Linear bearing-guided scraper device, wire scraper device, and yarn feeding robot

Abstract

This application relates to a linear bearing-guided doctor blade device, a yarn scraping device, and a yarn feeding robot. The linear bearing-guided doctor blade device includes a bracket; a lifting drive mounted on the bracket; a movable seat connected to the lifting drive, which drives the movable seat to move vertically in a first direction; a first linear bearing fixed to the movable seat; a first guide shaft fixed to the bracket and cooperating with the first linear bearing; and a doctor blade assembly connected to the movable seat, including a doctor blade for contacting the surface of the yarn tube. When the doctor blade assembly moves vertically following the movable seat under the action of the lifting drive, the cooperation of the first and second linear bearings makes the vertical movement smoother. Furthermore, the limiting effect in directions other than the first direction reduces the wobbling of the doctor blade assembly, improves the yarn scraping success rate, reduces the possibility of the doctor blade assembly getting stuck with the yarn tube, and extends the service life of the doctor blade device.

Description

Technical Field

[0001] This application relates to the field of textile machinery technology, and in particular to a doctor blade device, a yarn scraping device, and a yarn feeding robot based on linear bearing guidance. Background Technology

[0002] Yarn feeding robots are essential equipment in winding workshops, and finding yarn ends is an indispensable task for them. Finding yarn ends typically requires a scraper device to locate and cut the yarn ends on the surface of the yarn tube. However, in related technologies, the overall movement of the scraper device is unstable, reducing the success rate of scraping the yarn. Furthermore, due to this unstable movement, the scraper device is also prone to getting stuck in the yarn tube, affecting its service life. Utility Model Content

[0003] Therefore, it is necessary to address the problems of low success rate and short service life of the scraper device in the related technology, and to provide a scraper device, scraper device and yarn feeding robot based on linear bearing guidance that can improve the success rate and service life of scraping.

[0004] One aspect of this application provides a linear bearing-guided scraper device for scraping yarn from the surface of a bobbin. The linear bearing-guided scraper device includes:

[0005] support;

[0006] The lifting drive component is mounted on the bracket.

[0007] The movable seat is connected to the lifting drive component, which is used to drive the movable seat to move up and down in a first direction.

[0008] The first linear bearing is fixed to the movable seat;

[0009] A first guide shaft, fixed to a bracket, and mating with a first linear bearing; and

[0010] A doctor blade assembly, connected to a movable seat, includes a doctor blade for contacting the surface of the yarn tube.

[0011] The aforementioned linear bearing-guided scraper device, when the scraper assembly moves up and down with the movable seat under the action of the lifting drive, can make the lifting movement smoother due to the cooperation of the first and second linear bearings. Furthermore, the limiting effect in directions other than the first direction can reduce the swaying of the scraper assembly in other directions, improve the success rate of scraping the yarn, and reduce the possibility of the scraper assembly getting stuck with the yarn tube, thus extending the service life of the scraper device.

[0012] In one embodiment, the number of first linear bearings and first guide shafts includes at least two. All the first linear bearings are fixed to the movable seat at intervals from each other, and all the first guide shafts are fixed to the bracket at intervals from each other. All the first linear bearings and all the first guide shafts are matched in a one-to-one correspondence.

[0013] In one embodiment, the scraper assembly further includes a scraper driver mounted on a movable base and connected to the scraper for driving the scraper to move along a second direction, wherein the first direction intersects the second direction.

[0014] In one embodiment, the scraper assembly further includes a second linear bearing, a second guide shaft, and a scraper mounting base. The scraper is mounted on the scraper mounting base, the scraper drive is connected to the scraper mounting base, the second linear bearing is fixed to the movable base, one end of the second guide shaft is fixedly connected to the scraper mounting base, and the other end of the second guide shaft cooperates with the second linear bearing.

[0015] In one embodiment, the scraper assembly further includes a fixing plate, which is fixed to one side of the movable seat. The scraper drive and the second linear bearing are both fixed to the fixing plate and are spaced apart from each other along the first direction.

[0016] In one embodiment, along the second direction, the scraper mounting base is located on one side of the fixed plate, and the scraper drive and the second linear bearing are located on the opposite side of the fixed plate; the scraper is located on the side of the scraper mounting base facing away from the fixed plate.

[0017] The scraper assembly also includes an elastic element that is compressed between the scraper mounting base and the fixing plate.

[0018] In one embodiment, the elastic element is sleeved on the second guide shaft.

[0019] In one embodiment, the scraper assembly includes a plurality of scraper units, all of which are spaced apart from each other along a third direction, wherein the first direction, the second direction, and the third direction intersect each other;

[0020] Each scraper unit includes a scraper, a second linear bearing, and a second guide shaft. Each scraper unit has at least two second linear bearings and two second guide shafts. All the second linear bearings are fixed to the movable seat at intervals. One end of each second guide shaft is fixedly connected to the scraper mounting seat, and the other end of each second guide shaft is matched with each of the second linear bearings.

[0021] Another aspect of this application provides a line scraping device based on linear bearing guidance, including a rotating device and a scraper device based on linear bearing guidance according to any of the above embodiments;

[0022] The rotating device is located on one side of the doctor blade device based on linear bearing guidance and is used to rotate the bobbin.

[0023] The aforementioned linear bearing-guided yarn scraping device, when the scraper assembly moves up and down with the movable seat under the action of the lifting drive, can make the lifting movement smoother due to the cooperation of the first and second linear bearings. Furthermore, the limiting effect in directions other than the first direction can reduce the swaying of the scraper assembly in other directions, improve the success rate of yarn scraping, and reduce the possibility of the scraper assembly getting stuck with the yarn tube, thereby increasing the service life of the scraper device.

[0024] Another aspect of this application provides a yarn-feeding robot, which includes the aforementioned linear bearing-guided yarn-scraping device.

[0025] In the aforementioned yarn feeding robot, when the doctor blade assembly moves up and down following the movable seat under the action of the lifting drive, the first linear bearing and the second linear bearing are matched to make the lifting movement smoother. Furthermore, due to the limiting effect in other directions besides the first direction, the shaking of the doctor blade assembly in other directions is reduced, the success rate of yarn scraping is improved, and the situation of the doctor blade assembly getting stuck with the yarn tube is reduced, thus increasing the service life of the doctor blade device. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of a scraper device based on linear bearing guidance according to an embodiment of this application.

[0027] Figure 2 for Figure 1 The diagram shows a three-dimensional view of the scraper device based on linear bearing guidance.

[0028] Figure 3 for Figure 1 The diagram shows another perspective of the three-dimensional structure of the scraper device based on linear bearing guidance.

[0029] Explanation of reference numerals in the attached figures:

[0030] 100. Scraper device based on linear bearing guidance; 10. Bracket; 20. Lifting drive component; 30. Movable seat; 40. First linear bearing; 50. First guide shaft; 60. Scraper assembly; 61. Scraper; 62. Scraper drive component; 63. Second linear bearing; 64. Second guide shaft; 65. Scraper mounting seat; 66. Fixing plate; 67. Elastic component; 601. Scraper unit. Detailed Implementation

[0031] 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.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, 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.

[0034] Furthermore, the terms "first" and "second" are used 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 as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] 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 according to the specific circumstances.

[0036] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through 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. "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.

[0037] It should be noted that when 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. When 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. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0038] Furthermore, the accompanying drawings are not drawn to a 1:1 scale, and the relative dimensions of the components are shown in the drawings only as examples and not necessarily to actual scale.

[0039] Figure 1 This is a three-dimensional structural schematic diagram of a scraper device based on linear bearing guidance in one embodiment of this application; Figure 2 for Figure 1 The accompanying drawing shows a three-dimensional structural schematic diagram of the scraper device based on linear bearing guidance from another perspective. For ease of description, the drawing only shows the structure relevant to the embodiments of this application.

[0040] See appendix Figure 1 and Figure 2 This application provides an embodiment of a linear bearing-guided scraper device 100 for scraping the surface of yarn bobbins. The scraper device 100 includes a bracket 10, a lifting drive component 20, a movable seat 30, a first linear bearing 40, a first guide shaft 50, and a scraper assembly 60. The scraper device 100 of this application is applied to an anti-shaking scraping device, specifically to a yarn feeding robot. In other embodiments, it can also be applied to other devices that utilize the scraper device 100, and this application is not limited thereto.

[0041] The bracket 10 is a structure used to support the various components in the entire scraper device 100. The bracket 10 can be formed by combining multiple support rods, support plates, etc. Its combined shape can be cuboid, trapezoidal, etc., and there is no specific limitation. In the embodiment of this application, the bracket 10 includes two support plates arranged opposite to each other, and a top plate and a bottom plate are respectively connected to the upper and lower sides of the two support plates.

[0042] The lifting drive component 20 is mounted on the bracket 10, specifically above the top plate of the bracket 10. The lifting drive component 20 refers to a drive device capable of lifting movement. Specifically, the lifting drive component 20 can be a lifting cylinder, a lifting hydraulic cylinder, etc.

[0043] The movable seat 30 is connected to the lifting drive component 20, and is used to drive the movable seat 30 to move up and down along a first direction. The first direction is specifically the vertical direction, which is also the direction shown in the appendix of this application. Figure 1 The Z-direction. The movable seat 30 can be block-shaped, plate-shaped, or formed by combining multiple blocks. Specifically, the movable seat 30 is located between the top plate and the bottom plate.

[0044] The first linear bearing 40 is fixed to the movable seat 30, and the first guide shaft 50 is fixed to the bracket 10 and cooperates with the first linear bearing 40. A linear bearing is a mechanical component that achieves high-precision linear motion through the rolling of balls. The cooperation between the first guide shaft 50 and the first linear bearing 40 involves inserting the first guide shaft 50 into the inner hole of the first linear bearing 40, thereby enabling rolling contact between the first guide shaft 50 and the balls. When driven by an external force, the first guide shaft 50 moves within the inner hole of the first linear bearing 40, and the balls follow, converting the sliding friction with the first guide shaft 50 into rolling friction. Specifically, both ends of the first guide shaft 50 are connected to the top plate and the bottom plate of the bracket 10, respectively.

[0045] The doctor blade assembly 60 is connected to the movable seat 30. The doctor blade assembly 60 includes a doctor blade 61, which is used to contact the surface of the yarn tube. The doctor blade 61 typically has a cutting edge that can contact the surface of the yarn tube during the doctor blade operation and insert into the outermost yarn of the yarn tube. Since the doctor blade assembly 60 is connected to the movable seat 30, it can move up and down along the first direction with the movable seat 30, so that the doctor blade 61 can move along the surface of the yarn tube during the up and down movement to achieve the doctor blade operation on the surface of the yarn tube. It should be noted here that during the doctor blade operation, the yarn tube in this embodiment also needs to rotate around its own axis under the drive of the rotating mechanism.

[0046] In this embodiment of the scraper device 100, when the scraper assembly 60 moves up and down with the movable seat 30 under the action of the lifting drive 20, the first linear bearing 40 and the second linear bearing 63 are provided to cooperate, so the up and down movement can be made more stable. In addition, due to the limiting effect in other directions besides the first direction, the shaking of the scraper assembly 60 in other directions besides the first direction can be reduced, the success rate of scraping the yarn can be improved, and the situation of the scraper assembly 60 getting stuck with the yarn tube can be reduced, thus increasing the service life of the scraper device 100.

[0047] Specifically, in the embodiments of this application, the number of first linear bearings 40 and first guide shafts 50 includes at least two. All first linear bearings 40 are fixed to the movable seat 30 at intervals, and all first guide shafts 50 are fixed to the bracket 10 at intervals. All first linear bearings 40 and all first guide shafts 50 are matched one-to-one.

[0048] Specifically, all the first linear bearings 40 are fixed to the movable seat 30 at intervals along the third direction, and all the first guide shafts 50 are fixed to the bracket 10 at intervals along the third direction. The third direction intersects with the first direction, specifically as follows: Figure 1 The X direction is shown. Optionally, there are two first linear bearings 40 and two first guide shafts 50.

[0049] By setting multiple first linear bearings 40 and multiple first guide shafts 50, the smoothness of the scraper assembly 60's lifting and lowering movement can be further improved, and the limiting effect in other directions besides the first direction is better.

[0050] Optionally, the scraper assembly 60 has a first center plane parallel to the first direction, and all the first linear bearings 40 and all the first guide shafts 50 are symmetrically distributed relative to the first center plane. Alternatively, the output shaft of the lifting drive 20 has a central axis, and the scraper device 100 has a second center plane that coincides with the central axis and is parallel to the first direction, and all the first linear bearings 40 and all the first guide shafts 50 are symmetrically distributed relative to the second center plane.

[0051] Combination Figure 3 In some embodiments, the scraper assembly 60 further includes a scraper drive 62, which is mounted on the movable seat 30 and connected to the scraper 61 for driving the scraper 61 to move along a second direction, wherein the first direction intersects the second direction.

[0052] The scraper drive component 62 refers to a drive device that can drive the scraper 61 to move. Specifically, the scraper drive component 62 can be a scraper 61 cylinder, scraper 61 hydraulic cylinder, etc. The second direction specifically refers to the horizontal direction, that is, the direction specified in the appendix of this application. Figure 1 in the Y direction.

[0053] When the doctor blade assembly 60 moves along the second direction under the action of the doctor blade drive 62, it can approach or move away from the yarn tube, thereby enabling the doctor blade 61 to be inserted into the surface of the yarn tube before the yarn scraping operation and to retract from the surface of the yarn tube after the yarn scraping operation.

[0054] Furthermore, the scraper assembly 60 also includes a second linear bearing 63, a second guide shaft 64, and a scraper mounting base 65. The scraper 61 is mounted on the scraper mounting base 65, the scraper drive 62 is connected to the scraper mounting base 65, the second linear bearing 63 is fixed to the movable seat 30, one end of the second guide shaft 64 is fixedly connected to the scraper mounting base 65, and the other end is engaged with the second linear bearing 63.

[0055] The structures of the second linear bearing 63 and the second guide shaft 64 are similar to those of the first linear bearing 40 and the first guide shaft 50, and will not be described in detail here.

[0056] When the scraper drive 62 drives the scraper mounting base 65 to move in the second direction, since the second linear bearing 63 is fixed to the movable base 30 and one end of the second guide shaft 64 is fixedly connected to the scraper mounting base 65, the second guide shaft 64 can be driven to move relative to the second linear bearing 63 in the second direction.

[0057] Because the second linear bearing 63 is configured to cooperate with the second guide shaft 64, the movement of the scraper 61 in the second direction can be made smoother, and due to the limiting effect in other directions besides the second direction, the wobbling of the scraper 61 in other directions besides the second direction can be reduced, further improving the success rate of scraping lines.

[0058] Furthermore, the scraper assembly 60 also includes a fixing plate 66, which is fixed to one side of the movable seat 30. The scraper drive 62 and the second linear bearing 63 are both fixed to the fixing plate 66 and are spaced apart from each other along the first direction.

[0059] Since the movable seat 30 needs to be fixedly connected to both the lifting drive component 20 and the first linear bearing 40, as well as the scraper drive component 62 and the second linear bearing 63, the addition of a fixing plate 66 fixedly connected to the movable seat 30 increases the installation area without affecting the lifting movement of the movable seat 30, thus preventing positional interference between multiple components. Furthermore, since the second linear bearing 63 needs to cooperate with the second guide shaft 64, and the second guide shaft 64 moves along a second direction, the scraper drive component 62 and the second linear bearing 63 are positioned spaced apart from each other along a first direction, ensuring that the scraper drive component 62 does not affect the movement of the second guide shaft 64.

[0060] In some embodiments, along the second direction, the scraper mounting base 65 is located on one side of the fixing plate 66, the scraper drive member 62 and the second linear bearing 63 are located on the opposite side of the fixing plate 66, and the scraper 61 is located on the side of the scraper mounting base 65 facing away from the fixing plate 66. The scraper assembly 60 also includes an elastic member 67, which is compressed between the scraper mounting base 65 and the fixing plate 66.

[0061] By positioning the scraper mounting base 65 on one side of the fixed plate 66 along the second direction, with the scraper drive 62 and the second linear bearing 63 on the opposite side of the fixed plate 66, and the scraper 61 on the side of the scraper mounting base 65 facing away from the fixed plate 66, the space between the scraper mounting base 65 and the fixed plate 66 can be left empty to reliably place the elastic element 67. The elastic element 67 allows the scraper mounting base 65 to have an elastically adjustable position relative to the fixed plate 66 along the second direction, enabling the scraper 61 to adapt to different yarn diameters and achieve a tight fit with the surface of yarn of any size, thus improving the reliability of the scraping operation.

[0062] Specifically, the elastic element 67 can be a compression spring, or it can be an elastic element 67 made of silicone, rubber, or other materials.

[0063] In the embodiments of this application, the elastic element 67 is sleeved on the second guide shaft 64.

[0064] Since the second guide shaft 64 is fitted with the second linear bearing 63 and connected to the scraper mounting base 65, the second guide shaft 64 will pass between the scraper mounting base 65 and the fixing plate 66. Therefore, the elastic element 67 is sleeved on the second guide shaft 64, which not only reduces the space occupied by the elastic element 67, but also guides the elastic element 67 to perform compression and extension movements, thereby improving the reliability of the elastic element 67 in elastically adjusting the position of the scraper mounting base 65 relative to the fixing plate 66 in the second direction.

[0065] In some embodiments, the scraper assembly 60 includes a plurality of scraper units 601, all of which are spaced apart from each other along a third direction, wherein the first direction, the second direction, and the third direction intersect each other. Each scraper unit 601 includes a scraper 61, a second linear bearing 63, and a second guide shaft 64. Each scraper unit 601 includes at least two second linear bearings 63 and two second guide shafts 64. All second linear bearings 63 are fixedly fixed to the movable seat 30 at intervals. One end of each second guide shaft 64 is fixedly connected to the scraper mounting seat 65, and the other end of each second guide shaft 64 corresponds to and engages with each second linear bearing 63.

[0066] By setting multiple scraper units 601, multiple yarn tubes can be scraped simultaneously, improving scraping efficiency. Furthermore, since multiple scraper units 601 are connected to the same lifting drive component 20, the structure of the lifting drive component 20 is simplified. Moreover, the cooperation between the first linear bearing 40 and the first guide shaft 50 improves the stability of the movement of the multiple scraper units 601.

[0067] In addition, each scraper 61 is also equipped with at least two second linear bearings 63 and a second guide shaft 64. Therefore, the movement of the scraper 61 in the second direction is smoother, and the limiting effect in other directions is better.

[0068] Optionally, each scraper 61 has a third center plane parallel to the second direction, and all the first linear bearings 40 and all the first guide shafts 50 of each scraper unit 601 are symmetrically distributed relative to the third center plane. Furthermore, all scraper units 601 are symmetrically distributed relative to either the first center plane or the second center plane.

[0069] Optionally, the scraper assembly 60 may include three scraper units 601, four scraper units 601, or six scraper units 601, whichever is more specific.

[0070] Based on the same inventive concept, this application also provides a linear bearing-guided scraping device for scraping yarn from a bobbin. The scraping device includes a rotating device and the aforementioned linear bearing-guided scraper device 100. The rotating device is used to rotate the bobbin.

[0071] When the scraper assembly 60 moves up and down with the movable seat 30 under the action of the lifting drive 20, the first linear bearing 40 and the second linear bearing 63 are matched to make the lifting movement smoother. Furthermore, due to the limiting effect in other directions besides the first direction, the swaying of the scraper assembly 60 in other directions besides the first direction is reduced, the success rate of scraping the yarn is improved, and the situation of the scraper assembly 60 getting stuck with the yarn tube is reduced, thus increasing the service life of the scraper device 100.

[0072] Based on the same inventive concept, this application also provides a yarn feeding robot, including the above-mentioned yarn scraping device based on linear bearing guidance.

[0073] When the scraper assembly 60 moves up and down with the movable seat 30 under the action of the lifting drive 20, the first linear bearing 40 and the second linear bearing 63 are matched to make the lifting movement smoother. Furthermore, due to the limiting effect in other directions besides the first direction, the swaying of the scraper assembly 60 in other directions besides the first direction is reduced, the success rate of scraping the yarn is improved, and the situation of the scraper assembly 60 getting stuck with the yarn tube is reduced, thus increasing the service life of the scraper device 100.

[0074] 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.

[0075] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this 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 doctor blade device based on linear bearing guidance, used for scraping yarn from the surface of a bobbin, characterized in that, The scraper device based on linear bearing guidance includes: support; A lifting drive component is mounted on the bracket; The movable seat is connected to the lifting drive component, which drives the movable seat to move up and down along a first direction. The first linear bearing is fixed to the movable seat; A first guide shaft, fixed to the bracket, and cooperating with the first linear bearing; and A doctor blade assembly, connected to the movable seat, the doctor blade assembly includes a doctor blade for contacting the surface of the yarn tube.

2. The scraper device based on linear bearing guidance according to claim 1, characterized in that, The number of the first linear bearing and the first guide shaft includes at least two. All the first linear bearings are fixed to the movable seat at intervals, and all the first guide shafts are fixed to the bracket at intervals. All the first linear bearings and all the first guide shafts are matched in a one-to-one correspondence.

3. The scraper device based on linear bearing guidance according to claim 1 or 2, characterized in that, The scraper assembly further includes a scraper drive component, which is mounted on the movable seat and connected to the scraper for driving the scraper to move along a second direction, wherein the first direction intersects the second direction.

4. The scraper device based on linear bearing guidance according to claim 3, characterized in that, The scraper assembly further includes a second linear bearing, a second guide shaft, and a scraper mounting base. The scraper is mounted on the scraper mounting base, the scraper drive is connected to the scraper mounting base, the second linear bearing is fixed to the movable base, one end of the second guide shaft is fixedly connected to the scraper mounting base, and the other end of the second guide shaft cooperates with the second linear bearing.

5. The scraper device based on linear bearing guidance according to claim 4, characterized in that, The scraper assembly also includes a fixing plate, which is fixed to one side of the movable seat. The scraper drive and the second linear bearing are both fixed to the fixing plate and are spaced apart from each other along the first direction.

6. The scraper device based on linear bearing guidance according to claim 5, characterized in that, Along the second direction, the scraper mounting base is located on one side of the fixed plate, and the scraper drive and the second linear bearing are located on the opposite side of the fixed plate; the scraper is located on the side of the scraper mounting base facing away from the fixed plate. The scraper assembly also includes an elastic element that is compressed between the scraper mounting base and the fixing plate.

7. The scraper device based on linear bearing guidance according to claim 6, characterized in that, The elastic element is sleeved on the second guide shaft.

8. The scraper device based on linear bearing guidance according to claim 4, characterized in that, The scraper assembly includes multiple scraper units, all of which are spaced apart from each other along a third direction, wherein the first direction, the second direction, and the third direction intersect each other; Each scraper unit includes a scraper, a second linear bearing, and a second guide shaft. Each scraper unit includes at least two second linear bearings and two second guide shafts. All second linear bearings are fixed to the movable seat at intervals. One end of each second guide shaft is fixedly connected to the scraper mounting seat, and the other end of each second guide shaft is correspondingly engaged with each of the second linear bearings.

9. A wire scraping device based on linear bearing guidance, characterized in that, Includes a rotating device and a scraper device based on linear bearing guidance as described in any one of claims 1 to 8; The rotating device is located on one side of the doctor blade device guided by a linear bearing, and is used to rotate the bobbin.

10. A yarn-feeding robot, characterized in that, Includes the wire scraping device based on linear bearing guidance as described in claim 9.

Images