Finished product transfer mechanism, circulating conveyor and yarn feeding robot

Abstract

This application relates to a finished product transfer mechanism, a circulating conveying device, and a yarn feeding robot. The finished product transfer mechanism includes: a transfer module, comprising a transfer cylinder and a transfer push rod, the transfer push rod being driven by the transfer cylinder to reciprocate in a first horizontal direction to push the yarn tube carrier to move in the first horizontal direction; and a finished product limiting module, comprising a limiting drive and a finished product limiting unit, the finished product limiting unit being driven by the limiting drive and located on one side of the transfer push rod in the first horizontal direction, the finished product limiting unit being driven by the limiting drive to reciprocate and move up and down in the vertical direction to limit the yarn tube carrier in the first horizontal direction. Compared with the method of driving the transfer push rod with a motor and chain mechanism, the above-mentioned finished product transfer mechanism using a transfer cylinder to drive the transfer push rod makes the overall structure of the finished product transfer mechanism simpler, has a lower failure rate, and reduces the maintenance cost of the finished product loading mechanism.

Description

Technical Field

[0001] This application relates to the field of textile machinery technology, and in particular to a finished product transfer mechanism, a circulating conveying device, and a yarn feeding robot. Background Technology

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

[0003] Yarn-feeding robots typically include a circulating conveyor system, which transports yarn tubes to various workstations. This system usually includes a finished product transfer mechanism to transfer the yarn tubes between different transport channels. However, existing finished product transfer mechanisms are relatively complex in construction and require regular maintenance, thus affecting the operational stability of the circulating conveyor system. Utility Model Content

[0004] Therefore, it is necessary to provide a finished product transfer mechanism, a circulating conveying device, and a yarn feeding robot to address the problems of complex structure and the need for regular maintenance of yarn transfer devices.

[0005] A finished product transfer mechanism for transferring yarn tube carriers, the finished product transfer mechanism comprising:

[0006] A transfer module includes a transfer cylinder and a transfer push rod. The transfer push rod is throttledly connected to the transfer cylinder. Driven by the transfer cylinder, the transfer push rod reciprocates in a first horizontal direction to push the yarn carrier member to move in the first horizontal direction.

[0007] The finished product limiting module includes a limiting drive component and a finished product limiting unit. The finished product limiting unit is tractively connected to the limiting drive component and is located on one side of the transfer push rod in the first horizontal direction. The finished product limiting unit reciprocates in the vertical direction under the drive of the limiting drive component to limit the yarn carrier component in the first horizontal direction.

[0008] In one embodiment, the transfer push rod is provided with a plurality of transfer slots, all of which are arranged at intervals along a second horizontal direction perpendicular to the first horizontal direction.

[0009] In one embodiment, the finished product limiting unit includes:

[0010] The connecting plate is connected to the limiting drive component in a transmission manner;

[0011] A first finished product limiting component is disposed on the side of the connecting plate near the transfer push rod in the first horizontal direction; and

[0012] The second finished product limiting component is disposed on the side of the connecting plate away from the transfer push rod in the first horizontal direction.

[0013] A circulating conveying device includes the aforementioned finished product transfer mechanism, the circulating conveying device including a mounting platform, and the finished product transfer mechanism being mounted on the mounting platform.

[0014] In one embodiment, the circulating conveying device further includes:

[0015] A conveyor track is installed on the mounting platform, and the conveyor track is configured to form a first conveyor channel and a second conveyor channel spaced apart in the first horizontal direction;

[0016] Multiple yarn carriers are movably confined within the conveying track; and

[0017] A conveying mechanism is installed on the mounting platform and is connected to all the yarn carriers via a transmission mechanism. The conveying mechanism is used to drive the yarn carriers to move in the first conveying channel and the second conveying channel.

[0018] The transfer push rod of the finished product transfer mechanism is located on one side of the first transfer channel in the vertical direction, and the finished product limiting unit of the finished product transfer mechanism is located between the first transfer channel and the second transfer channel.

[0019] In one embodiment, the conveying mechanism includes a pulley assembly and a circular belt, the pulley assembly being mounted on the mounting platform, and the circular belt being fitted onto the pulley assembly and passing around each of the yarn carriers.

[0020] In one embodiment, the circulating conveying device further includes a first positioning element, which is located upstream of the transfer push rod in the conveying direction of the first conveying channel;

[0021] The first positioning element is capable of reciprocating up and down in the vertical direction to extend into or out of the first conveying channel.

[0022] In one embodiment, the circulating conveying device further includes a second positioning member, which is located downstream of the finished product limiting unit in the conveying direction of the second conveying channel;

[0023] The second positioning element is capable of moving up and down in the vertical direction to extend into or out of the second conveying channel.

[0024] In one embodiment, the circulating conveying device further includes a detection unit located on one side of the second conveying channel, the detection unit being used to detect whether there is a bobbin on the bobbin carrier.

[0025] A yarn-feeding robot includes the aforementioned circulating conveying device.

[0026] Compared to mechanisms that use motors and chains to drive the transfer push rod, the aforementioned finished product transfer mechanism employs a transfer cylinder to drive the transfer push rod. This simplifies the overall structure of the finished product transfer mechanism, reduces the failure rate, and lowers the maintenance costs. In contrast, motor and chain mechanisms require regular adjustments to chain tension and other operating parameters, and regular cleaning to prevent debris from affecting the chain's normal operation, resulting in higher maintenance costs. Attached Figure Description

[0027] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of a circulating conveying device according to an embodiment of this application.

[0030] Figure 2 for Figure 1 A schematic diagram of the circulating conveyor device from another angle.

[0031] Figure 3 This is a partial structural schematic diagram of a circulating conveying device according to an embodiment of this application.

[0032] Figure 4 for Figure 3 A partial structural schematic diagram of the circulating conveyor device shown from another angle.

[0033] Explanation of reference numerals in the attached figures:

[0034] 100. Circulating conveying device; 110. Mounting platform; 120. Conveying track; 121. First conveying channel; 123. Second conveying channel; 125. Third conveying channel; 130. Conveying mechanism; 140. Yarn tube carrier; 150. Finished product transfer mechanism; 152. Transfer module; 1521. Transfer cylinder; 1523. Transfer push rod; 1523a. Transfer trough; 154. Finished product limiting module; 153. Limiting drive component; 155. Finished product limiting unit; 1552. Connecting plate; 1554. First finished product limiting component; 1556. Second finished product limiting component; 160. First positioning module; 161. First positioning component; 170. Second positioning module; 172. Second positioning component; 174. Second positioning drive component; 180. Detection unit; 200. Thread end acquisition device. Detailed Implementation

[0035] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0036] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0041] See Figure 1 and Figure 2 The embodiments of this application provide a yarn feeding robot, including a circulating conveying device 100, a feeding device, a yarn end acquisition device 200, and a material picking device.

[0042] The feeding device, the yarn end acquisition device 200, and the picking device are located close to the circulating conveyor device 100. The bobbin is conveyed to the circulating conveyor device 100 through the feeding device. The circulating conveyor device 100 conveys the bobbin through the yarn end acquisition device 200 to the picking device. The picking device is used to pick up the bobbin on the circulating conveyor device 100 for conveying to the subsequent work station.

[0043] It is understood that since the specific structure of the feeding device, the thread end acquisition device 200, and the material picking device are not the main inventive points of this application, they will not be described in detail here. The specific structure of the above devices can be set as needed to meet different requirements.

[0044] Please continue reading. Figure 1 and Figure 2 The circulating conveying device 100 includes a mounting platform 110, a conveying track 120, a conveying mechanism 130, and multiple yarn bobbin carriers 140. The conveying track 120 is mounted on the mounting platform 110, and the multiple yarn bobbin carriers 140 are movably confined within the conveying track 120, each yarn bobbin carrier 140 carrying one yarn bobbin. The conveying mechanism 130 is mounted on the mounting platform 110 and is drively connected to all the yarn bobbin carriers 140. The conveying mechanism 130 drives the yarn bobbin carriers 140 to move cyclically along the conveying track 120, thereby conveying the yarn bobbins to various workstations.

[0045] The mounting platform 110 has a rectangular cross-section. In the following embodiments, the width direction of the mounting platform 110 is defined as the first horizontal direction (i.e., Figure 1 (as shown in the X direction), the length direction of the mounting platform 110 is the second horizontal direction (i.e., Figure 1 The Y-direction shown is indicated, and the height direction of the mounting platform 110 is vertical (i.e., the height direction is vertical). Figure 1 (As shown in the Z direction), the first horizontal direction, the second horizontal direction, and the vertical direction are perpendicular to each other.

[0046] The conveyor track 120 is configured to form a conveyor channel, specifically including a first conveyor channel 121, a second conveyor channel 123, and a third conveyor channel 125. The first conveyor channel 121 and the second conveyor channel 123 are spaced apart in a first horizontal direction, and both extend along a second horizontal direction. The third conveyor channel 125 extends in a curved manner and connects to one end of the first conveyor channel 121 and the second conveyor channel 123 in the second horizontal direction.

[0047] In the following embodiments, the end of the thread-finding device 200 is located near the end of the first conveying channel 121 that is away from the third conveying channel 125, and the end of the first conveying channel 121 near the thread-finding device 200 is the thread-finding station. The end of the picking device is located near the end of the second conveying channel 123 that is away from the third conveying channel 125, and the end of the second conveying channel 123 near the picking device is the picking station.

[0048] The conveying mechanism 130 includes a pulley assembly and a circular belt. The pulley assembly includes multiple circular pulleys, all of which are spaced apart along the length of the conveying track 120. The circular belt is fitted onto the pulley assembly and passes around each yarn carrier 140. Driven by the pulley assembly, the circular belt moves cyclically, thereby causing the yarn carrier 140 to move cyclically in the first conveying channel 121, the second conveying channel 123, and the third conveying channel 125, thus conveying the yarn to different workstations. Since the circular belt is more suitable for curved arrangements than the flat belt, the structure of the circulating conveying device 100 can be made more compact, reducing the space occupied by the circulating conveying device 100.

[0049] The yarn carrier 140 has a rotating structure. One end of the yarn carrier 140 is confined to the conveyor track 120 and located in the conveyor channel, while the other end of the yarn carrier 140 extends vertically upward. The yarn can be inserted into the end of the yarn carrier 140 away from the conveyor track 120. The outer circular surface of the end of the yarn carrier 140 confined to the conveyor track 120 contacts the circular belt. Thus, driven by the conveyor mechanism 130, the yarn carrier 140 cyclically moves between the first conveyor channel 121, the second conveyor channel 123, and the third conveyor channel 125.

[0050] Please combine Figure 2 , Figure 3 as well as Figure 4 As shown, the circulating conveying device 100 also includes a finished product transfer mechanism 150, which is mounted on the mounting platform 110. The finished product transfer mechanism 150 is at least partially located between the first conveying channel 121 and the second conveying channel 123, and is closer to the end of the first conveying channel 121 and the second conveying channel 123 that is away from the third conveying channel 125. The finished product transfer mechanism 150 is used to transfer the yarn bobbin carrier 140 from the head-finding station of the first conveying channel 121 to the material-picking station of the second conveying channel 123, and to limit the movement of the yarn bobbin carrier 140 at the head-finding station and during the material-picking process.

[0051] Specifically, the finished product transfer mechanism 150 includes a transfer module 152 and a finished product limiting module 154. The transfer module 152 is used to push the yarn carrier 140 from the head-finding station of the first conveying channel 121 to the material-picking station of the second conveying channel 123. The finished product limiting module 154 is used to limit the yarn carrier 140 located at the head-finding station and the material-picking station to prevent the yarn carrier 140 from shaking during the head-finding and material-picking processes.

[0052] In some embodiments, the transfer module 152 includes a transfer cylinder 1521 and a transfer push rod 1523. The transfer cylinder 1521 is mounted on the mounting platform 110, and the transfer push rod 1523 is throttle-connected to the transfer cylinder 1521. Driven by the transfer cylinder 1521, the transfer push rod 1523 reciprocates in a first horizontal direction to push the yarn carrier 140 to move in the first horizontal direction.

[0053] The finished product limiting module 154 includes a limiting drive component 153 and a finished product limiting unit 155. The limiting drive component 153 is mounted on the mounting platform 110, and the finished product limiting unit 155 is drively connected to the limiting drive component 153 and is located on one side of the transfer push rod 1523 in the first horizontal direction. Driven by the limiting drive component 153, the finished product limiting unit 155 reciprocates vertically to limit the yarn carrier 140 in the first horizontal direction.

[0054] Thus, the transfer cylinder 1521 can drive the transfer push rod 1523 to smoothly push the yarn carrier 140 in the first transfer channel 121 to the second transfer channel 123, realizing the efficient transfer of the yarn carrier 140. The finished product limiting unit 155 can simultaneously abut against the yarn carrier 140 located in the first transfer channel 121 and the yarn carrier 140 located in the second transfer channel 123 in the first horizontal direction, so that the yarn carriers 140 located in different working positions remain stable and effectively prevent the yarn carriers 140 from shaking.

[0055] Compared to using a motor and chain mechanism to move the transfer push rod 1523, using a transfer cylinder 1521 to drive the transfer push rod 1523 simplifies the overall structure of the finished product transfer mechanism 150, reduces the failure rate, and lowers the maintenance cost of the finished product loading mechanism. In contrast, the motor and chain mechanism requires regular adjustment of operating parameters such as chain tension and regular cleaning to prevent debris from affecting the normal operation of the chain, resulting in higher maintenance costs.

[0056] Please continue reading. Figures 2 to 4 The transfer cylinder 1521 is mounted on the mounting platform 110 via a bracket and is located on the side of the first transfer channel 121 away from the third transfer channel 125 in the second horizontal direction. The transfer push rod 1523 has a long strip structure, with one end connected to the output end of the transfer cylinder 1521 and the other end extending along the second horizontal direction toward the third transfer channel 125.

[0057] Furthermore, the transfer push rod 1523 is provided with multiple transfer grooves 1523a. All transfer grooves 1523a are arranged at intervals along the second horizontal direction. Each transfer groove 1523a can be correspondingly set with a bobbin carrier 140 to hold the bobbin carrier 140 and transfer the bobbin carrier 140 from the head finding station of the first conveying channel 121 to the material picking station of the second conveying channel 123.

[0058] The limit drive component 153 is installed on the mounting platform 110 and is located between the head-finding station of the first conveyor channel 121 and the material-picking station of the second conveyor channel 123. Specifically, in one embodiment, the limit drive component 153 is a cylinder.

[0059] The finished product limiting unit 155 includes a connecting plate 1552, a first finished product limiting member 1554, and a second finished product limiting member 1556. The connecting plate 1552 is connected to the output end of the limiting drive member 153. The connecting plate 1552 has a rectangular plate structure. The thickness direction of the connecting plate 1552 is parallel to the vertical direction, the length direction of the connecting plate 1552 is parallel to a second horizontal direction, and the width direction of the connecting plate 1552 is parallel to a first horizontal direction. The first finished product limiting member 1554 is located on the side of the connecting plate 1552 closest to the transfer push rod 1523 in the first horizontal direction, and extends along the second horizontal direction. The second finished product limiting member 1556 is located on the side of the connecting plate 1552 furthest from the transfer push rod 1523 in the first horizontal direction, and extends along the second horizontal direction.

[0060] Thus, the finished product limiting unit 155 moves up and down vertically under the drive of the limiting drive member 153, switching between a retracted state near the mounting platform 110 and an extended state away from the mounting platform 110. When the finished product limiting unit 155 is in the retracted state, the first finished product limiting member 1554 and the second finished product limiting member 1556 move closer to the mounting platform 110 and further away from the yarn carrier 140, thus not interfering with the movement of the yarn carrier 140 from the first conveying channel 121 to the second conveying channel 123. When the finished product limiting unit 155 is in the extended state, the first finished product limiting member 1554 abuts against the yarn carrier 140 located at the head-finding station in the first horizontal direction, and the second finished product limiting member 1556 abuts against the yarn carrier 140 located at the picking station in the first horizontal direction, thereby preventing the yarn carrier 140 from shaking.

[0061] Please continue reading. Figures 2 to 4 In some embodiments, the circulating conveying device 100 further includes a first positioning module 160, which is located upstream of the transfer push rod 1523 in the conveying direction of the first conveying channel 121, and is used to limit the yarn carrier 140 located upstream of the head-finding station in the second horizontal direction.

[0062] Specifically, the first positioning module 160 includes a first positioning element 161 and a first positioning drive element 163. The first positioning drive element 163 is mounted on the mounting platform 110, and the first positioning element 161 is mounted on the output end of the first positioning drive element 163. The first positioning element 161 can move up and down in the vertical direction under the drive of the first positioning drive element 163 to extend into or out of the first conveying channel 121.

[0063] When the first positioning member 161 moves upward and extends into the first conveying channel 121, the first positioning member 161 can abut against the yarn carrier 140 located upstream of the head-finding station in the second horizontal direction. After the first positioning member 161 moves downward and leaves the first conveying channel 121, the yarn carrier 140 located upstream of the head-finding station can move to the head-finding station under the drive of the conveying mechanism 130.

[0064] In some embodiments, the circulating conveying device 100 further includes a second positioning module 170, which is located downstream of the finished product limiting unit 155 in the conveying direction of the second conveying channel 123, and is used to limit the yarn carrier 140 in the material picking station in the second horizontal direction.

[0065] Specifically, the second positioning module 170 includes a second positioning element 172 and a second positioning drive element 174. The second positioning drive element 174 is mounted on the mounting platform 110, and the second positioning element 172 is mounted on the output end of the second positioning drive element 174. The second positioning element 172 can move up and down in the vertical direction under the drive of the second positioning drive element 174 to extend into or out of the second conveying channel 123.

[0066] When the second positioning member 172 extends upward into the second conveying channel 123, the second positioning member 172 can abut against the yarn carrier 140 located at the picking station in the second horizontal direction. After the second positioning member 172 moves downward away from the second conveying channel 123, the yarn carrier 140 located at the picking station can leave the picking station under the drive of the conveying mechanism 130.

[0067] In some embodiments, the circulating conveying device 100 further includes a detection unit 180, which is mounted on the mounting platform 110 via a bracket. The detection unit 180 is located on the side of the second conveying channel 123 away from the third conveying channel 125 and is vertically positioned above the second conveying channel 123. The detection unit 180 is used to detect whether there is a yarn tube on the yarn tube carrier 140 located at the material picking station, thereby controlling the working status of the transfer module 152, the finished product limiting module 154, the first positioning module 160, and the second positioning module 170. Specifically, in one embodiment, the detection unit 180 is a photoelectric sensor.

[0068] The working principle of the above-mentioned finished product operating mechanism 150 is as follows:

[0069] When the yarn end acquisition device 200 is in the yarn end finding state: the finished product limiting unit 155 is in the extended state, and the first finished product limiting member 1554 is positioned above the yarn carrier 140 at the yarn end finding station in the first horizontal direction. The first positioning member 161 is in the extended state, thereby positioning the yarn carrier 140 upstream of the yarn end finding station in the second horizontal direction.

[0070] After the yarn finding process is completed: the finished product limiting unit 155 moves downward to switch to the retracted state, and the transfer push rod 1523 moves from the side away from the second conveying channel 123 along the first horizontal direction toward the second conveying channel 123, thereby pushing the yarn carrier 140 located at the yarn finding station into the material picking station of the second conveying channel 123. At this time, the second positioning member 172 is in the extended state to limit the yarn carrier 140 at the material picking station in the second horizontal direction.

[0071] When the yarn carrier 140 enters the material handling station, the detection unit 180 detects the yarn on the yarn carrier 140, the transfer push rod 1523 returns to the side of the first conveying channel 121 away from the second conveying channel 123, the first positioning member 161 moves downward and switches to the retracted state, and the yarn carrier 140 upstream of the head-finding station enters the head-finding station under the drive of the conveying mechanism 130.

[0072] Then, the finished product limiting unit 155 moves upward to switch to the extended state, the first finished product limiting member 1554 limits the yarn carrier 140 in the first horizontal direction to the upper limit of the yarn finding station, and the second finished product limiting member 1556 limits the yarn carrier 140 in the first horizontal direction to the upper limit of the yarn picking station.

[0073] After the material handling device takes out the yarn tube from the material handling station, the detection unit 180 cannot detect the yarn tube. The second positioning member 172 moves downward and switches to the retracted state. The yarn tube carrier 140 of the material handling station leaves the material handling station under the drive of the conveying mechanism 130, waiting for the next set of yarn tubes that have completed the head finding to enter the station.

[0074] In some embodiments, during the above process, the yarn carrier 140 pushed to the picking station by the transfer push rod 1523 can move a preset distance under the drive of the conveying mechanism 130 until it abuts against the second positioning member 172.

[0075] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A finished product transfer mechanism for transferring a tube yarn carrier, characterized by, The finished product transfer mechanism includes: A transfer module includes a transfer cylinder and a transfer push rod. The transfer push rod is throttledly connected to the transfer cylinder. Driven by the transfer cylinder, the transfer push rod reciprocates in a first horizontal direction to push the yarn carrier member to move in the first horizontal direction. The finished product limiting module includes a limiting drive component and a finished product limiting unit. The finished product limiting unit is tractively connected to the limiting drive component and is located on one side of the transfer push rod in the first horizontal direction. The finished product limiting unit reciprocates in the vertical direction under the drive of the limiting drive component to limit the yarn carrier component in the first horizontal direction.

2. The finished product transfer mechanism of claim 1, wherein, The transfer push rod is provided with multiple transfer slots, and all the transfer slots are arranged at intervals along a second horizontal direction perpendicular to the first horizontal direction.

3. The finished product transfer mechanism of claim 1, wherein, The finished product limiting unit includes: The connecting plate is connected to the limiting drive component in a transmission manner; A first finished product limiting component is disposed on the side of the connecting plate near the transfer push rod in the first horizontal direction; and The second finished product limiting component is disposed on the side of the connecting plate away from the transfer push rod in the first horizontal direction.

4. A recirculating conveyor characterized by, The device includes a finished product transfer mechanism as described in any one of claims 1 to 3, wherein the circulating conveying device includes a mounting platform, and the finished product transfer mechanism is mounted on the mounting platform.

5. The endless conveyor of claim 4, wherein, The circulating conveying device further includes: A conveyor track is installed on the mounting platform, and the conveyor track is configured to form a first conveyor channel and a second conveyor channel spaced apart in the first horizontal direction; Multiple yarn carriers are movably confined within the conveying track; and A conveying mechanism is installed on the mounting platform and is connected to all the yarn carriers via a transmission mechanism. The conveying mechanism is used to drive the yarn carriers to move in the first conveying channel and the second conveying channel. The transfer push rod of the finished product transfer mechanism is located on one side of the first transfer channel in the vertical direction, and the finished product limiting unit of the finished product transfer mechanism is located between the first transfer channel and the second transfer channel.

6. The endless conveyor of claim 5, wherein, The conveying mechanism includes a pulley assembly and a circular belt. The pulley assembly is mounted on the mounting platform, and the circular belt is sleeved on the pulley assembly and passes around each of the yarn carriers.

7. The endless conveyor of claim 5, wherein, The circulating conveying device further includes a first positioning element, which is located upstream of the transfer push rod in the conveying direction of the first conveying channel; The first positioning element is capable of reciprocating up and down in the vertical direction to extend into or out of the first conveying channel.

8. The endless conveyor of claim 5, wherein, The circulating conveying device further includes a second positioning element, which is located downstream of the finished product limiting unit in the conveying direction of the second conveying channel; The second positioning element is capable of moving up and down in the vertical direction to extend into or out of the second conveying channel.

9. The endless conveyor of claim 5, wherein, The circulating conveying device also includes a detection unit located on one side of the second conveying channel. The detection unit is used to detect whether there is a bobbin on the bobbin carrier.

10. A yarn feeding robot, characterized in that, Includes the circulating conveying device as described in any one of claims 4 to 9.

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