Casing robot for bobbin winder with front bow

Abstract

The utility model discloses a bobbin changing robot for a bobbin winder with a front bow. Yarns can be guided into the inner side of the front bow from the outer side of the front bow. The creeling robot comprises a base body with a walking mechanism, a first grabbing device and a second grabbing device, the first grabbing device and the second grabbing device are connected with the base body, and the first grabbing device is used for grabbing yarn unwound from a ring bobbin; the second grabbing device is used for grabbing the yarn grabbed by the first grabbing device from the inner side of the front bow.

Description

TECHNICAL FIELD

[0001] The utility model relates to a change barrel robot, specifically, relates to a change barrel robot for a winder with a front bow. BACKGROUND

[0002] Some winders have a front bow component. The front bow usually refers to a balloon controller or a balloon ring. The outer shape of the front bow component is an arc or an approximately semicircular metal or ceramic bow. It is usually installed above the front of the winder spindle (the position of the bobbin). The front bow directly surrounds or is close to the "balloon" formed by the yarn during high-speed unwinding. The front bow component is usually fixed on the frame of the winder through a support, and the position can be adjusted in height according to the size of the bobbin and the process requirements. The front bow stabilizes the balloon during yarn unwinding through physical restraint, thereby achieving the core purpose of reducing end breaks, protecting yarn quality, and improving production efficiency. The core advantage of the winder with a front bow structure is better quality control of the yarn and better high-speed stability, but its biggest disadvantage is relatively inconvenient operation, low degree of automation matching, and inability to stably realize full-automatic operation with reduced staff.

[0003] For the winder with a front bow, the yarn cannot be directly sent to the designated position due to the obstruction of the front bow. The existing winder with a front bow usually adopts manual yarn feeding. The method is to manually grasp the yarn, wrap the yarn from the outside of the front bow and below the front bow to the inside of the front bow and below the front bow, pass through the front bow, and move upward to be fed into the designated position. SUMMARY

[0004] The technical problem to be solved by the utility model is to provide a change barrel robot for a winder with a front bow, which can guide the yarn from the outside of the front bow to the inside.

[0005] To solve the above technical problems, the utility model adopts the following technical scheme:

[0006] A change barrel robot for a winder with a front bow, comprising a base body with a walking mechanism, a first grabbing device, and a second grabbing device, wherein the first grabbing device and the second grabbing device are respectively connected with the base body, the first grabbing device is used for grabbing the yarn unwound from the spun yarn tube, and the second grabbing device is used for grabbing the yarn grabbed by the first grabbing device from the inside of the front bow.

[0007] As a preferred example, the first grabbing device comprises a first power source, a second power source, and a clamping assembly, wherein the first power source is connected with the base body, the first power source is provided with a telescopic piston rod, the bottom end of the piston rod is provided with a first seat body, the second power source and the clamping assembly are respectively connected on the first seat body, the second power source is connected with the clamping assembly, and the clamping assembly is driven to make clamping or loosening movement.

[0008] As a preferred example, the first grabbing device further comprises a third power source, one end of the third power source is rotatably connected with the base body, and the other end is rotatably connected with the first power source shell; the first power source is rotatably connected with the base body.

[0009] As a preferred example, the second grabbing device comprises a fourth power source, a fifth power source, a sixth power source, and a clamping assembly, wherein the fourth power source is rotatably connected with the base body, the fourth power source is provided with a telescopic piston rod, a bottom end of the piston rod is provided with a second seat body, the fifth power source and the clamping assembly are respectively connected on the second seat body; the fifth power source is connected with the clamping assembly to drive the clamping assembly to make clamping or loosening movement; one end of the sixth power source is rotatably connected with the base body, and the other end is rotatably connected with the fourth power source shell.

[0010] As a preferred example, the clamping assembly comprises a first clamping piece and a second clamping piece, the first clamping piece is fixedly connected with the first seat body or the second seat body, the second clamping piece is fixedly connected with the rotating shaft of the second power source or the fifth power source, and the first clamping piece and the second clamping piece are arranged in a staggered manner; the second power source or the fifth power source is used to drive the second clamping piece to move towards the first clamping piece to clamp the yarn, or move away from the first clamping piece to loosen the yarn.

[0011] As a preferred example, the clamping assembly further comprises a first shearing piece and a second shearing piece, the first shearing piece is fixedly connected with the first seat body or the second seat body, the second shearing piece is fixedly connected with the rotating shaft of the second power source or the fifth power source, and the first shearing piece and the second shearing piece are arranged in a staggered manner; in the direction towards the second clamping piece, the top end of the first clamping piece protrudes the top end of the first shearing piece.

[0012] As a preferred example, in the direction towards the first clamping piece, the top end of the second clamping piece protrudes the top end of the second shearing piece.

[0013] As a preferred example, the second clamping piece is two, and the gap between the first clamping piece and the two second clamping pieces is opposite, or the first clamping piece is two, and the gap between the second clamping piece and the two first clamping pieces is opposite.

[0014] As a preferred example, the bobbin changing robot for the bobbin winder with the front bending arch further comprises a yarn blocking device, the yarn blocking device comprises a seventh power source, a yarn blocking hook, a base, and a moving assembly, the seventh power source and the base are connected on the base body, the yarn blocking hook and the moving assembly are fixedly connected, the moving assembly and the base are adapted, the seventh power source and the moving assembly are connected, and the seventh power source drives the moving assembly to move in the base.

[0015] As a preferred example, the base comprises a first shell and a second shell arranged oppositely, two ends of the first shell and two ends of the second shell are fixedly connected by a connecting body, a cavity is formed between the first shell and the second shell, and opposite through holes are arranged on the first shell and the second shell.

[0016] As a preferred example, the moving assembly comprises a moving piece, the moving piece is matched with the through hole, and the yarn stopping hook is fixedly connected with the moving piece; and the seventh power source is connected with the moving piece.

[0017] As a preferred example, the moving assembly further comprises rolling bearings, at least one rolling bearing is arranged in the through hole of the first shell, at least one rolling bearing is arranged in the through hole of the second shell, and the moving piece is rotatably connected with the rolling bearings.

[0018] As a preferred example, the bobbin changing robot with a front bending arch for a bobbin winder further comprises a yarn guiding device, the yarn guiding device comprises an eighth power source and a yarn guiding hook, the eighth power source is connected with the base body, the yarn guiding hook is connected with the eighth power source, and the eighth power source drives the yarn guiding hook to rotate; the yarn guiding hook is used for hooking the yarn from the yarn stopping hook and sending the yarn to the inside of the front bending arch.

[0019] Compared with the prior art, the bobbin changing robot with a front bending arch for a bobbin winder can guide the yarn from the outside of the front bending arch to the inside. The bobbin changing robot comprises a base body with a walking mechanism, a first grabbing device and a second grabbing device, the first grabbing device and the second grabbing device are connected with the base body respectively, the first grabbing device is used for grabbing the yarn unwound from the fine yarn pipe, and the second grabbing device is used for grabbing the yarn grabbed by the first grabbing device from the inside of the front bending arch. By arranging two grabbing devices, the yarn can be guided from the outside of the front bending arch to the inside, so that the yarn can bypass the front bending arch and be guided to the designated position. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a side view of an embodiment of the utility model

[0021] Figure 2 is a structure schematic view of an embodiment of the utility model

[0022] Figure 3 is a structure schematic view of a first grabbing device in an embodiment of the utility model

[0023] Figure 4 is another structure schematic view of a first grabbing device in an embodiment of the utility model

[0024] Figure 5 is a structure schematic view of a second grabbing device in an embodiment of the utility model

[0025] Figure 6is a structure perspective view of the clamping assembly in the embodiment of the utility model;

[0026] Figure 7 is a structure front view of the clamping assembly in the embodiment of the utility model;

[0027] Figure 8 is a structure side view of the clamping assembly in the embodiment of the utility model;

[0028] Figure 9 is the working effect view of the yarn blocking device in the embodiment of the utility model, and the dotted line frame in the drawing indicates the inner side of the front bending bow of the winding machine;

[0029] Figure 10 is the structure schematic view of the yarn blocking device in the embodiment of the utility model;

[0030] Figure 11 is the assembly partial schematic view of the winding robot and the winding machine in the embodiment of the utility model.

[0031] In the drawing, there are:

[0032] base body 1, large chuck 11;

[0033] first grabbing device 2, first power source 21, second power source 22, first seat body 23, third power source 24;

[0034] second grabbing device 3, fourth power source 31, fifth power source 32, sixth power source 33, second seat body 34;

[0035] clamping assembly 4, first clamping piece 41, second clamping piece 42, first shearing piece 43, second shearing piece 44;

[0036] yarn blocking device 5, seventh power source 51, yarn blocking hook 52, base 53, first shell 531, second shell 532, connecting body 533, through hole 534, moving assembly 54, moving piece 541, rolling bearing 542;

[0037] yarn guide device 6;

[0038] front bending bow 7;

[0039] yarn 8. DETAILED DESCRIPTION

[0040] The technical scheme of the utility model will be described in detail below with reference to the drawings.

[0041] As Figure 1 and Figure 2As shown, the bobbin changing robot with the front bending bow for the bobbin winder comprises a base body 1 with a walking mechanism, a first grabbing device 2 and a second grabbing device 3, the first grabbing device 2 and the second grabbing device 3 are connected with the base body 1 respectively, the first grabbing device 2 is used for grabbing the yarn unwound from the fine yarn tube, and the second grabbing device 3 is used for grabbing the yarn grabbed by the first grabbing device 2 from the inner side of the front bending bow.

[0042] When the bobbin winder works, the yarn on the fine yarn tube below the front bending bow 7 needs to be placed at the bobbin winder large chuck 11. Due to the position interference of the front bending bow 7, it is difficult to pass the yarn unwound from the fine yarn tube through the inner side of the front bending bow 7 and place it at the bobbin winder large chuck 11 by one grabbing device. Figure 10 As shown, the inner side of the front bending bow 7 refers to the inside of the surrounding ring formed between the front bending bow and the bobbin winder groove drum, including the space formed by the vertical projection in the surrounding ring. The outer side of the front bending bow refers to the outside of the surrounding ring formed between the front bending bow and the bobbin winder groove drum. In the embodiment, two grabbing devices are arranged. The first grabbing device 2 is used for grabbing the yarn unwound from the fine yarn tube. The second grabbing device 3 is used for grabbing the yarn grabbed by the first grabbing device 2 from the inner side of the front bending bow. Through the two grabbing devices, the position interference of the front bending bow can be avoided, and the yarn unwound from the fine yarn tube can be automatically passed through the inner side of the front bending bow 7 and placed at the bobbin winder large chuck. The bobbin changing robot of the embodiment relies on the walking mechanism of the base body 1 to walk on the track to the waiting changing position to perform the changing work of the bobbin winder.

[0043] Preferably, as shown in the figure, Figure 3 The first grabbing device 2 comprises a first power source 21, a second power source 22 and a clamping assembly 4. The first power source 21 is connected with the base body 1, and the first power source 21 is provided with a telescopic piston rod, the bottom end of the piston rod is provided with a first seat body 23, and the second power source 22 and the clamping assembly are connected on the first seat body 23 respectively; the second power source 22 and the clamping assembly are connected and drive the clamping assembly to make clamping or loosening movement.

[0044] In the above preferred example, the first power source 21 can adopt existing power settings such as air cylinder, electric cylinder, etc., as long as it can drive the first seat body 23 to make up-down lifting movement. The first power source 21 drives the first seat body 23 to make up-down lifting movement when working. The second power source 22 and the clamping assembly 4 located on the first seat body 23 also make up-down lifting movement. Through the down movement, the clamping assembly 4 moves to the set position, such as the A1 position in the figure, Figure 2 Then the clamping assembly 4 clamps the yarn unwound from the fine yarn tube, and then through the up movement, the clamping assembly 4 clamps the yarn to move to the set position, such as the A2 position in the figure, Figure 2A2 position in the first gripping device 2 to complete the action of the first gripping device 2 to grab the yarn unwound from the cone. The second power source 22 is connected with the clamping assembly to drive the clamping assembly to make clamping or releasing movement. When the yarn needs to be clamped, the second power source 22 drives the clamping assembly to make clamping movement. When the yarn needs to be released, the second power source 22 drives the clamping assembly to make releasing movement so that the yarn is separated from the clamping assembly. The second power source 22 can be a motor or other device that can drive the clamping assembly to rotate. In order to illustrate the working position of the second gripping device 3, Figure 2 two second gripping devices 3 in different working positions are drawn in the figure, and the cone robot is only provided with one second gripping device 3.

[0045] Preferably, as shown in the figure, Figure 4 the first gripping device 2 further comprises a third power source 24, one end of which is rotationally connected with the base body 1, and the other end is rotationally connected with the shell of the first power source 21; and the first power source 21 is rotationally connected with the base body 1.

[0046] In the above preferred embodiment, the third power source 24 can adopt existing power settings such as air cylinder, electric cylinder, motor, etc., as long as it can drive the first power source 21 to rotate around the connecting point of the first power source 21 and the base body 1. By providing the third power source 24, the first power source 21 can rotate around the connecting point of the first power source 21 and the base body 1. In this way, when the first gripping device 2 grabs the yarn unwound from the cone and is located on the outer side of the front bow, the first gripping device 2 is swung by starting the third power source 24 to send the yarn grabbed by the first gripping device 2 to the inner side of the front bow. The second gripping device 3 directly clamps the yarn grabbed by the first gripping device 2 from the inner side of the front bow.

[0047] Preferably, as shown in the figure, Figure 5 the second gripping device 3 comprises a fourth power source 31, a fifth power source 32, a sixth power source 33 and a clamping assembly 4. The fourth power source 31 is rotationally connected with the base body 1, and is provided with a telescopic piston rod, the bottom end of the piston rod is provided with a second seat body 34, and the fifth power source 32 and the clamping assembly are connected on the second seat body 34; the fifth power source 32 is connected with the clamping assembly to drive the clamping assembly to make clamping or releasing movement; one end of the sixth power source 33 is rotationally connected with the base body 1, and the other end is rotationally connected with the shell of the fourth power source 31.

[0048] In the above preferred embodiment, the fourth power source 31 can adopt existing power settings such as air cylinder, electric cylinder, etc., as long as it can drive the second seat body 34 to make up-and-down movement. The fourth power source 31 drives the second seat body 34 to make up-and-down movement through the piston rod when it works. The fifth power source 32 and the clamping assembly 4 located on the second seat body 34 also make up-and-down movement. Through the down movement, the clamping assembly 4 moves from the original position to the set position, as shown in the figureFigure 2 C1 position, the fifth power source 32 is started to make the clamping assembly 4 clamp the yarn grabbed by the first grabbing device. Then the sixth power source 33 is started. The sixth power source 33 can adopt existing power settings such as air cylinder, electric cylinder, motor, etc. as long as it can drive the fourth power source 31 to rotate around the connecting point of the fourth power source 31 and the base body 1. By setting the sixth power source 33, the fourth power source 31 can rotate around the connecting point of the fourth power source 31 and the base body 1. In this way, after the second grabbing device 3 grabs the yarn, the sixth power source 33 is started to drive the second grabbing device to swing, and the yarn grabbed by the second grabbing device 3 is sent to the large chuck of the bobbin winder, as shown in the C2 position of FIG. 6. Figure 2 Then the second grabbing device 3 swings reversely by the sixth power source 33 to return, as shown in the C1 position of FIG. 6. Figure 2 The second grabbing device 3 is lifted to the original position by the fourth power source 31.

[0049] In the preferred example, the fifth power source 32 is connected with the clamping assembly to drive the clamping assembly to make clamping or loosening movement. When it is needed to clamp the yarn, the fifth power source 32 drives the clamping assembly to make clamping movement. When it is needed to loosen the yarn, the fifth power source 32 drives the clamping assembly to make loosening movement to make the yarn separate from the clamping assembly. The fifth power source 32 can be a motor or other device that can drive the clamping assembly to make rotary movement.

[0050] Preferably, as shown in FIGS. 5 and 6, the clamping assembly includes a first clamping piece 41 and a second clamping piece 42, the first clamping piece 41 is fixedly connected with the first seat body 23 or the second seat body 34, the second clamping piece 42 is fixedly connected with the rotary shaft of the second power source 22 or the fifth power source 32, and the first clamping piece 41 and the second clamping piece 42 are arranged in a staggered manner; the second power source 22 or the fifth power source 32 is used to drive the second clamping piece 42 to move towards the first clamping piece 41 to clamp the yarn or move away from the first clamping piece 41 to loosen the yarn. Figure 6 Figure 7 In the preferred example, in the first grabbing device 2, the first clamping piece 41 is fixedly connected with the first seat body 23, the second clamping piece 42 is fixedly connected with the rotary shaft of the second power source 22, and the second power source 22 drives the second clamping piece 42 to move towards the first clamping piece 41 to clamp the yarn or move away from the first clamping piece 41 to loosen the yarn. In the second grabbing device 3, the first clamping piece 41 is fixedly connected with the second seat body 34, the second clamping piece 42 is fixedly connected with the rotary shaft of the fifth power source 32, and the fifth power source 32 drives the second clamping piece 42 to move towards the first clamping piece 41 to clamp the yarn or move away from the first clamping piece 41 to loosen the yarn.

[0051] In the preferred example, in the first grabbing device 2, the first clamping piece 41 is fixedly connected with the first seat body 23, the second clamping piece 42 is fixedly connected with the rotary shaft of the second power source 22, and the second power source 22 drives the second clamping piece 42 to move towards the first clamping piece 41 to clamp the yarn or move away from the first clamping piece 41 to loosen the yarn. In the second grabbing device 3, the first clamping piece 41 is fixedly connected with the second seat body 34, the second clamping piece 42 is fixedly connected with the rotary shaft of the fifth power source 32, and the fifth power source 32 drives the second clamping piece 42 to move towards the first clamping piece 41 to clamp the yarn or move away from the first clamping piece 41 to loosen the yarn.

[0052] ​The first clamping member 41 and the second clamping member 42 are arranged in a staggered manner, i.e. the opposite surfaces of the first clamping member 41 and the second clamping member 42 are staggered. When clamping the yarn, the end surfaces of the first clamping member 41 and the second clamping member 42 opposite to each other do not contact.

[0053] When the first gripping device 2 needs to clamp the yarn, the second power source 22 is started, the first clamping member 41 is fixed in position, the second power source 22 drives the second clamping member 42 to rotate towards the first clamping member 41, the end surfaces of the first clamping member 41 and the second clamping member 42 opposite to each other do not contact, and the yarn is clamped between the first clamping member 41 and the second clamping member 42. Similarly, when the second gripping device 3 needs to clamp the yarn, the fifth power source 32 is started, the first clamping member 41 is fixed in position, the fifth power source 32 drives the second clamping member 42 to rotate towards the first clamping member 41, the end surfaces of the first clamping member 41 and the second clamping member 42 opposite to each other do not contact, and the yarn is clamped between the first clamping member 41 and the second clamping member 42.

[0054] When the first gripping device 2 or the second gripping device 3 needs to cut the yarn after clamping the yarn, so that the cut yarn clamped by the first gripping device 2 or the second gripping device 3 is connected to the yarn on the bobbin, preferably, the clamping assembly further comprises a first cutting member 43 and a second cutting member 44, the first cutting member 43 is fixedly connected with the first seat 23 or the second seat 34, the second cutting member 44 is fixedly connected with the rotating shaft of the second power source 22 or the fifth power source 32, and the first cutting member 43 and the second cutting member 44 are arranged in a staggered manner; the top end of the first clamping member 41 protrudes from the top end of the first cutting member 43 in the direction towards the second clamping member 42.

[0055] In the above preferred example, in the first gripping device 2, the first cutting member 43 is fixedly connected with the first seat 23, and the second cutting member 44 is fixedly connected with the rotating shaft of the second power source 22. When working, the second power source 22 is started to drive the second cutting member 44 to move towards the first cutting member 43, thereby achieving the cutting of the yarn. In the second gripping device 3, the first cutting member 43 is fixedly connected with the second seat 34, and the second cutting member 44 is fixedly connected with the rotating shaft of the fifth power source 32. When working, the fifth power source 32 is started to drive the second cutting member 44 to move towards the first cutting member 43, thereby achieving the cutting of the yarn. The first cutting member 43 and the second cutting member 44 are arranged in a staggered manner, i.e. the cutting end surface of the first cutting member 43 and the cutting end surface of the second cutting member 44 are arranged in a staggered manner.

[0056] Preferably, as shown in Figure 6 and Figure 7As shown, the top end of the second clamping piece 42 extends beyond the top end of the second shearing piece 44 in the direction of the first clamping piece 41. When the first clamping piece 41, the second clamping piece 42, the first shearing piece 43 and the second shearing piece 44 are simultaneously arranged in the clamping assembly, the yarn is clamped first and then sheared. If the yarn is sheared first, the first clamping piece 41 and the second clamping piece 42 may not be able to clamp the yarn. Therefore, the distance between the first clamping piece 41 and the second clamping piece 42 is smaller than the distance between the first shearing piece 43 and the second shearing piece 44, so that the yarn can be clamped first and then sheared when the second clamping piece 42 and the second shearing piece 44 rotate synchronously.

[0057] Preferably, as shown in the drawings, Figure 8 As shown, the second clamping piece 42 is two, and the first clamping piece 41 is opposite the gap between the two second clamping pieces 42, or the first clamping piece 41 is two, and the second clamping piece 42 is opposite the gap between the two first clamping pieces 41. The first clamping piece 41 and the second clamping piece 42 are used to clamp the yarn. By arranging two second clamping pieces 42 and one first clamping piece 41, the yarn is located in the gap between the two second clamping pieces 42, and the first clamping piece 41 is used to press the yarn 8, thereby enhancing the effect of clamping the yarn. Similarly, by arranging two first clamping pieces 41 and one second clamping piece 42, the yarn is located in the gap between the two first clamping pieces 41, and the second clamping piece 42 is used to press the yarn, thereby enhancing the effect of clamping the yarn.

[0058] Preferably, the bobbin changing robot for the winder with the front bending arch further comprises a yarn blocking device 5, the yarn blocking device 5 comprises a seventh power source 51, a yarn blocking hook 52, a base 53 and a moving assembly 54, the seventh power source 51 and the base 53 are connected to the base body 1, the yarn blocking hook 52 and the moving assembly 54 are fixedly connected, the moving assembly 54 and the base 53 are adapted, the seventh power source 51 and the moving assembly 54 are connected, and the seventh power source 51 drives the moving assembly 54 to move in the base 53.

[0059] In the above preferred example, the seventh power source 51 is started, and the seventh power source 51 drives the moving assembly 54 to move in the base 53. Since the yarn blocking hook 52 is fixedly connected to the moving assembly 54, the yarn blocking hook 52 moves with the moving assembly 54. During the movement, the yarn blocking hook 52 hooks the yarn and drives the yarn to move together. In actual application scenarios, as shown in Figure 2 and Figure 11 As shown, the yarn grabbed by the first grabbing device 2 stays at the A2 position as shown in Figure 2 The yarn blocking hook 52 hooks the yarn grabbed by the first grabbing device 2 and drives the yarn to move away from the winder large chuck until it moves to the set position, such as the B1 position in Figure 2 As shown, the yarn grabbed by the first grabbing device 2 stays at the A2 position as shown in Figure 2At position B1, the yarn hooked by the yarn guide device 6 of the winding machine is guided out of the yarn stop hook 52, and the yarn stop hook 52 returns to its original position. The yarn guide device 6 rotates the yarn towards the large chuck of the winding machine until it reaches the set position, such as... Figure 2 Position B2 in the diagram. Figure 2 Two yarn guiding devices 6 are shown in the figure, but only to illustrate the position of the yarn guide. Only one yarn guiding device 6 needs to be set in the yarn changing robot.

[0060] like Figure 9 As shown, when the yarn-blocking device of this preferred embodiment is not provided, the yarn guide device of the bobbin changing robot contacts the yarn at point A2. Rotating the yarn guide device moves the position where it hooks the yarn from point A2 to point B2. Point B2 is located inside the forward bend and close to the large chuck of the winding machine. When the yarn-blocking device of this embodiment is provided, the yarn-blocking device hooks the yarn, and the position where it hooks the yarn moves from point A2 to point B1. At point B1, the yarn guide device hooks the yarn from the yarn-blocking device. Rotating the yarn guide device moves the position where it hooks the yarn from point B1 to point B2. Although both ultimately remain at point B2, the yarn-blocking device of this preferred embodiment provides more yarn inside the forward bend and a smaller angle between the yarn and the horizontal direction, facilitating the gripping device on the bobbin changing robot, which moves from top to bottom, to grip the yarn.

[0061] In this preferred embodiment, the yarn-blocking device moves the yarn away from the large chuck of the winding machine. Compared to not having a yarn-blocking device and directly using the yarn-guiding device of the bobbin-changing robot to rotate the yarn towards the large chuck of the winding machine, this preferred embodiment allows the yarn to have a longer path and a smaller angle with the horizontal direction after subsequent yarn guidance, making it easier for the second gripping device of the bobbin-changing robot to grip the guided yarn.

[0062] Preferably, the base 53 includes a first housing 531 and a second housing 532 disposed opposite to each other. The two ends of the first housing 531 and the two ends of the second housing 532 are fixedly connected by a connector 533, and a cavity is formed between the first housing 531 and the second housing 532. The first housing 531 and the second housing 532 are provided with opposite through holes 534.

[0063] The cavity formed between the first shell 531 and the second shell 532, and the first shell 531 and the second shell 532 are provided with opposite through holes 534 for mounting the moving assembly 54. The through hole 534 is a through hole. The through hole 534 penetrates the first shell 531, and the through hole 534 penetrates the second shell 532. As a first scheme, the center line of the through hole 534 is a horizontal straight line. In this way, the moving direction of the moving assembly 54 is a straight line. As a second scheme, the center line of the through hole 534 is a horizontal straight line, and at one end close to the seventh power source, the center line is a downward arc or a straight line. In this way, the moving mode of the moving assembly 54 includes straight line motion and arc or oblique line motion. The moving mode of the moving assembly 54 includes two kinds, which is based on avoiding the change of the machine robot and the large number of components of the bobbin winding machine. The moving mode of the moving assembly 54 during movement avoids position interference with other components.

[0064] Preferably, the moving assembly 54 includes a moving piece 541, the moving piece 541 and the through hole 534 are matched, the yarn stopping hook 52 and the moving piece 541 are fixedly connected, and the seventh power source 51 is connected with the moving piece 541. The moving piece 541 can move in the through hole 534 in a sliding manner or in a rolling manner. After the seventh power source 51 is started, the seventh power source 51 drives the moving piece 541 to move in the through hole 534, and the moving piece 541 drives the yarn stopping hook 52 to move together.

[0065] The rolling manner can greatly reduce the resistance during movement. Preferably, the moving assembly 54 further includes a rolling bearing 542, at least one rolling bearing is arranged in the through hole of the first shell 531, at least one rolling bearing is arranged in the through hole of the second shell 532, and the moving piece 541 and the rolling bearing 542 are rotatably connected. The rolling bearing is matched in the through hole, and the movement of the moving piece 541 is realized through the rolling bearing. In order to make the movement of the moving piece 541 more reliable and stable, preferably, the rolling bearing is 4, 2 rolling bearings are arranged in the through hole of the first shell 531, and the remaining 2 rolling bearings are arranged in the through hole of the second shell 532. The moving piece 41 and the 4 rolling bearings are rotatably connected. The movement of the moving piece 541 and the yarn stopping hook 52 is realized through the rolling of the 4 rolling bearings in the two through holes. The two rolling bearings arranged opposite in the through hole of the first shell 531 and the through hole of the second shell 532 are connected through a connecting shaft.

[0066] Preferably, the change robot further includes a yarn guide device 6, the yarn guide device 6 includes an eighth power source and a yarn guide hook, the eighth power source is connected to the base body 1, the yarn guide hook is connected with the eighth power source, and the eighth power source drives the yarn guide hook to rotate; the yarn guide hook is used for hooking the yarn 8 from the yarn stopping hook 52 and sending the yarn 8 to the inside of the front bending bow 7. The eighth power source can be a motor or other existing power device that can drive the yarn guide hook to rotate. When working, as shown in the figure, the yarn guide hook is used for hooking the yarn 8 from the yarn stopping hook 52, and the yarn 8 is sent to the inside of the front bending bow 7. Figure 2In the shown B1 position, the thread guide 6 guides the thread out of the thread stop and leads the thread 8 from the outside of the front bow to the inside of the front bow, as Figure 2 In the shown B2 position, the second gripping device 3 is facilitated to grip the thread 8 from the inside of the front bow. After the second gripping device 3 has gripped the thread 8, the thread guide 6 is returned to the initial position.

[0067] The basic principle, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited by the above specific embodiments. The above specific embodiments and the description in the specification are only for further illustration of the principle of the present application. Various changes and improvements can be made to the present application without departing from the spirit and scope of the present application. These changes and improvements all fall within the scope of the claimed present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A bobbin changing robot for a coning machine with a front bending arch, characterized in that, The device comprises a base body (1) with a walking mechanism, a first grabbing device (2) and a second grabbing device (3), the first grabbing device (2) and the second grabbing device (3) are connected with the base body (1) respectively, the first grabbing device (2) is used for grabbing the yarn unwound from the yarn tube, and the second grabbing device (3) is used for grabbing the yarn grabbed by the first grabbing device (2) from the inner side of the front bending arch.

2. The creeling robot with a front-bow arch for a creeling machine according to claim 1, characterized in that, The first grabbing device (2) comprises a first power source (21), a second power source (22) and a clamping assembly (4), wherein, The first power source (21) is connected with the base body (1), the first power source (21) is provided with a telescopic piston rod, the bottom end of the piston rod is provided with a first seat body (23), the second power source (22) and the clamping assembly are connected on the first seat body (23) respectively; the second power source (22) is connected with the clamping assembly, and drives the clamping assembly to make clamping or loosening movement.

3. The creeling robot with a front-bow arch for a creeling machine according to claim 2, characterized in that, The first grabbing device (2) further comprises a third power source (24), one end of the third power source (24) is rotationally connected with the base body (1), and the other end is rotationally connected with the shell of the first power source (21); the first power source (21) is rotationally connected with the base body (1).

4. The change bobbin robot for a winder with a front-bent bow according to claim 1, characterized by, The second grabbing device (3) comprises a fourth power source (31), a fifth power source (32), a sixth power source (33) and a clamping assembly (4), wherein, The fourth power source (31) is rotationally connected with the base body (1), the fourth power source (31) is provided with a telescopic piston rod, the bottom end of the piston rod is provided with a second seat body (34), the fifth power source (32) and the clamping assembly are connected on the second seat body (34) respectively; the fifth power source (32) is connected with the clamping assembly, and drives the clamping assembly to make clamping or loosening movement; one end of the sixth power source (33) is rotationally connected with the base body (1), and the other end is rotationally connected with the shell of the fourth power source (31).

5. A bobbin changing robot for a coning machine with a front bend arch according to claim 2, 3 or 4, characterized in that, The clamping assembly comprises a first clamping piece (41) and a second clamping piece (42), the first clamping piece (41) is fixedly connected with the first seat body (23) or the second seat body (34), the second clamping piece (42) is fixedly connected with the rotating shaft of the second power source (22) or the fifth power source (32), and the first clamping piece (41) and the second clamping piece (42) are arranged in a staggered manner; the second power source (22) or the fifth power source (32) is used for driving the second clamping piece (42) to move towards the first clamping piece (41) to clamp the yarn, or move away from the first clamping piece (41) to loosen the yarn.

6. The creeling robot with a front-bow arch for a creeling machine according to claim 5, characterized in that, The clamping assembly further comprises a first shearing piece (43) and a second shearing piece (44), the first shearing piece (43) is fixedly connected with the first seat body (23) or the second seat body (34), the second shearing piece (44) is fixedly connected with the rotating shaft of the second power source (22) or the fifth power source (32), and the first shearing piece (43) and the second shearing piece (44) are arranged in a staggered manner; In the direction towards the second clamping piece (42), the top end of the first clamping piece (41) protrudes the top end of the first shearing piece (43).

7. The creeling robot with a front-bow arch for a creeling machine according to claim 6, characterized in that, In the direction towards the first clamping piece (41), the top end of the second clamping piece (42) protrudes the top end of the second shearing piece (44).

8. The change cone robot for a cone winder with a front-bow arch according to claim 5, characterized in that, The second clamping piece (42) is two, and the gap between the first clamping piece (41) and the two second clamping pieces (42) is opposite, or The first clamping piece (41) is two, and the gap between the second clamping piece (42) and the two first clamping pieces (41) is opposite.

9. The change cone robot for a cone winder with a front-bow arch according to claim 1, characterized in that, It also includes a yarn blocking device (5), the yarn blocking device (5) includes a seventh power source (51), a yarn blocking hook (52), a base (53) and a moving assembly (54), the seventh power source (51) and the base (53) are connected on the base body (1), the yarn blocking hook (52) and the moving assembly (54) are fixedly connected, the moving assembly (54) and the base (53) are adapted, the seventh power source (51) and the moving assembly (54) are connected, and the seventh power source (51) drives the moving assembly (54) to move in the base (53).

10. The change bobbin robot for a creeling machine with a front bend arch according to claim 9, characterized in that, The base (53) includes oppositely arranged first and second housings (531) and (532), the two ends of the first housing (531) and the two ends of the second housing (532) are fixedly connected by a connecting body (533), a cavity is formed between the first and second housings (531) and (532), and opposite through holes (534) are provided on the first and second housings (531) and (532).

11. The creeling robot with a front-bow arch for a creeling machine according to claim 10, characterized in that, The moving assembly (54) includes a moving piece (541), the moving piece (541) and the through hole (534) are adapted, and the yarn blocking hook (52) and the moving piece (541) are fixedly connected; the seventh power source (51) and the moving piece (541) are connected.

12. The change cone robot for a cone winder with a front-bow arch according to claim 11, characterized in that, The moving assembly (54) further includes a rolling bearing (542), at least one rolling bearing is arranged in the through hole of the first housing (531), at least one rolling bearing is arranged in the through hole of the second housing (532), and the moving piece (541) and the rolling bearing (542) are rotatably connected.

13. A bobbin changing robot for a coning machine with a front bending arch according to any one of claims 9-12, characterized in that, It also includes a yarn guide device (6), the yarn guide device (6) includes an eighth power source and a yarn guide hook, the eighth power source is connected to the base body (1), the yarn guide hook is connected to the eighth power source, and the eighth power source drives the yarn guide hook to rotate; the yarn guide hook is used for hooking the yarn (8) from the yarn blocking hook (52) and sending the yarn (8) to the inside of the front bending bow (7).

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