Bobbin yarn feeding device and yarn inserting robot
By designing a bobbin delivery device, which utilizes the negative pressure suction and clamping of a robotic arm and an airbag clamping assembly, the safe and efficient transfer of bobbins and their yarn ends is achieved, solving the transfer problem in existing technologies and improving production efficiency and the safety of the working environment.
Patent Information
- Application Number
- CN202520433829.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-12
- Publication Date
- 2026-01-30
- Estimated Expiration
- 2035-03-12
AI Technical Summary
In existing technologies, how can multiple yarn tubes and their yarn ends be safely transferred from the yarn insertion robot to the yarn warehouse of the winding machine in batches, while reducing noise pollution and the threat of short fibers in the air, thereby improving production efficiency and the working environment?
A yarn feeding device was designed, including a robotic arm, a telescopic sleeve, and an airbag clamping assembly. The device uses negative pressure to suck up the yarn end and clamp the yarn. The yarn clamp of the airbag clamping assembly accurately feeds the yarn into the winding machine's yarn magazine. Combined with the movement of the robotic arm and the telescopic sleeve, it ensures that the yarn end is firmly grasped and does not come out.
It enables safe and efficient transfer of yarn tubes and yarn ends, improves production efficiency, reduces labor intensity, reduces noise pollution and the harm of short fibers in the air, and improves the safety of the working environment.
Smart Images
Figure CN223849247U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to textile machinery technical field, concretely relates to a cap pipe yarn feeding device and yarn inserting robot. BACKGROUND
[0002] With the social economic development and industrial upgrading, it has great significance to carry out automation transformation on the existing equipment of labor-intensive industries and replace workers with intelligent robots to do repetitive and boring work. As one of the main labor-intensive industries, the textile industry has a high labor cost. Moreover, there is a problem of large noise pollution and a large number of short fibers floating in the air in the workshop, which threatens the health of workers. Therefore, it has become an urgent problem to be solved to intelligently transform the workshop to improve production efficiency, improve the working environment and reduce labor pressure.
[0003] Although the cap pipe yarn can be arranged by the yarn inserting robot, the cap pipe yarn needs to be provided to the bobbin winder yarn library after arrangement. How to safely transfer a plurality of cap pipe yarns and the yarn heads found out in batches is also a technical difficulty. UTILITY MODEL CONTENT
[0004] Therefore, in order to overcome the shortcomings of the prior art, the utility model provides a cap pipe yarn feeding device and yarn inserting robot, which safely transfer a plurality of cap pipe yarns and the yarn heads found out in batches.
[0005] In order to achieve the above purpose, the utility model provides a cap pipe yarn feeding device for feeding cap pipe yarn from a yarn inserting robot to a bobbin winder yarn library, comprising: a manipulator, one end of which is fixed on the body of the yarn inserting robot, and the other end of which moves horizontally according to a control signal; a telescopic sleeve group, which is fixed on the other end of the manipulator and can move vertically according to a control signal; and a gas bag pipe clamping assembly for clamping at least one cap pipe yarn and feeding the cap pipe yarn to the bobbin winder yarn library, wherein the gas bag pipe clamping assembly comprises a fan-shaped mounting plate and a plurality of yarn clamps arranged at the front end of the mounting plate, the mounting plate is provided with a hollow sleeve at the center, the hollow sleeve is communicated with the hollow pipe of the telescopic sleeve group, and is used for negative pressure suction of the yarn head of the transferred cap pipe yarn, and the yarn clamp is used for clamping the cap pipe yarn.
[0006] In one embodiment, the yarn clamp comprises: a base having a hollow chamber; a gas bag arranged in the hollow chamber and clamping the cap pipe yarn in an inflated state; and a gas pump for inflating the gas bag; and a controlled gas valve communicated with the gas bag and used for deflating the gas bag.
[0007] In one embodiment, the yarn clamps are uniformly arranged at the front end of the mounting plate.
[0008] In one of the embodiments, the telescopic sleeve set comprises: a fixing base fixed on the other end of the mechanical arm; a vertical guide rod vertically movable in the fixing base, internally provided with a hollow pipe, and connected with the mounting plate at the bottom end; and a driving unit driving the vertical guide rod to vertically move relative to the fixing base.
[0009] In one of the embodiments, the mechanical arm comprises: a housing; a first transmission shaft connected at one end to the housing; a second transmission shaft connected at the other end to the first transmission shaft; a first driving source built in the housing to rotate the first transmission shaft in the horizontal direction; and a second driving source built in the second transmission shaft to rotate the second transmission shaft in the horizontal direction.
[0010] A yarn inserting robot comprises the yarn tube feeding device as described above.
[0011] Compared with the prior art, the hollow sleeve on the mounting plate of the air bag tube clamping assembly can suck the yarn end of the transferred yarn tube, and the yarn tube is clamped by the yarn clamp of the air bag tube clamping assembly, so that the yarn tube and the yarn end are firmly gripped and cannot fall out, the production efficiency is improved, the labor intensity of the operator is reduced, and the yarn sucking effect is good. When the yarn tube is transported to the upper side of the bobbin winder, the yarn clamp can release the yarn tube, the yarn tube naturally falls into the yarn library of the bobbin winder, and then the mounting plate is driven to move downward by the mechanical arm and the telescopic sleeve set, and then the yarn end sucked by the hollow sleeve is blown into the yarn library negative pressure hole of the bobbin winder. BRIEF DESCRIPTION OF DRAWINGS
[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0013] Figure 1 is a structural schematic diagram of a yarn inserting robot in an embodiment of the present application;
[0014] Figure 2 is a structural schematic diagram of a yarn tube feeding device in an embodiment of the present application;
[0015] Figure 3 is a structural schematic diagram of a yarn clamp in an embodiment of the present application;
[0016] Figure 4 is a sectional view of the yarn tube feeding device in an embodiment of the present application. DETAILED DESCRIPTION
[0017] The embodiments of the present application will be described in detail below with reference to the drawings.
[0018] The forgoing descriptions only cover some embodiments of the present application, and therefore are not all-inclusive of all embodiments of the present application. The present application can be implemented or applied in other different specific embodiments, and the details in the present description can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0019] It should be noted that the following describes various aspects of embodiments within the scope of the present application. It should be apparent that the aspects described herein can be embodied in a wide variety of forms and that any particular structure and / or function described herein is merely illustrative. Based on the present application, those skilled in the art should appreciate that one aspect described herein can be implemented independently of any other aspect and that two or more of these aspects can be combined in various ways. For example, an apparatus can be implemented or a method can be practiced using any number of the aspects described herein. In addition, such an apparatus can be implemented and / or such a method can be practiced using other structure and / or functionality in addition to or other than one or more of the aspects described herein.
[0020] It should also be noted that the drawings provided in the following embodiments are only schematic and are intended to provide the basic understanding of the present application. In the drawings, only the components related to the present application are shown, not the number, shape and size of the components in actual implementation, and the shape, number and proportion of each component in actual implementation can be arbitrarily changed, and the layout of the components can be more complex.
[0021] In addition, in the following description, specific details are provided in order to facilitate a thorough understanding of examples. However, one skilled in the art will understand that the aspects described can be practiced without these specific details.
[0022] As shown in Figure 1 The embodiments of the present application provide a yarn inserting robot, which includes a hopper 10, a tube yarn loading lifting device 20, a thread tensioning device 30, a negative pressure yarn feeding device 40 and a tube yarn feeding device 50.
[0023] The hopper 10 is used to receive the tube yarn from the tube yarn carrier and provide the tube yarn without thread end to the tube yarn lifting feeding device 20. The upper part of the vibrating hopper 10 is provided with a feeding port, and the funnel-shaped bottom of the hopper is provided with a discharging port. The tube yarn refers to the tubular yarn formed by winding on the bobbin, which is a common shape before the drawing process in the spinning process. According to the winding direction of the tube yarn, the two ends of the tube yarn are the big end and the small end.
[0024] The tube yarn feeding lifting device 20 is installed on the discharging side of the hopper 10. The tube yarn feeding lifting device 20 includes a feeding side and a discharging side, and the feeding side faces the discharging side of the hopper 10. The bottom of the tube yarn feeding lifting device 20 is fixedly connected with the discharging side of the hopper 10. The tube yarn feeding lifting device 20 is used to vertically lift the tube yarn to a predetermined height.
[0025] The thread picking device 30 is used to separate the thread end from the yarn body of the passing tube yarn, so as to provide the thread end of the tube yarn to the subsequent negative pressure yarn feeding device 40. At this time, the tube yarn is vertically fixed on the moving seat for transporting the tube yarn, and the tube yarn is arranged with the big end downward and the small end upward.
[0026] The negative pressure yarn feeding device 40 is used to arrange the tube yarn whose thread end has been found by the thread picking device 30. The tube yarn is transferred on the workbench of the inserting robot according to the specified path through the conveying device. The negative pressure yarn feeding device 40 adsorbs a predetermined number of thread ends of the tube yarn.
[0027] The tube yarn feeding device 50 is used to feed the tube yarn from the inserting robot to the bobbin winder yarn library. The bobbin winder connects the tube yarn (or hank) with small capacity by winding to make a bobbin with large capacity. The capacity of one bobbin can be equivalent to multiple tube yarns. The bobbin can be used for warping, twisting, weft winding, dyeing, weft on shuttleless loom and knitting yarn, etc. The bobbin winder yarn library stores the tube yarn with small capacity.
[0028] As shown in Figure 2 , the tube yarn feeding device 50 includes a manipulator 1, a telescopic sleeve group 2 and a balloon tube clamping assembly 3.
[0029] One end of the manipulator 1 is fixed on the body of the inserting robot, and the other end moves horizontally according to the control signal.
[0030] The telescopic sleeve group 2 is fixed on the other end of the manipulator 1 and can move vertically according to the control signal.
[0031] The balloon tube clamping assembly 3 is used to clamp at least one tube yarn and feed the tube yarn to the bobbin winder yarn library.
[0032] As shown in Figure 3As shown, the air bag tube clamping assembly 3 comprises a fan-shaped mounting plate 31 and a plurality of yarn clamps 32 arranged at the front end of the mounting plate. The number of yarn clamps 32 can be set to 1-8. The more the number of yarn clamps, the more the fan shape of the mounting plate 31 deviates from a circle.
[0033] The mounting plate 31 is provided with a hollow sleeve 33 at the center. The hollow sleeve 33 is in communication with the hollow pipe of the telescopic sleeve set 2, and is used for negative pressure suction of the yarn end of the transferred tube yarn. The hollow sleeve 33 is in communication with the hollow pipe of the telescopic sleeve set 2, which uses the hollow pipe of the lead screw for negative pressure, not only saving space, but also effectively realizing negative pressure, ensuring that the yarn end is sucked.
[0034] The yarn clamp 32 is used to clamp the tube yarn.
[0035] The specific process of the tube yarn feeding device feeding the tube yarn is as follows:
[0036] The transferred tube yarn is wrapped around the yarn end suction part of the negative pressure yarn feeding device 40, and the yarn end suction part sucks a predetermined number of yarn ends of the tube yarn;
[0037] The tube yarn feeding device 50 controls the horizontal movement of the air bag tube clamping assembly 3 through the control of the manipulator 1, and controls the vertical movement of the air bag tube clamping assembly 3 through the control of the telescopic sleeve set 2 according to the control signal, until the air bag tube clamping assembly 3 is moved to the vicinity of the yarn end suction part in the negative pressure yarn feeding device 40;
[0038] The hollow sleeve 33 covers the yarn end suction part in the negative pressure yarn feeding device 40, and sucks the yarn end of the transferred tube yarn through negative pressure; at the same time, the yarn clamp 32 clamps the tube yarn, and at this time the tube yarn and the yarn end are both grabbed by the air bag tube clamping assembly 3;
[0039] The tube yarn feeding device 50 controls the horizontal movement of the air bag tube clamping assembly 3 through the control of the manipulator 1, and controls the vertical movement of the air bag tube clamping assembly 3 through the control of the telescopic sleeve set 2 according to the control signal, until the air bag tube clamping assembly 3 is moved to the vicinity of the yarn end suction part in the negative pressure yarn feeding device 40;
[0040] When the tube yarn is fed to the upper part of the winding machine, the yarn clamp 32 can release the tube yarn, and the tube yarn naturally and accurately falls into the winding machine yarn library (the first predetermined storage area);
[0041] Then the mounting plate 31 is driven by the manipulator 1 and the telescopic sleeve group 2 to move downward, and then the yarn feeding device 50 transports the adsorbed yarn end to above the second predetermined storage area (yarn library negative pressure hole which adsorbs the yarn end by negative pressure) of the winding machine through the hollow sleeve 33, and then the hollow sleeve 33 blows the corresponding yarn end of the tube yarn to the yarn library negative pressure hole by air, while the yarn library negative pressure hole adsorbs the yarn end by negative pressure, so as to ensure that the yarn end enters the yarn library negative pressure hole. The first predetermined storage area and the second predetermined storage area are different areas, and the first predetermined storage area can be arranged around the second predetermined storage area.
[0042] The control signal can be generated by the controller. In one embodiment, a camera unit can also be arranged on the air bag tube clamping assembly 3, which can take pictures of the position of the winding machine in real time and transmit the pictures to the controller. The controller can analyze whether there is a tube yarn in the winding machine library of the winding machine in the pictures. When it is judged that there is no tube yarn, the controller can generate a corresponding control signal to control the movement of the manipulator 1 and the telescopic sleeve group 2, and then control the clamping or feeding of the tube yarn by the air bag tube clamping assembly 3.
[0043] In the above device, the hollow sleeve of the mounting plate of the air bag tube clamping assembly adsorbs the yarn end of the transferred tube yarn, and the yarn end is clamped by the yarn clamp of the air bag tube clamping assembly. In the whole process, whether it is a tube yarn or a yarn end, it is firmly grasped and does not fall out, which improves the production efficiency, reduces the labor intensity of the workers, and has good yarn adsorption effect. When the tube yarn is transported to above the winding machine, the yarn clamp can release the tube yarn, and the tube yarn naturally and accurately falls into the winding machine library. Then the mounting plate is driven by the manipulator and the telescopic sleeve group to move downward, and then the yarn end adsorbed by the hollow sleeve is blown into the yarn library negative pressure hole of the winding machine.
[0044] In one embodiment, as shown in Figure 4 , the yarn clamp 32 includes a base 321, an air bag 322, an air pump 323, and a controlled air valve 324.
[0045] The base 321 has a hollow chamber. The hollow chamber can be cylindrical; or it can be divided into two parts: the upper part is cylindrical, and the lower part is conical. The conical chamber can facilitate the guiding and grasping of the tube yarn.
[0046] The air bag 322 is arranged in the hollow chamber and clamps the tube yarn in the inflated state. Figure 3 The air inlet 325 in the air pump 323 is the air inlet of the air bag 322.
[0047] The air pump 323 is used to inflate the air bag.
[0048] As shown in Figure 4As shown, the controlled air valve 324 is arranged above the mounting plate 31, and is in communication with the air bag 322 for deflating the air bag 322. When the air bag 322 is deflated, the tube yarn falls from the air bag 322.
[0049] In one embodiment, the yarn clippers are evenly arranged at the front end of the mounting plate.
[0050] In one embodiment, the telescopic sleeve set 2 comprises a fixed seat 21, a vertical guide rod 22 and a driving unit 23.
[0051] The fixed seat 21 is fixed to the other end of the mechanical arm.
[0052] The vertical guide rod 22 is vertically movable in the fixed seat, and is internally provided with a hollow pipeline, and the bottom end is connected with the mounting plate.
[0053] The driving unit 23 drives the vertical guide rod 22 to vertically move relative to the fixed seat 21.
[0054] As shown, in one embodiment, the mechanical arm comprises a housing 11, a first transmission shaft 12, a second transmission shaft 13, a first driving source (not shown in the figure) and a second driving source (not shown in the figure). Figure 2
[0055] The housing 11 is arranged on the machine body of the yarn inserting robot, and is centered along the vertical direction, and is connected with the base end of the first transmission shaft 12 as a rotation relative to the housing 11.
[0056] One end of the first transmission shaft 12 is connected to the housing. The first transmission shaft 12 is formed of a metal material such as cast iron, and has high rigidity in the length direction and the rotation direction. The front end of the first transmission shaft 12 is connected with the base end of the second transmission shaft 13 as a rotation relative to the first transmission shaft 12 centered along the vertical direction.
[0057] The other end of the second transmission shaft 13 is connected with the first transmission shaft.
[0058] The first driving source is built in the housing 11 to rotate the first transmission shaft in the horizontal direction. The first driving source can be a motor, or can include a motor and a reducer.
[0059] The second driving source is built in the second transmission shaft 13 to rotate the second transmission shaft in the horizontal direction.
[0060] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.
Claims
1. A cop delivery device for delivering a cop from a cop inserting robot to a bobbin magazine of a winder, characterized in that, The application relates to a yarn transferring device for a yarn transferring robot, comprising: a mechanical arm, one end of which is fixed on a body of the yarn transferring robot, and the other end of which moves horizontally according to a control signal; a telescopic sleeve group, which is fixed on the other end of the mechanical arm and moves vertically according to a control signal; an air bag pipe clamping assembly, which is used for clamping at least one pipe yarn and delivering the pipe yarn to a yarn library of a winder, wherein the air bag pipe clamping assembly comprises a fan-shaped mounting plate and a plurality of yarn clamps arranged at a front end of the mounting plate, the mounting plate is provided with a hollow sleeve at a center, the hollow sleeve is communicated with a hollow pipe of the telescopic sleeve group, and is used for sucking a yarn head of the transferred pipe yarn under negative pressure, and the yarn clamps are used for clamping the pipe yarn.
2. The package delivery device according to claim 1, characterized in that The yarn clamp comprises: a base with a hollow chamber; an air bag arranged in the hollow chamber and clamping the pipe yarn in an inflated state; an air pump for inflating the air bag; and a controlled air valve communicated with the air bag and used for deflating the air bag.
3. The package delivery device according to claim 1, characterized in that The yarn clamps are uniformly arranged at the front end of the mounting plate.
4. The package delivery device according to claim 1, characterized in that The telescopic sleeve group comprises: a fixing seat fixed on the other end of the mechanical arm; a vertical guide rod which is vertically movable in the fixing seat and is internally provided with a hollow pipe, and the bottom end of which is connected with the mounting plate; and a driving unit which drives the vertical guide rod to vertically move relative to the fixing seat.
5. The package delivery device according to claim 1, wherein The mechanical arm comprises: a shell; a first transmission shaft, one end of which is connected with the shell; a second transmission shaft, the other end of which is connected with the first transmission shaft; a first driving source which is internally arranged in the shell and drives the first transmission shaft to rotate in a horizontal direction; and a second driving source which is internally arranged in the second transmission shaft and drives the second transmission shaft to rotate in a horizontal direction.
6. A threading robot characterized by, The application further relates to a pipe yarn delivering device comprising the yarn transferring device as claimed in any one of claims 1 to 5.