0011] In some embodiments, the first driving mechanism comprises a first mounting frame, a first driving member, a first transmission assembly, a second transmission assembly and a first guide assembly, the first guide assembly comprises a pair of first linear guides arranged in parallel and at intervals, and a first slider in sliding cooperation with the first linear guides, the first mounting frame is perpendicular to the first linear guides, the first mounting frame is slidably arranged on the pair of first linear guides through the first slider, the first driving member is mounted on the first mounting frame and has a driving end in transmission connection with the first transmission assembly, the second transmission assembly is in transmission connection with the first transmission assembly, and the second driving mechanism is mounted on the first mounting frame, so that the first mounting frame is capable of sliding along the first linear guides under the driving of the first driving member.

[0012] In some embodiments, the first transmission assembly comprises a first transmission wheel, a second transmission wheel, a first transmission belt and a transmission shaft, the first transmission wheel is sleeved on the driving end of the first driving member and is in transmission connection with the second transmission wheel through the first transmission belt, and the transmission shaft is sleeved on the second transmission wheel.

[0013] The second transmission assembly comprises a third transmission wheel, a second transmission belt and a tensioning wheel, the third transmission wheel is sleeved on the outer periphery of the transmission shaft, the second transmission belt is sleeved on the third transmission wheel and is in cooperation with the tensioning wheel, the second transmission belt is parallel to the first linear guides and is located on the inner side of the first linear guides.

[0014] The second transmission assembly is a pair of second transmission assemblies, and the third transmission wheels of the pair of second transmission assemblies are coaxially in transmission through the transmission shaft.

[0015] In some embodiments, the second driving mechanism comprises a second driving member, a second mounting frame, a third transmission assembly and a second guide assembly, the second guide assembly comprises a pair of second linear guides arranged in parallel and at intervals, and a second slider in sliding cooperation with the second linear guides, the second linear guides are parallel to the first mounting frame, the second mounting frame is slidably arranged on the pair of second linear guides through the second slider, the second driving member is mounted on the first mounting frame and is in transmission connection with the third transmission assembly, the third transmission assembly is connected with the second mounting frame, and the second mounting frame is capable of sliding along the second linear guides under the driving of the second driving member.

[0016] The third transmission assembly comprises a fourth transmission wheel, a fifth transmission wheel and a third transmission belt, the fourth transmission wheel and the fifth transmission wheel are rotatably mounted on the first mounting frame and are in transmission connection through the third transmission belt, the third transmission belt is fixedly connected with the second mounting frame, and the fourth transmission wheel is in transmission connection with the second driving member.

[0017] In some embodiments, the third driving mechanism comprises a third driving member and a third mounting frame, the third driving member is mounted on the second mounting frame, the third mounting frame is connected with the driving end of the third driving member, and the fourth driving mechanism is mounted on the third mounting frame, so that the third mounting frame is capable of being flipped by 180 degrees along the plane where the Z axis is located under the driving of the third driving member.

[0018] Thus, the third driving mechanism can drive the taking and placing mechanism to overturn 180 degrees as a whole, and quickly switch between the state suitable for taking and placing the yarn on the upper layer of the yarn supply frame and the state suitable for taking and placing the yarn on the lower layer of the yarn supply frame, so as to avoid shaking of the taking and placing mechanism during long-distance taking and placing of the yarn, and effectively improve the stability and safety of the taking and placing process.

[0019] In some embodiments, the fourth driving mechanism comprises a fourth driving member, a fourth transmission assembly, a fourth mounting frame, and a third guide assembly, the third guide assembly comprises a third linear guide rail and a third sliding block in sliding cooperation with the third linear guide rail, the third sliding block is mounted to the third mounting frame, the third linear guide rail is mounted to the fourth mounting frame and in sliding cooperation with the third sliding block, the fourth mounting frame penetrates through the third mounting frame and extends along the Z-axis direction, the third linear guide rail is parallel to the fourth mounting frame, the fourth driving member is mounted to the third mounting frame and in transmission connection with the fourth transmission assembly, and under the driving of the fourth driving member, the fourth mounting frame can slide along the Z-axis direction relative to the third mounting frame.

[0020] The fourth transmission assembly comprises a transmission gear and a guide rack, the guide rack is mounted to the fourth mounting frame and parallel to the fourth mounting frame, and the transmission gear is sleeved on the driving end of the fourth driving member and in engagement with the guide rack.

[0021] In some embodiments, the taking and placing mechanism comprises a taking and placing assembly, the taking and placing assembly is mounted to the fourth driving mechanism and in cooperation with the yarn roll, the taking and placing assembly comprises a taking and placing module in cooperation with the yarn roll and a seventh driving member in cooperation with the taking and placing module.

[0022] In some embodiments, the taking and placing mechanism comprises a taking and placing assembly, a first driving assembly, and a second driving assembly, the taking and placing assembly is mounted to the first driving assembly, the first driving mechanism is mounted to the second driving assembly, and the second driving assembly is mounted to the fourth driving mechanism, the first driving assembly is used to drive the taking and placing assembly to swing, and the second driving assembly is used to drive the taking and placing assembly to rotate.

[0023] The first driving assembly comprises a fifth driving member and a fifth mounting frame, the second driving assembly comprises a sixth driving member and a sixth mounting frame, the sixth driving member is mounted to the fourth driving mechanism, the sixth mounting frame is mounted to the driving end of the sixth driving member, the fifth driving member is mounted to the sixth mounting frame, the fifth mounting frame is mounted to the driving end of the fifth driving member, and the taking and placing assembly is mounted to the fifth mounting frame.

[0024] The taking and placing assembly comprises a taking and placing module in cooperation with the yarn roll and a seventh driving member mounted to the fifth mounting frame and in cooperation with the taking and placing module.

[0025] According to another aspect of the utility model, still provide a kind of automatic yarn supply equipment, including yarn supply frame and with the cooperation of yarn supply frame, take and place material device, take and place material device is the multi-axis drive take and place material device described above, yarn supply frame is provided with multiple with yarn reel limit cooperation positioning element, yarn supply frame is multiple, multiple yarn supply frame is sequentially spaced along X axis direction, multi-axis drive take and place material device can shuttle between multiple yarn supply frames and can place yarn reel on the arbitrary positioning element of any one yarn supply frame.

[0026] In some embodiments, the positioning elements of the two adjacent yarn supply frames are oppositely arranged or co-directionally arranged, the positioning elements extend perpendicular to the plane where the yarn supply frames are located or non-perpendicular to the plane, at least one side of the yarn supply frame is formed with a first avoiding space for the multi-axis drive take and place material device to shuttle in the X axis direction, the yarn supply frame includes an upper yarn supply frame and a lower yarn supply frame, the front end surface of the upper yarn supply frame is correspondingly provided with a plurality of upper guide frames sequentially and spaced along the Y axis direction, the front end surface of the lower yarn supply frame is correspondingly provided with a plurality of lower guide frames sequentially and spaced along the Y axis direction, and the second avoiding space for the multi-axis drive take and place material device to shuttle in the Y axis direction is formed between the upper guide frames and the lower guide frames.

[0027] The utility model has the advantages of:

[0028] 1. The utility model provides a kind of take and place material device of brand-new structure, the device adopts multi-axis drive mode, realizes the automatic take and place material of yarn reel, replaces manual take and place material, greatly improves the efficiency of yarn reel material or replenishment, effectively saves labor cost, is applicable to large-scale, batch production operation.

[0029] 2. The take and place material device can realize that take and place material component moves in X axis direction, moves in Y axis direction, turns 180 degrees in the vertical plane formed by YZ axis, moves in Z axis direction, rotates in the horizontal plane formed by XY axis and swings in the vertical plane formed by XZ axis or YZ axis, i.e. the take and place material device can realize six-axis movement, and strong applicability;

[0030] 3. Provide a kind of automatic yarn supply equipment of full-automatic take and place material, can simultaneously adapt multiple knitting machines, the yarn reel on all yarn supply frames can be completed by one take and place material device material and replenishment, not only can effectively save labor cost, reduce labor input, but also take and place material efficiency is high, error rate is low, meet large-scale production demand. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is the three-dimensional structure schematic view of the multi-axis drive take and place material device of the utility model as a whole;

[0032] Figure 2 It is Figure 1The multi-axis drive taking and placing material device shown after omitting part structure is a perspective structural schematic diagram;

[0033] Figure 3 For Figure 2 The enlarged structural schematic diagram of the multi-axis drive taking and placing material device shown at A;

[0034] Figure 4 For Figure 2 The enlarged structural schematic diagram of the multi-axis drive taking and placing material device shown at B;

[0035] Figure 5 For Figure 2 The simplified perspective structural schematic diagram of the multi-axis drive taking and placing material device shown;

[0036] Figure 6 For Figure 5 The multi-axis drive taking and placing material device shown after omitting part structure is a perspective structural schematic diagram;

[0037] Figure 7 The taking and placing material mechanism of the utility model is a perspective structural schematic diagram;

[0038] Figure 8 The automatic yarn feeding equipment of the utility model is a perspective structural schematic diagram;

[0039] Figure 9 For Figure 8 The right view structural schematic diagram of the automatic yarn feeding equipment shown;

[0040] Figure 10 For Figure 8 The automatic yarn feeding equipment shown after omitting part structure is a perspective structural schematic diagram.

[0041] Figures 1-10100-100a, 100b, 100c, 100d, 100e, 100f-100; 200-200; 300-300; 400-400; 500-500; 600-600; 100a-upper yarn supply frame; 100b-lower yarn supply frame; 100c-upper guide frame; 100d-lower guide frame; 100e-first avoiding space; 100f-second avoiding space; 1-first driving mechanism; 2-second driving mechanism; 3-third driving mechanism; 4-fourth driving mechanism; 5-yarn feeding and taking mechanism; 11-first mounting frame; 12-first driving member; 13-first transmission assembly; 14-second transmission assembly; 15-first guide assembly; 21-second driving member; 22-second mounting frame; 23-third transmission assembly; 24-second guide assembly; 31-third driving member; 32-third mounting frame; 41-fourth driving member; 42-fourth transmission assembly; 43-fourth mounting frame; 44-third guide assembly; 51-yarn feeding and taking module; 52-first driving module; 53-second driving module; 131-first transmission wheel; 132-second transmission wheel; 133-first transmission belt; 134-transmission shaft; 141-third transmission wheel; 142-second transmission belt; 143-tensioning wheel; 151-first linear guide rail; 152-first sliding block; 231-fourth transmission wheel; 232-fifth transmission wheel; 233-third transmission belt; 241-second linear guide rail; 242-second sliding block; 421-transmission gear; 422-guide rack; 441-third linear guide rail; 442-third sliding block; 511-yarn feeding and taking module; 512-seventh driving member; 521-fifth driving member; 522-fifth mounting frame; 531-sixth driving member; 532-sixth mounting frame. DETAILED DESCRIPTION

[0042] The utility model will be explained in further detail below in combination with the drawings.

[0043] Figures 1-7 A multi-axis driving yarn feeding and taking device according to an embodiment of the utility model is schematically shown.

[0044] As Figures 1-7 shown, the multi-axis driving yarn feeding and taking device comprises a first driving mechanism 1, a second driving mechanism 2, a third driving mechanism 3, a fourth driving mechanism 4 and a yarn feeding and taking mechanism 5, the yarn feeding and taking mechanism 5 is matched with the yarn roll 400, the yarn feeding and taking mechanism 5 is installed on the fourth driving mechanism 4, the fourth driving mechanism 4 is installed on the third driving mechanism 3, the third driving mechanism 3 is installed on the second driving mechanism 2, and the second driving mechanism 2 is installed on the first driving mechanism 1.

[0045] The first driving mechanism 1 is used to drive the yarn feeding and taking mechanism 5 to feed in the X-axis direction.

[0046] The second driving mechanism 2 is used to drive the yarn feeding and taking mechanism 5 to feed in the Y-axis direction.

[0047] The third drive mechanism 3 is used to drive the material handling mechanism 5 to flip;

[0048] The fourth drive mechanism 4 is used to drive the material handling mechanism 5 to feed in the Z-axis direction.

[0049] The first drive mechanism 1 includes a first mounting frame 11, a first drive member 12, a first transmission assembly 13, a second transmission assembly 14, and a first guide assembly 15. The first guide assembly 15 includes a pair of parallel and spaced first linear guide rails 151 and a first slider 152 that slides with the first linear guide rails 151. The first mounting frame 11 is perpendicular to the first linear guide rails 151. The first mounting frame 11 is slidably mounted on the pair of first linear guide rails 151 via the first slider 152. The first drive member 12 is mounted on the first mounting frame 11 and its drive end is connected to the first transmission assembly 13. The second transmission assembly 14 is connected to the first transmission assembly 13. The second drive mechanism 2 is mounted on the first mounting frame 11. Under the drive of the first drive member 12, the first mounting frame 11 can slide along the first linear guide rails 151.

[0050] The first transmission assembly 13 includes a first transmission wheel 131, a second transmission wheel 132, a first transmission belt 133, and a transmission shaft 134. The first transmission wheel 131 is mounted on the driving end of the first driving member 12 and is connected to the second transmission wheel 132 via the first transmission belt 133. The transmission shaft 134 is mounted on the second transmission wheel 132.

[0051] The second transmission assembly 14 includes a third transmission wheel 141, a second transmission belt 142, and a tensioning wheel 143. The third transmission wheel 141 is fitted around the outer periphery of the transmission shaft 134. The second transmission belt 142 is fitted around the third transmission wheel 141 and cooperates with the tensioning wheel 143. The second transmission belt 142 is parallel to the first linear guide rail 151 and is located inside the first linear guide rail 151.

[0052] A fixed frame is installed on the side wall of the first mounting frame 11. The third transmission wheel 141 and the tension wheel 143 are rotatably mounted on the fixed frame. The tension wheel 143 is a pair. The second transmission belt 142 is in a Z-shape under the action of the tension wheel 143 and the third transmission wheel 141. When the first driving member 12 works, the second transmission belt 142 drives the first mounting frame 11, the second driving mechanism 2, the third driving mechanism 3, the fourth driving mechanism 4 and the material picking and unloading mechanism 5 to move along the X-axis direction.

[0053] The second transmission assembly 14 is a pair, and the third transmission wheel 141 of the pair of second transmission assemblies 14 is coaxially driven by the transmission shaft 134.

[0054] The second driving mechanism 2 comprises a second driving member 21, a second mounting frame 22, a third transmission assembly 23 and a second guide assembly 24. The second guide assembly 24 comprises a pair of second linear guides 241 arranged in parallel and at intervals, and a second sliding block 242 in sliding fit with the second linear guides 241. The second linear guides 241 are parallel to the first mounting frame 11. The second mounting frame 22 is slidably arranged on the pair of second linear guides 241 through the second sliding block 242. The second driving member 21 is mounted on the first mounting frame 11 and in transmission connection with the third transmission assembly 23. The third transmission assembly 23 is connected with the second mounting frame 22. Under the driving of the second driving member 21, the second mounting frame 22 can slide along the second linear guides 241.

[0055] The third transmission assembly 23 comprises a fourth transmission wheel 231, a fifth transmission wheel 232 and a third transmission belt 233. The fourth transmission wheel 231 and the fifth transmission wheel 232 are rotatably mounted on the first mounting frame 11 and in transmission connection through the third transmission belt 233. The third transmission belt 233 is fixedly connected with the second mounting frame 22. The fourth transmission wheel 231 is in transmission connection with the second driving member 21.

[0056] The third driving mechanism 3 comprises a third driving member 31 and a third mounting frame 32. The third driving member 31 is mounted on the second mounting frame 22. The third mounting frame 32 is connected with the driving end of the third driving member 31. The fourth driving mechanism 4 is mounted on the third mounting frame 32. Under the driving of the third driving member 31, the third mounting frame 32 can be flipped by 180 degrees along the plane where the Z axis is located.

[0057] Therefore, the third driving mechanism 3 can drive the feeding and taking mechanism 5 to flip by 180 degrees as a whole, and then quickly switch between the two states suitable for feeding and taking materials on the upper layer of the yarn supply frame 100 and suitable for feeding and taking materials on the lower layer of the yarn supply frame 100, so as to avoid shaking of the feeding and taking mechanism 5 when feeding and taking materials over a long distance, and effectively improve the stability and safety of the feeding and taking process.

[0058] The fourth driving mechanism 4 comprises a fourth driving member 41, a fourth transmission assembly 42, a fourth mounting frame 43 and a third guide assembly 44. The third guide assembly 44 comprises a third linear guide 441 and a third sliding block 442 in sliding fit with the third linear guide 441. The third sliding block 442 is mounted on the third mounting frame 32. The third linear guide 441 is mounted on the fourth mounting frame 43 and in sliding fit with the third sliding block 442. The fourth mounting frame 43 penetrates through the third mounting frame 32 and extends along the Z axis direction. The third linear guide 441 is parallel to the fourth mounting frame 43. The fourth driving member 41 is mounted on the third mounting frame 32 and in transmission connection with the fourth transmission assembly 42. Under the driving of the fourth driving member 41, the fourth mounting frame 43 can slide along the Z axis direction relative to the third mounting frame 32.

[0059] The fourth transmission assembly 42 comprises a transmission gear 421 and a guide rack 422, the guide rack 422 is installed on and parallel to the fourth mounting frame 43, and the transmission gear 421 is sleeved on the driving end of the fourth driving member 41 and engaged with the guide rack 422.

[0060] The taking and placing mechanism 5 comprises a taking and placing assembly 51, which is installed on the fourth driving mechanism 4 and matched with the yarn roll 400, and the taking and placing assembly 51 comprises a taking and placing module 511 matched with the yarn roll 400 and a seventh driving member 512 matched with the taking and placing module 511.

[0061] The taking and placing mechanism 5 comprises the taking and placing assembly 51, a first driving assembly 52 and a second driving assembly 53, the taking and placing assembly 51 is installed on the first driving assembly 52, the first driving mechanism 1 is installed on the second driving assembly 53, the second driving assembly 53 is installed on the fourth driving mechanism 4, the first driving assembly 52 is used for driving the taking and placing assembly 51 to swing, and the second driving assembly 53 is used for driving the taking and placing assembly 51 to rotate.

[0062] The first driving assembly 52 comprises a fifth driving member 521 and a fifth mounting frame 522, the second driving assembly 53 comprises a sixth driving member 531 and a sixth mounting frame 532, the sixth driving member 531 is installed on the fourth driving mechanism 4, the sixth mounting frame 532 is installed on the driving end of the sixth driving member 531, the fifth driving member 521 is installed on the sixth mounting frame 532, the fifth mounting frame 522 is installed on the driving end of the fifth driving member 521, and the taking and placing assembly 51 is installed on the fifth mounting frame 522.

[0063] The taking and placing assembly 51 comprises the taking and placing module 511 matched with the yarn roll 400 and the seventh driving member 512 installed on the fifth mounting frame 522 and matched with the taking and placing module 511.

[0064] The first driving member 12, the second driving member 21, the third driving member 31, the fourth driving member 41, the fifth driving member 521 and the sixth driving member 531 in the embodiment are servo motors or combined driving structures of servo motors and reducers, the seventh driving member 512 is a pneumatic cylinder, and the taking and placing module 511 is a gripper.

[0065] In order to realize automation, the multi-axis driving taking and placing device 200 in the embodiment must also comprise a control mechanism and a sensing mechanism, the sensing mechanism can be various sensors such as photoelectric sensors and proximity switches, and the control mechanism can be a PLC controller.

[0066] Figures 8-10 An automatic yarn feeding device according to an embodiment of the present application is schematically shown.

[0067] As Figures 8-10As shown, the automatic yarn feeding device comprises a yarn feeding frame 100 and a material taking and placing device 200 matched with the yarn feeding frame 100, and the material taking and placing device 200 is the multi-axis driving material taking and placing device 200.

[0068] The yarn feeding frame 100 is provided with a plurality of positioning members 300 matched with the yarn reels 400, and the yarn feeding frame 100 is multiple, and the multiple yarn feeding frames 100 are sequentially and spacedly arranged along the X-axis direction, and the material taking and placing device 200 can shuttle between the multiple yarn feeding frames 100 and place the yarn reel 400 on any one of the positioning members 300 of any one of the yarn feeding frames 100.

[0069] The positioning members 300 of the adjacent two yarn feeding frames 100 are oppositely arranged or arranged in the same direction, the positioning members 300 extend perpendicularly to the plane where the yarn feeding frame 100 is located or non-perpendicularly to the plane where the yarn feeding frame 100 is located, at least one side of the yarn feeding frame 100 is formed with a first avoiding space 100e for the multi-axis driving material taking and placing device 200 to shuttle in the X-axis direction, the yarn feeding frame 100 comprises an upper yarn feeding frame 100a and a lower yarn feeding frame 100b, a plurality of upper guide frames 100c are correspondingly arranged on the front end face of the upper yarn feeding frame 100a and sequentially and spacedly arranged along the Y-axis direction, a plurality of lower guide frames 100d are correspondingly arranged on the front end face of the lower yarn feeding frame 100b and sequentially and spacedly arranged along the Y-axis direction, and the second avoiding space 100f for the multi-axis driving material taking and placing device 200 to shuttle in the Y-axis direction is formed between the upper guide frame 100c and the lower guide frame 100d.

[0070] The automatic yarn feeding device of the embodiment further comprises a material rack 500 and a track frame 600, the track frame 600 is arranged on the two sides of the yarn feeding frame 100 and is located in the first avoiding space 100e, the first linear guide rail 151 of the material taking and placing device 200 is fixedly installed on the upper end face of the track frame 600, and the track frame 600 plays a supporting role. The material rack 500 is used for storing materials, which can be conveyed by an AGV trolley to realize material supply, the material taking and placing device 200 is matched with the yarn reel 400 on the material rack 500 and is used for taking down the yarn reel 400 and conveying the yarn reel 400 to the corresponding positioning member 300.

[0071] The advantages of the utility model relative to the prior art at least include:

[0072] 1. The utility model provides a brand -new structure's material taking and placing device 200, this device adopts multi -axis drive mode, realized the automatic material taking and placing of yarn reel 400, replaced manual material taking and placing, greatly improved the efficiency of yarn reel 400 material taking or supplement, effectively saved the labor cost, is applicable to large -scale, batch production operation.

[0073] 2、The taking and placing device 200 can realize the movement of the taking and placing assembly 51 in the X-axis direction, the movement in the Y-axis direction, the 180-degree turning in the vertical plane formed by the YZ axis, the movement in the Z-axis direction, the rotation in the horizontal plane formed by the XY axis, and the swing in the vertical plane formed by the XZ axis or the YZ axis, that is, the taking and placing device 200 can realize six-axis movement, and is suitable for a wide range of applications;

[0074] 3、The automatic yarn feeding equipment with full-automatic taking and placing of yarns can simultaneously adapt to multiple knitting machines, and the feeding and replenishment of the yarn rolls 400 on all the yarn feeding frames 100 can be completed through one taking and placing device 200, so that the labor cost can be effectively saved, the labor input is reduced, the taking and placing efficiency is high, the error rate is low, and the large-scale production demand is met.

[0075] The above only describes some embodiments of the present application. For those skilled in the art, without departing from the inventive concept, a number of modifications and improvements can be made, which are all within the protection scope of the present application.

Claims

1. A multi-axis driven pick-and-place device, characterized by, The application relates to a yarn feeding and taking mechanism, which comprises a first driving mechanism (1), a second driving mechanism (2), a third driving mechanism (3), a fourth driving mechanism (4) and a yarn feeding and taking mechanism (5). The first driving mechanism (1) is used for driving the yarn feeding and taking mechanism (5) to feed in the X-axis direction. The second driving mechanism (2) is used for driving the yarn feeding and taking mechanism (5) to feed in the Y-axis direction. The third driving mechanism (3) is used for driving the yarn feeding and taking mechanism (5) to overturn. The fourth driving mechanism (4) is used for driving the yarn feeding and taking mechanism (5) to feed in the Z-axis direction.

2. The multi-axis drive pick and place apparatus of claim 1, wherein, The first driving mechanism (1) comprises a first mounting frame (11), a first driving piece (12), a first transmission assembly (13), a second transmission assembly (14) and a first guide assembly (15). The first guide assembly (15) comprises a pair of first linear guides (151) which are parallel and spaced apart and a first sliding block (152) which is in sliding cooperation with the first linear guides (151). The first mounting frame (11) is perpendicular to the first linear guides (151). The first mounting frame (11) is slidably arranged on the pair of first linear guides (151) through the first sliding block (152). The first driving piece (12) is mounted on the first mounting frame (11) and has a driving end which is in transmission connection with the first transmission assembly (13). The second transmission assembly (14) is in transmission connection with the first transmission assembly (13). The second driving mechanism (2) is mounted on the first mounting frame (11). Under the driving of the first driving piece (12), the first mounting frame (11) can slide along the first linear guides (151).

3. The multi-axis drive pick and place apparatus of claim 2, wherein, The first transmission assembly (13) comprises a first transmission wheel (131), a second transmission wheel (132), a first transmission belt (133) and a transmission shaft (134). The first transmission wheel (131) is sleeved on the driving end of the first driving piece (12) and is in transmission connection with the second transmission wheel (132) through the first transmission belt (133). The transmission shaft (134) is sleeved on the second transmission wheel (132). The second transmission assembly (14) comprises a third transmission wheel (141), a second transmission belt (142) and a tensioning wheel (143). The third transmission wheel (141) is sleeved on the outer periphery of the transmission shaft (134). The second transmission belt (142) is sleeved on the third transmission wheel (141) and is in cooperation with the tensioning wheel (143). The second transmission belt (142) is parallel to the first linear guides (151) and is located on the inner side of the first linear guides (151). The second transmission assembly (14) is a pair, and third transmission wheels (141) of the pair of second transmission assemblies (14) are coaxially driven through the transmission shaft (134).

4. The multi-axis drive pick-and-place apparatus of claim 2 or 3, wherein, The second driving mechanism (2) comprises a second driving member (21), a second mounting frame (22), a third transmission assembly (23) and a second guide assembly (24), the second guide assembly (24) comprises a pair of second linear guides (241) arranged in parallel and at intervals and a second sliding block (242) in sliding fit with the second linear guides (241), the second linear guides (241) are parallel to the first mounting frame (11), the second mounting frame (22) is slidably arranged on the pair of second linear guides (241) through the second sliding block (242), the second driving member (21) is mounted on the first mounting frame (11) and in driving connection with the third transmission assembly (23), the third transmission assembly (23) is connected with the second mounting frame (22), and under the driving of the second driving member (21), the second mounting frame (22) can slide along the second linear guides (241); The third transmission assembly (23) comprises a fourth transmission wheel (231), a fifth transmission wheel (232) and a third transmission belt (233), the fourth transmission wheel (231) and the fifth transmission wheel (232) are rotatably mounted on the first mounting frame (11) and in driving connection through the third transmission belt (233), the third transmission belt (233) is fixedly connected with the second mounting frame (22), and the fourth transmission wheel (231) is in driving connection with the second driving member (21).

5. The multi-axis drive pick and place apparatus of claim 4, wherein, The third driving mechanism (3) comprises a third driving member (31) and a third mounting frame (32), the third driving member (31) is mounted on the second mounting frame (22), the third mounting frame (32) is connected with a driving end of the third driving member (31), and the fourth driving mechanism (4) is mounted on the third mounting frame (32), under the driving of the third driving member (31), the third mounting frame (32) can be flipped by 180 degrees along the plane where the Z axis is located.

6. The multi-axis drive pick and place apparatus of claim 5, wherein, The fourth driving mechanism (4) comprises a fourth driving member (41), a fourth transmission assembly (42), a fourth mounting frame (43) and a third guide assembly (44). The third guide assembly (44) comprises a third linear guide rail (441) and a third sliding block (442) in sliding cooperation with the third linear guide rail (441). The third sliding block (442) is mounted to the third mounting frame (32). The third linear guide rail (441) is mounted to the fourth mounting frame (43) and in sliding cooperation with the third sliding block (442). The fourth mounting frame (43) penetrates through the third mounting frame (32) and extends along the Z-axis direction. The third linear guide rail (441) is parallel to the fourth mounting frame (43). The fourth driving member (41) is mounted to the third mounting frame (32) and in driving connection with the fourth transmission assembly (42). Under the driving of the fourth driving member (41), the fourth mounting frame (43) can slide along the Z-axis direction relative to the third mounting frame (32). The fourth transmission assembly (42) comprises a transmission gear (421) and a guide rack (422). The guide rack (422) is mounted to the fourth mounting frame (43) and parallel to the fourth mounting frame (43). The transmission gear (421) is sleeved on the driving end of the fourth driving member (41) and in engagement with the guide rack (422).

7. The multi-axis drive pick-and-place apparatus of any of claims 1-6, wherein, The taking and placing mechanism (5) comprises a taking and placing assembly (51). The taking and placing assembly (51) is mounted to the fourth driving mechanism (4) and in cooperation with the yarn roll (400). The taking and placing assembly (51) comprises a taking and placing module (511) in cooperation with the yarn roll (400) and a seventh driving member (512) in cooperation with the taking and placing module (511).

8. The multi-axis drive pick-and-place apparatus of any of claims 1-6, wherein, The taking and placing mechanism (5) comprises the taking and placing assembly (51), a first driving assembly (52) and a second driving assembly (53). The taking and placing assembly (51) is mounted to the first driving assembly (52). The first driving mechanism (1) is mounted to the second driving assembly (53). The second driving assembly (53) is mounted to the fourth driving mechanism (4). The first driving assembly (52) is used for driving the taking and placing assembly (51) to swing. The second driving assembly (53) is used for driving the taking and placing assembly (51) to rotate. The first driving assembly (52) comprises a fifth driving member (521) and a fifth mounting frame (522). The second driving assembly (53) comprises a sixth driving member (531) and a sixth mounting frame (532). The sixth driving member (531) is mounted to the fourth driving mechanism (4). The sixth mounting frame (532) is mounted to the driving end of the sixth driving member (531). The fifth driving member (521) is mounted to the sixth mounting frame (532). The fifth mounting frame (522) is mounted to the driving end of the fifth driving member (521). The taking and placing assembly (51) is mounted to the fifth mounting frame (522). The taking and placing component (51) comprises a taking and placing module (511) matched with the yarn package (400) and a seventh driving member (512) installed on the fifth mounting frame (522) and matched with the taking and placing module (511).

9. An automatic yarn feeding device comprising a yarn feeding stand (100) and a pick and place device (200) cooperating with the yarn feeding stand (100), characterized in that, The taking and placing device (200) is the multi-axis driving taking and placing device according to any one of claims 1-8, the yarn supply frame (100) is provided with a plurality of positioning members (300) matched with the yarn package (400) in position, the yarn supply frame (100) is a plurality of, the plurality of yarn supply frames (100) are sequentially and spacedly arranged along the X-axis direction, and the taking and placing device (200) can shuttle between the plurality of yarn supply frames (100) and place the yarn package (400) on any one of the positioning members (300) of any one of the yarn supply frames (100).

10. The automatic yarn supply apparatus according to claim 9, characterized in that, The positioning members (300) of two adjacent yarn supply frames (100) are oppositely arranged or arranged in the same direction, the positioning members (300) extend perpendicularly to the plane where the yarn supply frame (100) is located or do not extend perpendicularly to the plane where the yarn supply frame (100) is located, at least one side of the yarn supply frame (100) is formed with a first avoiding space (100e) for the multi-axis driving taking and placing device (200) to shuttle in the X-axis direction, the yarn supply frame (100) comprises an upper yarn supply frame (100a) and a lower yarn supply frame (100b), a plurality of upper guide frames (100c) are correspondingly arranged on the front end face of the upper yarn supply frame (100a) and sequentially and spacedly arranged along the Y-axis direction, a plurality of lower guide frames (100d) are correspondingly arranged on the front end face of the lower yarn supply frame (100b) and sequentially and spacedly arranged along the Y-axis direction, and a second avoiding space (100f) is formed between the upper guide frame (100c) and the lower guide frame (100d) for the multi-axis driving taking and placing device (200) to shuttle in the Y-axis direction.

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