Bobbin yarn removing and adjusting device and yarn inserting robot

Abstract

The utility model provides a cop removing and adjusting device which is arranged at the discharging end of a cop feeding and lifting device and used for adjusting the falling direction of cops and providing the cops with the large heads facing downwards for a grabbing and putting device. The cop removing and adjusting device comprises an identification mechanism, a material selecting mechanism and a head separating mechanism, and the identification mechanism is used for identifying the directions and the states of the cops; the sorting mechanism is used for eliminating special-shaped cops according to a cop state recognition result of the recognition mechanism and providing normal cops for the head separating mechanism; and the head separating mechanism is used for releasing the normal cop with the large head facing downwards according to the cop direction recognition result of the recognition mechanism. According to the device, the recognition mechanism is arranged to be matched with the material selecting mechanism and the head separating mechanism, special-shaped and normal selection and large and small head orientation selection of the cop are completed through one device, and the normal cop with the large head facing downwards is provided for the grabbing and putting device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of textiles, in particular to a cop removal adjusting device and a cop inserting robot. BACKGROUND

[0002] With the development of social economy and industrial upgrading, it is of great significance to automate the existing equipment in labor-intensive industries and replace workers with intelligent robots to perform repetitive and tedious work. The textile industry, as one of the main labor-intensive industries, has a high labor cost. In the process of handling cop, many links require cop to be placed according to regulations, and cop inserting workers are needed to complete daily production. Cop inserting workers perform mechanical actions such as picking up cop and selecting and placing it every day, which is high in labor cost. SUMMARY

[0003] The present application provides a cop removal adjusting device and a cop inserting robot, which solves the problem of high labor cost in the textile industry and replaces workers to perform repetitive actions such as picking up cop, judging its size, placing it, and rejecting abnormal cop.

[0004] The present application provides a cop removal adjusting device, which is arranged at the discharge end of a cop feeding and lifting device and is used to adjust the falling direction of the cop, provide the cop with a large head downward for a grabbing and feeding device, and comprises an identification mechanism, a material selection mechanism, and a head separation mechanism. The identification mechanism is used to identify the direction and state of the cop. The material selection mechanism is used to exclude abnormal cop according to the identification result of the identification mechanism and provide normal cop to the head separation mechanism. The head separation mechanism is used to release the normal cop with a large head downward according to the identification result of the identification mechanism.

[0005] Specifically, the head separation mechanism comprises a first baffle, a first turnover assembly corresponding to the first baffle, a second baffle, and a second turnover assembly corresponding to the second baffle. The cop can fall on the first baffle and the second baffle, and the two ends of the cop are located on the first baffle and the second baffle, respectively. The first turnover assembly and the second turnover assembly are arranged on one side of the cop removal adjusting device close to the cop feeding and lifting device. The first turnover assembly is used to drive the opening and closing of the first baffle, and the second turnover assembly is used to drive the opening and closing of the second baffle.

[0006] Specifically, the material selection mechanism includes a hopper upper frame, a third baffle plate disposed at the bottom of the hopper upper frame, and a third flipping component corresponding to the third baffle plate. The hopper upper frame is inclinedly disposed above the splitting mechanism, and the bottom of the hopper upper frame faces the side away from the yarn feeding and lifting device and the yarn discharge adjustment device. The third flipping component is disposed on any side of the yarn discharge adjustment device perpendicular to the yarn feeding and lifting device, and the third flipping component is used to drive the opening and closing of the third baffle plate.

[0007] Specifically, the side of the upper frame of the hopper near the first baffle and the second baffle is lower in height. When the third baffle is open, the yarn rolls down toward the third baffle; when the third baffle is closed, the yarn rolls down in the opposite direction to the third baffle, and the yarn rolls onto the first baffle and the second baffle.

[0008] Specifically, the splitting mechanism includes a feeding hopper for receiving the normal bobbin with its large end facing down, discharged by the splitting mechanism.

[0009] Specifically, the feeding hopper is a triangular feeding hopper, which is vertically arranged and its diameter gradually decreases to match the maximum diameter of the yarn tube.

[0010] Specifically, the yarn ejection adjustment device includes a shaped yarn ejection box, which is located on one side of the yarn ejection adjustment device away from the yarn feeding and lifting device, and is used to receive the shaped yarn ejected by the material selection mechanism.

[0011] Specifically, the splitting mechanism includes a blocking component for preventing the normal yarn provided by the material selection mechanism from falling off the splitting mechanism.

[0012] Specifically, the identification mechanism includes a camera unit and an analysis and processing unit. The camera unit is used to capture images of the yarn tube, and the analysis and processing unit is used to analyze the yarn tube direction and its state captured by the camera unit.

[0013] This application also provides a yarn insertion robot, comprising: a hopper for receiving yarn tubes from a yarn tube transport vehicle; a yarn tube loading and lifting device for lifting the yarn tubes from the vibrating hopper to a predetermined height; a yarn tube rejection and adjustment device for sorting the yarn tubes at the predetermined height, rejecting irregularly shaped yarn tubes, and separating them by the size difference between the yarn tube ends before providing them to a gripping and dispensing device; and a gripping and dispensing device for gripping the yarn tubes sorted by the irregularly shaped yarn tube rejection device and placing them into a yarn storage bin, wherein the yarn tube rejection and adjustment device is any of the yarn tube rejection and adjustment devices described above.

[0014] Compared with the prior art, the material selection mechanism in the application can remove abnormal tube yarn according to the tube yarn state recognition result of the recognition mechanism, and provide normal tube yarn to the head separating mechanism, and the head separating mechanism can adjust the tube yarn from a scattered state to a falling mode with the big head downward according to the tube yarn direction recognition result of the recognition mechanism, so as to obtain orderly and neat tube yarn. The tube yarn removal and adjustment device in the application can simultaneously remove abnormal tube yarn and release normal tube yarn with the big head downward, so as to realize automatic selection and arrangement of the tube yarn, improve the automation level of the equipment, and further improve the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 is a schematic diagram of a yarn inserting robot in an embodiment of the application;

[0017] Figure 2 is a schematic diagram of a tube yarn removal and adjustment device in an embodiment of the application;

[0018] Figure 3 is a schematic diagram of a third overturning assembly mounting surface in an embodiment of the application. DETAILED DESCRIPTION

[0019] The embodiments of the application will be described in detail below with reference to the drawings.

[0020] The embodiments of the application will be described in detail below with reference to the drawings.

[0021] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0022] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0023] Additionally, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that practice can be carried out without these specific details.

[0024] like Figure 1 As shown in the figure, this application provides a yarn insertion robot, including a hopper 1, a yarn feeding and lifting mechanism 2, a yarn removal and adjustment device 3, and a gripping and delivery device 4.

[0025] The hopper 1 is used to receive the bobbins from the bobbin transport vehicle and to provide the bobbins to the bobbin lifting and feeding device 2 on the discharge side of the hopper 1.

[0026] The yarn lifting and feeding device 2 is installed on the discharge side of the vibrating hopper 1. The yarn lifting and feeding device 2 includes a feeding side and a discharging side, with the feeding side facing the discharge side of the vibrating hopper 1. The yarn lifting and feeding device 2 is used to vertically lift the yarn tubes to a predetermined height.

[0027] The yarn bobbin discharge adjustment device 3 is installed at the discharge end of the yarn bobbin feeding and lifting device. It is used to organize yarn bobbins at a predetermined height, discharge irregularly shaped yarn bobbins, and then arrange the larger and smaller ends of normal yarn bobbins according to a set pattern, such as with the larger end facing down, before dropping them. Figure 2 As shown, the yarn ejection adjustment device 3 includes an identification mechanism (not shown in the figure), a material selection mechanism 32, and a yarn splitting mechanism 33.

[0028] The identification mechanism is arranged on the tube yarn feeding lifting device 2, and the identification mechanism identifies the direction and state of the tube yarn before the tube yarn enters the selection mechanism 32. The identified tube yarn state is an abnormal tube yarn or a normal tube yarn, and the signal of the tube yarn state, i.e. the abnormal tube yarn or the normal tube yarn, is transmitted to the selection mechanism 32. The direction of the identified tube yarn is which end is the large end, and the signal of the large end is transmitted to the head separation mechanism 33.

[0029] The selection mechanism 32 excludes the abnormal tube yarn according to the identification result of the tube yarn state of the identification mechanism. When the tube yarn is in a normal state, the selection mechanism 32 provides the tube yarn to the head separation mechanism 33.

[0030] The head separation mechanism 33 releases the normal tube yarn with the large end downward according to the orientation result of the large end of the normal tube yarn identified by the identification mechanism.

[0031] The grabbing and feeding device 4 is used to grab the tube yarn arranged by the tube yarn exclusion and arrangement device 3 and put the tube yarn into the yarn library.

[0032] The tube yarn is transferred to the hopper 1 from the tube yarn feeding trolley, the hopper 1 stores the tube yarn from the tube yarn feeding trolley, and then provides the tube yarn to the tube yarn feeding lifting device 2.

[0033] The tube yarn feeding lifting device 2 vertically lifts the tube yarn in the hopper 1 to a predetermined height.

[0034] When the tube yarn feeding lifting device 2 lifts the tube yarn to a certain height, the identification mechanism identifies the state and direction of the tube yarn during the process of providing the tube yarn to the tube yarn exclusion and arrangement device 3. When the tube yarn is identified as an abnormal tube yarn, the selection mechanism 32 excludes the abnormal tube yarn. When the tube yarn is identified as a normal tube yarn, the selection mechanism 32 provides the normal tube yarn to the head separation mechanism 33. The head separation mechanism 33 releases the normal tube yarn with the large end downward according to the direction of the tube yarn identified by the identification mechanism.

[0035] The grabbing and feeding device 4 grabs the tube yarn with the large end downward arranged by the tube yarn exclusion and arrangement device 3 and puts the tube yarn into the yarn library.

[0036] The selection mechanism in the embodiment can exclude the abnormal tube yarn according to the identification result of the tube yarn state of the identification mechanism, and provide the normal tube yarn to the head separation mechanism. The head separation mechanism adjusts the tube yarn from a scattered state to a downward falling mode with the large end downward according to the identification result of the direction of the tube yarn of the identification mechanism, so as to obtain an orderly and neat tube yarn. The tube yarn exclusion and arrangement device of the application can simultaneously realize the exclusion of the abnormal tube yarn and the release of the normal tube yarn with the large end downward, so as to realize the automatic selection and arrangement of the tube yarn, improve the automation level of the equipment, and further improve the production efficiency.

[0037] As Figure 2As shown, in an embodiment, the separating mechanism 33 comprises a first baffle 331 and a first turnover assembly 332 corresponding to the first baffle 331, a second baffle 333 and a second turnover assembly 334 corresponding to the second baffle 333, the first turnover assembly 332 and the second turnover assembly 334 are arranged on one side of the cop removal adjusting device 3 close to the cop feeding lifting device, the first turnover assembly 332 is used to drive the opening and closing of the first baffle 331, and the second turnover assembly 334 is used to drive the opening and closing of the second baffle 333. The cop can fall on the first baffle 331 and the second baffle 333, and the two ends of the cop are located on the first baffle 331 and the second baffle 333 respectively. When the first baffle 331 is opened, the cop falls with the head of the cop located on the first baffle 331 facing downward; when the second baffle 333 is opened, the cop falls with the head of the cop located on the second baffle 333 facing downward. The first turnover assembly 332 and the second turnover assembly 334 are arranged on one side of the cop removal adjusting device 3 close to the cop feeding lifting device. The space on the surface of the cop removal adjusting device 3 is fully utilized, and all the driving assemblies are not crowded together on the side of the cop removal adjusting device 3, so that the driving assemblies are not crowded together. In this way, the first turnover assembly 332 and the second turnover assembly 334 have more space for maintenance when they are maintained.

[0038] When the cop enters the separating step, the cop falls on the first baffle 331 and the second baffle 333, one end of the cop is located on the first baffle 331, and the other end of the cop is located on the second baffle 333. When the cop direction recognition result of the recognition mechanism is that the large head of the cop is located in the direction of the first baffle 331, the first turnover assembly 332 drives the first baffle 331 to open, the large head of the cop is released downward, the cop is released, and the first turnover assembly 332 drives the first baffle 331 to close. When the recognition result of the recognition mechanism is that the large head of the cop is located in the direction of the second baffle 333, the second turnover assembly 334 drives the second baffle 333 to open, the large head of the cop is released downward, the cop is released, and the second turnover assembly 334 drives the second baffle 333 to close.

[0039] In an embodiment, the first flipping assembly 332 comprises a first cylinder 3321 and a first cylinder push rod 3322, and the second flipping assembly 334 comprises a second cylinder 3341 and a second cylinder push rod 3342. The first cylinder 3321 and the second cylinder 3341 are arranged on one side of the tube yarn discharging adjusting device 3 close to the tube yarn feeding lifting device. The area of the side of the tube yarn discharging adjusting device 3 close to the tube yarn feeding lifting device is large, so that the space of the tube yarn discharging adjusting device 3 can be fully utilized, and the cylinders are prevented from being squeezed together on any side of the tube yarn discharging adjusting device 3 perpendicular to the tube yarn feeding lifting device 2. When the cylinders are maintained, there is a larger space for maintaining the first cylinder 3341 and the second cylinder 3342. One end of the first cylinder push rod 3322 is connected to the first cylinder 3321, and the other end is connected to the first baffle 331. The first cylinder 3321 is used to drive the first cylinder push rod 3322 to act, so as to drive the first baffle 331 to open or close. One end of the second cylinder push rod 3342 is connected to the second cylinder 3341, and the other end is connected to the second baffle 333. The second cylinder 3341 is used to drive the second cylinder push rod 3342 to act, so as to drive the second baffle 333 to open or close.

[0040] When the tube yarn enters the separating step, the tube yarn falls on the first baffle 331 and the second baffle 333, one end of the tube yarn is located on the first baffle 331, and the other end of the tube yarn is located on the second baffle 333. When the identification result of the identification mechanism is that the large end of the tube yarn is located in the direction of the first baffle 331, the first cylinder 3321 drives the first cylinder push rod 3322 to act, the first cylinder push rod 3322 drives the first baffle 331 to open, and the large end of the tube yarn is released downward. After the tube yarn is released, the first cylinder 3321 drives the first cylinder push rod 3322 to act, the first cylinder push rod 3322 drives the first baffle 331 to close, and the tube yarn separating ends. When the identification result of the identification mechanism is that the large end of the tube yarn is located in the direction of the second baffle 333, the second cylinder 3341 drives the second cylinder push rod 3342 to act, the second cylinder push rod 3342 drives the second baffle 333 to open, and the large end of the tube yarn is released downward. After the tube yarn is released, the second cylinder 3341 drives the second cylinder push rod 3342 to act, and the second cylinder push rod 3342 drives the second baffle 333 to close.

[0041] As Figure 2 and Figure 3As shown, in an embodiment, the material selection mechanism 32 comprises a lower hopper upper frame 321, a third baffle plate 322 arranged at the bottom of the lower hopper upper frame 321, and a third turnover assembly 323 corresponding to the third baffle plate 322. The lower hopper upper frame 321 is arranged obliquely above the separating mechanism 33, and the bottom of the lower hopper upper frame 321 is directed to the side of the yarn exclusion adjustment device 3 away from the tube yarn feeding and lifting device 2. The third turnover assembly 323 is arranged on any side of the yarn exclusion adjustment device 3 perpendicular to the tube yarn feeding and lifting device 2, and is used to drive the opening and closing of the third baffle plate 322. In an embodiment, the third turnover assembly 323 is not designed at the same position as the first turnover assembly 332 and the second turnover assembly 334. In the case of multiple turnover assemblies, it is convenient to identify and maintain the turnover assemblies. For example, when the first baffle plate 331 cannot be normally opened and closed, the first turnover assembly 332 corresponding to the side of the first baffle plate 331 is searched on the side of the yarn exclusion adjustment device close to the tube yarn feeding and lifting device for maintenance. When the third baffle plate 322 cannot be normally opened and closed, the third turnover assembly 323 is searched on any side of the yarn exclusion adjustment device 3 perpendicular to the tube yarn feeding and lifting device 2 for maintenance.

[0042] When the tube yarn enters the material selection step, when the tube yarn state identification result of the identification mechanism is that the tube yarn is an abnormal tube yarn, the third turnover assembly 323 drives the opening of the third baffle plate 322, the tube yarn rolls to the third baffle plate 322, falls from the third baffle plate 322, and is excluded from the yarn exclusion adjustment device 3. When the tube yarn exclusion is completed, the third turnover assembly 323 drives the closing of the third baffle plate 322. When the tube yarn state identification result of the identification mechanism is that the tube yarn is a normal tube yarn, the third turnover assembly 323 does not respond, and the third baffle plate 322 remains closed and does not act.

[0043] In an embodiment, the third turnover assembly 323 comprises a third cylinder 3231 and a third cylinder pushing rod 3232. The third cylinder 3231 is arranged on any side of the yarn exclusion adjustment device 3 perpendicular to the tube yarn feeding and lifting device 2. One end of the third cylinder pushing rod 3232 is connected to the third cylinder 3231, and the other end is connected to the third baffle plate 322. The third cylinder 3231 is used to drive the third cylinder pushing rod 3232 to act, thereby driving the third baffle plate 322 to open or close.

[0044] When the yarn enters the selection step, if the identification mechanism determines that the yarn is abnormal, the third cylinder 3231 drives the third cylinder push rod 3232 to actuate. The third cylinder push rod 3232 then opens the third baffle 322, removing the abnormal yarn. After the yarn is removed, the third cylinder 3231 drives the third cylinder push rod 3232 to actuate, which in turn closes the third baffle 322. When the identification mechanism determines that the yarn is normal, the third cylinder 3231 does not respond, the third cylinder push rod 3232 does not actuate, and the third baffle 322 remains closed.

[0045] like Figure 2 As shown, in one embodiment, the side 3211 of the upper frame 321 of the hopper near the first baffle 331 and the second baffle 333 is lower in height. This side 3211 is at a right angle to the third baffle 322. When the third baffle 322 is open, the yarn rolls down in the direction of the third baffle 322 and is discharged from the third baffle 322. When the third baffle 322 is closed, the yarn rolls down in the opposite direction of the third baffle 322 and is directly supplied to the splitting mechanism 33. The yarn rolls onto the first baffle 331 and the second baffle 333.

[0046] In one embodiment, the splitting mechanism includes a hopper for receiving normal bobbins with their large end facing down, released by the splitting mechanism 33. The hopper guides the bobbins as they slide down into the gripping and dispensing device 4.

[0047] like Figure 2 As shown, in one embodiment, the feed hopper is a triangular feed hopper 34, which is vertically arranged and gradually narrows in diameter to match the maximum diameter of the yarn tube. After the yarn tube falls from the first baffle 331 or the second baffle 333, it slides down along the slide rails on both sides of the triangular feed hopper 34. During the sliding process, the yarn tube will not accidentally flip over, ensuring that the large end of the yarn remains facing down throughout the sliding process.

[0048] In one embodiment, a hopper mounting bracket is provided on the back of the hopper, which is used to install the hopper in a preset position. This allows the yarn ejection adjustment device 3 to directly receive the yarn from the yarn lifting and feeding mechanism 2. The hopper, the material selection mechanism, and the splitting mechanism are fixedly installed as a whole, and this whole can be installed in any different position to work with different yarn feeding and lifting devices, thus improving the arbitrariness of the installation of the yarn ejection adjustment device.

[0049] like Figure 2As shown in Figure 3, in one embodiment, the yarn ejection adjustment device 3 includes a shaped yarn ejection bin 35, which is located on the side of the yarn ejection adjustment device 3 away from the yarn feeding and lifting device 2, and is used to receive the shaped yarn ejected by the selection mechanism 32. In one embodiment, when the third baffle 322 in the selection mechanism 32 is opened, the yarn falls at the third baffle 322. The shaped yarn ejection bin 35 and the third baffle 322 face the same side, and the shaped yarn ejection bin 35 receives the yarn that falls from the third baffle 322, thus collecting the shaped yarn.

[0050] like Figure 2 As shown, in one embodiment, the yarn splitting mechanism 33 includes a blocking component 335, which is disposed on the side near the yarn feeding and lifting device 2. The blocking component 335 is perpendicular to the splitting operation surface of the yarn splitting mechanism 33, preventing the normal yarn provided by the material selection mechanism 32 from falling off the yarn splitting mechanism 33. It acts as a barrier to the yarn, keeping it on the operation surface of the yarn splitting mechanism 33.

[0051] In one embodiment, the identification mechanism includes a camera unit and an analysis and processing unit. The camera unit can be a regular camera, an RGB camera (color camera), an infrared camera, a 3D camera, or a high-speed camera. The analysis and processing unit includes an embedded processor or a GPU. The camera unit is positioned above the yarn feeding and lifting device 2. When the yarn feeding and lifting device 2 lifts the yarn to a preset height, the camera unit captures an image of the yarn. The analysis and processing unit analyzes the image of the yarn captured by the camera unit to obtain the yarn direction and its state. The analysis and processing unit is electrically connected to the material selection mechanism 32 and the yarn splitting mechanism 33. The analysis and processing unit then transmits the yarn state information to the material selection mechanism 32 and the yarn direction information to the yarn splitting mechanism 33.

[0052] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cop winding removal adjustment device provided at a discharge end of a cop winding feed-up device for adjusting a falling direction of a cop, to provide the cop with a large head down to a grasping and dropping device, characterized in that, The application relates to a yarn sorting device. The device comprises a recognition mechanism, a selection mechanism and a separating mechanism. The recognition mechanism is used for recognizing the direction and state of the yarn. The selection mechanism is used for excluding abnormal yarn according to the state recognition result of the yarn by the recognition mechanism and providing normal yarn to the separating mechanism. The separating mechanism is used for releasing the normal yarn with the big end down according to the direction recognition result of the yarn by the recognition mechanism.

2. The package exclusion adjustment device of claim 1, wherein, The separating mechanism comprises a first baffle, a first turnover assembly corresponding to the first baffle, a second baffle and a second turnover assembly corresponding to the second baffle. The yarn can fall on the first baffle and the second baffle, and the two ends of the yarn are located on the first baffle and the second baffle respectively.

3. The tube excluding adjustment device according to claim 2, characterized in that The first turnover assembly and the second turnover assembly are arranged on the side of the yarn exclusion adjusting device close to the yarn feeding lifting device.

4. The tube excluding adjustment device according to claim 3, characterized in that The first turnover assembly is used for driving the opening and closing of the first baffle.

5. The package exclusion adjustment device of claim 1, wherein, The selection mechanism comprises a lower hopper upper frame, a third baffle arranged at the bottom of the lower hopper upper frame and a third turnover assembly corresponding to the third baffle.

6. The package exclusion adjustment device of claim 5, wherein, The lower hopper upper frame is arranged above the separating mechanism in an inclined mode.

7. The package exclusion adjustment device of claim 1, wherein, The bottom of the lower hopper upper frame is directed to the side of the yarn exclusion adjusting device away from the yarn feeding lifting device.

8. The package exclusion adjustment device of claim 1, wherein, The third turnover assembly is arranged on any side of the yarn exclusion adjusting device perpendicular to the yarn feeding lifting device.

9. The package exclusion adjustment device of claim 1, wherein, The third turnover assembly is used for driving the opening and closing of the third baffle.

10. A threading robot characterized by The side of the lower hopper upper frame close to the first baffle and the second baffle is low in height. When the third baffle is opened, the yarn rolls in the direction of the third baffle. When the third baffle is closed, the yarn rolls in the opposite direction of the third baffle. The yarn rolls on the first baffle and the second baffle. The separating mechanism comprises a lower hopper. The lower hopper is used for receiving the normal yarn with the big end down released by the separating mechanism. The lower hopper is a triangular lower hopper. The triangular lower hopper is arranged vertically and the caliber gradually reduces to match the maximum diameter of the yarn. The yarn exclusion adjusting device comprises an abnormal yarn box. The abnormal yarn box is arranged on the side of the yarn exclusion adjusting device away from the yarn feeding lifting device. The separating mechanism comprises a blocking assembly. The blocking assembly is used for preventing the normal yarn provided by the selection mechanism from falling off the separating mechanism. The recognition mechanism comprises a camera unit and an analysis processing unit. The camera unit is used for shooting the yarn. The analysis processing unit is used for analyzing the direction and state of the yarn shot by the camera unit. The application further relates to a yarn sorting device. The device comprises a hopper. The hopper is used for receiving the yarn from a yarn feeding vehicle. A yarn feeding lifting device is used for lifting the yarn in the hopper to a predetermined height. A yarn exclusion adjusting device is used for arranging the yarn at the predetermined height. The yarn exclusion adjusting device is used for excluding abnormal yarn and providing the normal yarn to a grabbing and feeding device after separating the yarn according to the size difference between the head and tail of the yarn. A picking and feeding device for picking up the tube yarn arranged by the tube yarn arrangement adjusting device and feeding the tube yarn into a yarn magazine, The tube yarn arrangement adjusting device is any one of the tube yarn arrangement adjusting devices in claims 1-9.

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