CN106498581A - A spinning doffing machine - Google Patents

Abstract

The invention relates to a worsted doffing machine, which comprises a frame moving trolley, an electrical control box, a tube insertion and extraction positioning power device, a tube pulling device, a tube insertion device, a yarn pressing device, a composite yarn cutting device and a tube pressing device . Through the spindle gauge positioning device, walking support device, and walking parallel positioning device, the trolley box body is positioned corresponding to the spindle rod insertion and extraction position of the spinning machine, vertically and parallelly positioned, and the driving device of the trolley drives the upper and lower doffing along the spinning machine Combining with the crawler-type positioning transmission belt to mesh with each spindle of the worsting frame, it feeds along the track of the worsting frame and simultaneously precisely controls the corresponding yarn pressing device, tube pulling device, cutting and compound yarn cutting device, inserting device for each spindle bar. The tube device and tube crimping device realize the integrated operation of extubation, intubation, yarn pressing, yarn cutting and tube crimping.

Description

A spinning doffing machine

technical field

The invention relates to a textile ring spinning doffing device, in particular to a worsted spinning doffing machine.

Background technique

Ring spinning is a very important and widespread spinning technology. In the process of ring spinning, it is necessary to remove the spun bobbin from the spindle of the spinning frame, which is called doffing. In the traditional manual doffing, the yarn bobbin is pulled out from the spindle bar by hand and put into the basket, and the empty bobbin without yarn is put into the spindle bar. Low; at present, machine doffing is used, and the bobbins are removed one by one or in small batches by the doffing machine, and the empty bobbin is placed on the spindle rod by the insertion device, but it cannot solve the problem of the fitting force between the spindle rod and the bobbin question. Some stand-alone doffing machines have fitting force elimination devices, but the method damages the spindle bar, and is prone to failure or malfunction; some collective doffing devices that come with spinning frames solve the problem of fitting force, first by vibration, second It is the replacement of the original polished rod and the aluminum spindle rod with balls, which costs a lot. It is difficult to adapt to the collective doffing of the traditional spinning frame without replacing the aluminum spindle rod.

The existing patent No. 201610202934.2 is a vertical-axis ring spinning automatic doffing device, which uses a friction bump with compensation error to contact and rub against the spindle rod, which drives the spindle rod to rotate and disengage the bobbin, so that the bobbin can be pulled out, but the friction control It is always incapable of precise control, and there is a hidden danger that insufficient friction force cannot drive the spindle bar to rotate and disengage the bobbin, which affects continuous working efficiency. At the same time, after long-term frictional use, the friction bump and the spindle bar are worn, which also affects the rotation drive and cannot be stably controlled. Disengagement of the bobbin from the spindle. There is also a combined automatic doffing trolley with a patent number of 201420810740.7, which uses a driving device for inserting empty bobbins to insert empty bobbins on the bobbins after extruding, and uses multiple detection sensors to cooperate with the driving mechanism of the conveying screw to quantitatively transport the empty bobbins. Into the empty bobbin channel, the screw rotates to deliver the bobbin to the bobbin channel, and finally the empty bobbin is moved by the spindle rod through the inclined insertion channel of the empty bobbin, and inserted into the spindle rod by its own weight in the way of inclined insertion tube, The oblique insertion of the hole bobbin into the spindle bar has the defects that it cannot be effectively inserted vertically, the insertion is incomplete, and the embedded spindle bar cannot be fixed.

Contents of the invention

Aiming at the defects of the prior art, the present invention provides a worsted doffing machine with compact structure, stable operation, which can integrally realize the pulling out of full bobbins, yarn cutting and fitting insertion of empty bobbins, and a high degree of automation.

The technical scheme adopted in the present invention is:

A worsted doffing machine, comprising a frame moving trolley, an electrical control box, a tube insertion and extraction positioning power device, a tube removal device, a tube insertion device, a yarn pressing device, a composite yarn cutting device and a tube pressing device;

The frame mobile trolley includes a trolley body, a material box, a handrail, a trolley driving device, a walking support device, a spindle gauge positioning device, a walking parallel positioning device and a lifting foot device, and the front side of the trolley body faces the spinning machine. , the other sides of the car body are provided with handrails, the material box is set in the car body below the extubation device corresponding to the car body, two center rollers are set front and rear in the center of the bottom surface of the car body, and the frame pillars at the four corners of the car body are set on the frame. The lifting leg device in the pillar is connected to the universal roller; the lifting leg device includes a leg linear motor, an upper motor fixing seat, a lower motor fixing seat, a telescopic connecting shaft for the legs, a stable cage, a pulley, a linear bearing fixing seat, a linear bearing and The seat plate is fixed, the motor upper fixing seat and the motor lower fixing seat are fixed in the frame pillar in the up and down position, the leg linear motor is fixed up and down to connect the motor upper and lower fixing seats, the leg linear motor is connected to the upper end of the leg telescopic connection shaft, and the leg telescopic connection The shaft is sleeved with a stable cage, and multiple pulley pins are connected to the side of the stable cage against the inner wall of the frame pillar. The lower end of the telescopic connection shaft is connected to the linear bearing fixed seat through a linear bearing and extends out to connect to the fixed seat plate. , the linear bearing fixed seat encapsulates the lower opening of the frame pillar, and the fixed seat plate is connected to the universal roller; the traveling driving device of the trolley includes a traveling driving motor, a traveling driving reducer, a traveling driving wheel and a traveling driven wheel, and the traveling driving motor is arranged on The car box body is connected with the walking drive reducer to drive the driving driving wheel, and the driving driving wheel and the driven wheel are arranged at the left and right positions on the front side of the car box body in a state of supporting and hanging on the doffing frame on the spinning machine; the walking supporting device It includes two walking support frames and two supporting rollers. The two walking support frames are arranged at the left and right positions on the front side of the car body. The two walking support frames are respectively pinned to the two supporting rollers to support the rolling state on the doffing frame under the spinning machine; The spindle gauge positioning device includes a spindle gauge positioning motor, a spindle gauge positioning block, a spindle gauge positioning moving shaft and a spindle gauge positioning linear bearing. The spindle gauge positioning motor and the spindle gauge positioning linear bearing are fixed in the carriage body, and the spindle gauge positioning motor is connected through The spindle gauge positioning moving shaft in the spindle gauge positioning linear bearing is stretching towards the front side of the car body, and the spindle gauge positioning block is connected to the outer end of the spindle gauge positioning moving shaft to expand and contract under the drive of the spindle gauge positioning moving shaft, so that the spindle gauge positioning block Locate the state of the spindle seat of the spinning machine; the walking parallel positioning device includes a walking parallel positioning frame and a walking parallel positioning roller, and more than two walking parallel positioning frames are arranged at the left and right positions on the front side of the carriage body, and the walking parallel positioning roller pins are connected to the The walking parallel positioning frame is in the state of rolling and walking on the doffing frame on the spinning machine in parallel positioning state;

The insertion and extraction tube positioning power device includes a positioning mobile connection seat, a curved roller bearing, a crawler type positioning transmission belt, an extubation power pulley, an extubation power main transmission shaft, an intubation power driving pulley, a toothed transmission belt, and an intubation power driven drive. Pulley, intubation power transmission shaft, crawler positioning linear motor, crawler positioning linear motor fixing seat, crawler positioning linear motor drive fixing seat, linear slide bar, linear slide bar fixing seat and linear slide bar bearing, and the positioning mobile connection seat is arranged on the machine On the mobile trolley, two curved roller bearings are arranged on the left and right sides of the front side of the positioning mobile connection seat. The two curved roller bearings and the pulley power pulley are arranged on the same horizontal plane and are connected by a crawler-type positioning transmission belt. The crawler-type positioning transmission belt is evenly distributed outwards. The notch corresponding to the circumference of the spindle seat of the worsted spinning machine is vertically connected to the main transmission shaft of the extubation power whose upper end is fixed on the extubation device on the extubation power pulley, and the bottom end of the extubation power main transmission shaft is connected to the intubation power drive pulley , the intubation power driving pulley is on the same level as the horizontal plane, and the intubation power driven pulley is driven by a toothed transmission belt, and the intubation power driven pulley is vertically connected to the intubation power transmission shaft whose upper end is fixed on the intubation device; one end of the linear motor is positioned on the crawler The pin-connected track positioning linear motor fixing seat is connected to the car body, and the other end is pin-connected to the track positioning linear motor drive fixing seat and is connected to the positioning mobile connecting seat. In the state of feeding towards the direction of the worsted spinning machine, one end of the linear slide bar is connected to the carriage body through the linear slide bar fixing seat, and the other end is movably socketed and fixedly connected to drive and position the linear slide bar bearing of the moving connection seat to guide and position along the direction of the linear slide bar. The feed state of the mobile connection seat;

The extubation device includes an extubation frame assembly, an extubation power transmission assembly, and a manipulator grabbing and fitting force elimination assembly. The extubation frame assembly is arranged on the right side of the rack mobile trolley, The frame assembly includes the upper fixing plate of the extubation, the upper track box of the extubation slide seat, the lower fixation plate of the extubation slide, the lower track box of the extubation slide seat, the upper and lower bottom plate fixing columns, the fitting force reaction force protection track, the fitting force spring compression track, The anti-deviation inner track of the slide bar, the grabbing bump and the loosening bump, the upper and lower fixing plates of the pulling tube are respectively connected to the upper and lower track boxes of the pulling tube sliding seat, and the upper and lower bottom plates are fixed to the column to pass through the pulling tube sliding seat , The lower track box supports the upper and lower fixing plates for extubation, the middle of the upper and lower track boxes of the extubation slide seat corresponds to a wedge-shaped track that is lifted from the right side to the left side of the rack mobile trolley, and the upper and lower track boxes of the extubation slide seat The wedge-shaped track on the front and rear sides and the gap between the upper and lower track boxes of the tube pulling slide seat form a complete grabbing track. The bottom edge of the right side of the upper track box is connected to a section of fitting force reaction protection track, and one end is connected to the fitting force spring compression track corresponding to the fitting force reaction protection track of the fitting force reaction protection track at the lower fixing seat of the lower track box on the right side of the lower track box, and the fitting force spring compression track The front part is provided with grabbing bumps on the inner end surface facing the front side of the lower track box of the tube pulling slide seat, and a loose bump is provided on the rear side of the left side of the track box under the tube pulling slide seat; the tube pulling power transmission assembly includes Extubation power main transmission shaft, extubation power auxiliary transmission shaft, extubation power main transmission wheel, extubation power auxiliary transmission wheel, extubation power transmission chain and transmission guide plate, extubation power main and auxiliary transmission shafts are respectively parallel from the bottom The top is passed through the lower and upper fixing plates through the bearings in turn, the upper and lower parts of the main transmission shaft of the extubation power are connected with the main transmission wheel of the extubation power, and the upper and lower parts of the auxiliary transmission shaft of the extubation power are connected There is an auxiliary drive wheel for extubation power, and the main and auxiliary drive wheels for extubation power in the same horizontal plane are connected through the extubation power transmission chain. The upper and lower two extubation power transmission chains are evenly equipped with multiple positioning holes. There are more than one transmission guide plate connected to the main and auxiliary transmission shafts of the tube power respectively, and a plurality of guide bayonets are evenly distributed on the outer circumference of the transmission guide plate; On the taking track, the manipulator grabbing and fitting force elimination assembly includes linear slide rails, linear sliders, chain fixing seats, slide rail positioning rollers, guiding vertical positioning frames, guiding vertical positioning rollers, and manipulator grabbing and fitting force eliminating composite devices , the top and bottom of the linear slide rail are equipped with slide rail positioning rollers that are in contact with the upper and lower fixing plates of the extubation tube. There are two guide vertical positioning frames respectively located in the upper and lower track boxes of the tube pulling slide seat, and any one of the guiding vertical positioning frames is pin-connected with two slide bars that respectively abut against the corresponding anti-deviation inner track and tube pulling The guide vertical positioning roller on the inner wall of the sliding seat track box, the manipulator grabbing and the joint force elimination compound device are connected to the linear slide rail through the linear slider, and the linear slide rail rotates with the tube pulling power transmission chain and is pushed through the guide bayonet of the transmission guide plate Steering turn; said The composite device for manipulator grabbing and fitting force elimination includes a manipulator grabbing device and a fitting force eliminating device. Frame, release force rod, release linkage rod, release push rod, movable arm, clamping lever, loosening lever, support rod, extension spring, fixed arm, compression spring, first movable jaw And the second movable jaw, the manipulator slider connecting seat is connected to the linear slider, the lower positioning plate of the manipulator is connected to the manipulator slider connecting seat and the lower positioning bottom of the manipulator is provided with a wedge-shaped track that slides against the lower track box of the extubation slide seat The manipulator moves the roller, the lever holder is set parallel to the lower positioning plate of the manipulator, the rotating pin in the middle of the clamping linkage rod is connected between the lever holder and the lower positioning plate of the manipulator, and the front end of the clamping linkage rod is vertically connected to the clamping force rod , the lower end of the clamping rod is in the state of being pressed by the grabbing bump corresponding to the fitting force spring compression track with the movement of the grabbing track. The upper chute connects the positioning pin between the lever holder and the lower positioning plate of the manipulator and moves along the chute. The orbital movement corresponds to the state of the loosening bump of the track box under the tube pulling slide seat under force. The rear end of the loosening linkage rod is vertically provided with a loosening push rod. The fixed arm and the movable arm are respectively supported on the lever holder. The constraint of the fixed force arm is limited between the movable force arm and the side sealing plate. The rear part of the movable force arm is connected to the loosening lever through the rotating pin of the clamping lever. The rod drives the movable arm to rotate, the lower part of the clamping lever is correspondingly arranged in the U-shaped opening of the lever, the middle part of the movable arm is pinned to the lever holder and at the same time the pin is connected to the support rod to pull the rear part of the fixed arm to move The rotating pin at the front end of the force arm is connected to the middle part of the second movable jaw, the movable pin at the rear end of the second movable jaw is connected to the middle part of the fixed force arm, and the rear part of the second movable jaw is connected to the middle and/or rear part of the fixed force arm A tension spring, the front of the second movable jaw is provided with a jaw pusher, the movable pin in the middle of the first movable jaw is connected to the front end of the fixed force arm, and the rear side of the first movable jaw is correspondingly against the jaw pusher. A compression spring is provided between the other side of the rear part of the first movable jaw and the fixed force arm, and the front ends of the first and second movable jaws correspond to each other to form a matching bobbin shape; the fitting force elimination device includes a positioning plate on the manipulator, The impact rod fixing plate, the impact rod, the pressure spring ejector rod, the spring sleeve and the impact compression spring, the upper positioning plate of the manipulator is fixed on the connecting seat of the slider of the manipulator, the spring sleeve is vertically arranged on the upper positioning plate of the manipulator, and the impact rod fixing plate Connected in the impact lifting groove opened up and down on the front side of the spring sleeve, the end of the impact rod fixing plate extending into the spring sleeve is vertically connected downward to the compression spring push rod, and the lower end of the compression spring push rod can move out of the lower opening of the spring sleeve It is in the state of pressing against the fitting force spring to compress the track. One end of the striking rod fixing plate extending into the spring sleeve is elastically connected with the upper end of the spring sleeve through the impact compression spring built in the spring sleeve, and the other end of the striking rod fixing plate is vertical. Connect the striking rod downwards, and the striking rod is set at the front end of the first and second movable jaws The upper and lower positioning plate of the manipulator is provided with a sliding corresponding limit or a manipulator moving roller against the wedge-shaped track of the track box on the pullout slide seat;

The intubation device includes an intubation box, a bobbin material box, a bobbin feeding conveying device and an intubation execution device. The feeding at the upper end of the rear part is connected to the intubation box, and the bobbin feeding conveying device includes the upper mounting seat of the cone guide plate, the lower mounting base of the cone guide plate, the cone guide plate of more than two stages, the drive shaft of the guide plate, and the guide plate. The disc transmission gear, guide disc power input gear, intubation power input gear and bobbin holder, the upper and lower mounting seats of the cone guide disc are fixed in the intubation box, and the cone guide discs with more than two stages are respectively connected to the two On the drive shaft of more than one guide plate, the included angle of the farthest conical generatrix on the first and last stage of the conical frustum guide discs with more than two stages is 90︒, and the guide disc drive shaft can go up and down. It is rotated and connected between the upper and lower mounting seats of the truncated truncated guide disc. The conical surface of the truncated truncated guide disc is evenly distributed with multiple bobbin grooves arranged along the direction of its generatrix and corresponding to the arc surface of the bobbin tube. Two The drive shafts of the above guide discs are connected with more than two stages of guide disc transmission gears that are sequentially meshed and driven. The two slots correspond to each other, and the guide disc drive shaft of the last stage of cone guide disc is also connected in series with the guide disc power input gear. The intubation power input gear is connected to the intubation power transmission main shaft to mesh with the guide disc power input gear , a bobbin holder is set on the side of the conical guide plate with more than two stages; the intubation actuator includes the upper and lower mounting seats of the cylindrical guide plate, the cylindrical guide plate and the bobbin baffle plate, the upper mounting seat of the cylindrical guide plate, the cylindrical The guide plate and the lower mounting seat of the cylindrical guide plate are sequentially connected to the main shaft of the intubation power transmission. On the side of the cylindrical guide plate, there are evenly distributed bobbins parallel to the main shaft of the intubation power transmission and corresponding to the arc surface of the bobbin. Grooves, cylindrical guide discs and the last-stage cone guide discs are spaced close to each other along the direction of their respective generatrices, and they are rotated to make the bobbin grooves on them correspond to each other. The opposite end surfaces of the upper and lower mounting seats of the cylindrical guide discs Both are equipped with an intubation guide rail groove with one end corresponding to the upper and lower ends of the guide bobbin. Corresponding to the state above the spindle rod of the spinning machine, the guide bobbin is pulled out of the intubation guide rail groove and inserted into the spindle rod; The box is supported on the pallet bracket through the lower pallet, the pallet bracket is set on the intubation box, the bobbin guide material port is supported on the pallet bracket to connect the storage box and the corresponding second along the direction of the first-stage conical frustum guide busbar. The bobbin groove of the first-stage cone guide plate;

The pressure tube device includes a pressure tube fixing bracket, a pressure plate, an adjustment rod, an adjustment column, a crimping pin, a first pressure tube pressure spring, a spring guide rod and a second pressure tube pressure spring, and the pressure tube fixing bracket is connected to the frame On the moving trolley, the front end of the fixed bracket is connected to the adjustment rod along the direction of the doffing frame on the spinning machine. The front end of the adjustment rod extends into the adjustment column and is limited in the adjustment column by the connecting pin shaft, and the first pressure tube and pressure spring are in the adjustment column The elastic crimping is in the state of lifting along the vertical direction of the adjustment column. The adjustment column is connected to the middle of the pressure plate. The pressure plate is set on the top of the spindle rod in a shape of high front and low rear. At the rear of the creel, the other end of the adjustment rod is connected to the upper end of the spring guide rod in the waist-shaped groove along its length direction. The second pressure tube pressure spring;

The compound yarn cutting device includes a yarn shearing fixed bracket, a micro motor, left and right fixed brackets, left and right blades and a rotating sawtooth blade. In the rear position, the left and right fixing brackets are supported on the yarn cutter fixing bracket, the left and right blades are arranged parallel to each other and fixed between the left and right fixing brackets, and the micro motor is connected to the yarn cutting fixing bracket or the left fixing bracket or the right On the fixed bracket, the micro motor is connected to the rotating serrated blade. The rotating serrated blade is parallel to the left and right blades and partly arranged between the left and right blades. Any bobbin moves with the manipulator device to the left side of the track box under the tube pulling slide Or the position behind the left side makes the yarn corresponding to the bobbin enter the working area of the left and right blades and the rotary sawtooth blade;

The yarn pressing device includes a yarn pressing fixed bracket, a yarn pressing linear motor, a guide steel wire, a guide tube and a yarn pressing steel wire, the yarn pressing fixed bracket is connected to the right side of the moving trolley of the frame or the right side of the extubation device, and the yarn pressing fixed bracket is equipped with Yarn pressing linear motor, the yarn pressing linear motor is connected to the lower end of the guide steel wire through the connecting block, the guide steel wire is threaded into the guide tube, the guide tube is threaded and fixed on the upper end of the yarn pressing fixed bracket, and the upper end of the guide steel wire is connected parallel to the spindle bar of the spinning machine direction, the yarn-pressing steel wire arranged on the front side of the spindle bar, the end of the yarn-pressing steel wire bends upwards and extends to the front and rear direction corresponding to the left side of the lower track box of the tube pulling slide seat or corresponding to the composite yarn cutting device.

Before use, the doffing machine of the present invention is correspondingly moved to the front of the worsted spinning machine. First, the electrical control box controls the linear motor of the legs, and the universal roller is adjusted through the telescopic connection shaft of the legs and the fixed seat plate, and the overall height of the car body is adjusted to cooperate with stable maintenance. The frame keeps the adjustment stable. During the adjustment process, the central roller on the bottom surface of the carriage body can further ensure the stability of the adjustment. The two walking support frames of the walking support device are supported on the doffing frame under the worsted spinning machine through the two support rollers, and the walking The walking parallel positioning frame of the parallel positioning device rolls and walks on the doffing frame on the spinning frame through the walking parallel positioning roller to position in parallel, which can ensure the positioning support of the doffing frame and the spinning frame in the front and rear directions, and then passes the spindle of the spindle gauge positioning device Gauge positioning motor through the spindle gauge positioning moving shaft and spindle gauge positioning linear bearing to make the spindle gauge positioning block towards the front side of the carriage telescopically positioning the spinning machine to meet the requirements of the follow-up tube pulling device. The initial station corresponds to the position of the first spindle seat of the spinning machine demand.

When in use, the electric control box controls the walking drive motor of the trolley walking drive device to drive the driving wheel through the walking drive reducer. The positioning linear motor is positioned by the crawler. The linear motor drives the fixed seat. Under the guidance of the linear slide bar, the positioning and moving connecting seat is pushed out towards the spinning machine, so that the two curved roller bearings on the front side of the positioning and moving connecting seat and the pulling power pulley are sleeved. The notch of the connected crawler-type positioning transmission belt corresponds to the spindle base or the spindle foot. When the carriage body moves relative to the spindle base, the spindle base drives the crawler-type positioning transmission belt to rotate the pulley of the extubation power, and through the extubation power main The drive shaft transmits the extubation power to the extubation power main drive wheel, and the extubation power main drive wheel drives the extubation power auxiliary drive wheel to rotate through the extubation power transmission chain. At this time, the guide chucks on the extubation power main and auxiliary drive shafts are synchronized Rotate, the positioning hole on the extubation power transmission chain drives the linear slide rail to move with the extubation power transmission chain, and the two guide vertical positioning rollers of the linear slide rail guide the vertical positioning frame on it to respectively abut against the corresponding slide bar to prevent deflection The inner wall of the track and the pulling slide seat of the track box, combined with the positioning rollers on the upper and lower sides of the linear slide rail, contacts the upper and lower fixing plates for positioning the pulling tube, effectively ensuring the stable positioning and movement of the linear slide rail. The linear slide rail of the elimination assembly rotates and moves along the extubation power transmission chain, and at the same time, a gap is formed by the wedge-shaped tracks on the front and rear sides of the upper and lower track boxes of the extubation slide seat and the left and right sides of the upper and lower track boxes of the extubation slide seat. The complete gripping track constrains the manipulator grabbing and fitting force elimination assembly on the linear slide rail, and the manipulator grabbing and fitting force elimination assembly is jointly controlled by the manipulator moving rollers at the outer ends of the upper and lower positioning plates of the upper manipulator and the grabbing track. Constrained to move up and down on the linear slide rail while the linear slide rail is moving, when the doffing machine starts to work, the first manipulator in the extubation device after being positioned by the spindle gauge positioning device grabs and the fitting force elimination assembly follows the grabbing track Move to the position of the first spindle seat. At this time, the clamping rod of the manipulator device of the above-mentioned first manipulator grasping and fitting force elimination assembly is passively moved by the grasping protrusion inside the rail under the spring compression of the fitting force, and the clamping force Toggle the force bar to rotate the clamping linkage lever and toggle the clamping lever through the U-shaped opening of the lever on the clamping linkage lever, and the clamping lever drives the movable force arm to rotate so that the second movable jaw overcomes the force of the tension spring Rotate towards the first movable jaw, the jaw pusher on the second movable jaw pushes the rear end of the second movable jaw to overcome the force of the pressure spring to rotate, so that the front end of the first movable jaw rotates towards the front end of the second movable jaw, The front ends of the first and second movable jaws rotate in opposite directions to form a matching yarn tube-shaped jaw to clamp the bobbin of the bobbin. The lower end of the spring jack rod is released by the compression of the fitting force spring compression track beyond the fitting force spring compression track. The impact compression spring reaction force originally compressed by the impact fixing plate in the spring sleeve drives the impact rod fixing plate to instantly press down along the impact lifting groove. , so that the impact rod instantly hits the spindle rod embedded in the bobbin bobbin, so that the yarn The bobbin breaks away from the fitting of the spindle bar, and the fitting force is eliminated. As a result, the carriage body moves forward, and the first manipulator grasps and the mechanical arm device of the fitting force elimination assembly clamps the yarn bobbin. The restraint lifting of the rail drives the yarn bobbin clamped by the manipulator device to move up from the spindle bar, and gradually moves from the right side to the left side on the lower track of the tube pulling slide seat, and all subsequent manipulator grasping and fitting forces are eliminated. Referring to the movement of the above-mentioned first manipulator grabbing and fitting force elimination assembly, the subsequent spindles starting from the first spindle will be hit and clamped sequentially, and the yarn pressing will be controlled when the electrical control box controls the above-mentioned pneumatic pulling operation. The linear motor drives the guide steel wire to drive the yarn pressing steel wire down along the guide tube, and controls the yarn in the winding area of the front roller of the spinning machine, the steel ring, and the traveler to the lower end of the spindle rod, so as to prevent the tube pulling machine from pulling out the spindle when pulling the tube yarn. The anti-breakage insurance yarn wound at the lower end of the rod improves the quality of pulling out the full yarn bobbin, and repeats the downward pressure on the yarn every time the bobbin is started to be clamped, and presses the yarn after each bobbin is pulled out. It is sent and guided to the working area of the left and right blades and the rotary sawtooth blade of the compound yarn cutting device. When the bobbin moves to the left side of the tube pulling device along with the grabbing track, the yarn is cut and compounded to meet the requirements of High-strength and thick yarn cutting, high cutting efficiency and good effect. After the yarn is cut, the bobbin will wind around with the grabbing track to the wedge-shaped rear side of the upper and lower tracks of the pulling slide of the pulling device under the clamped state. On the track, the loosening force rod of the manipulator device is passively pushed by the slope structure of the loosening bump on the lower track of the tube removal slide, and the loosening linkage rod is pushed backward along its upper chute under the restriction of the positioning pin. The loosening push rod at the rear end of the loosening linkage pushes the loosening lever, and the loosening lever pushes the active force arm around the clamping lever to drive the second movable jaw to open against the direction of the first movable jaw, and the tension spring accelerates the second movable jaw. The opening speed of the second movable jaw, at the same time, the jaw of the second movable jaw is pushed to loosen the tightening of the first movable jaw, and the rear end of the first movable jaw is driven by the reaction force of the compression spring to drive the front end of the first movable jaw Open to the direction of the second movable gripper, the front ends of the first and second movable grippers are opened to complete the loosening of the bobbin, and fall to the collection box below it for collection. Continue to go around the initial station of the tube pulling device around the grab track, and continue to grab, pull out and loosen the bobbins on a complete grab track.

When the carriage continues to feed along the arrangement direction of the spindle bases, the spindle base after the extubation operation is relatively moved to the corresponding intubation device, and the main transmission shaft of the extubation power also transmits power to the insertion Tube power driving pulley, intubation power driving pulley drives the intubation power driven pulley to rotate through the toothed transmission belt, intubation power driven pulley drives the intubation power transmission main shaft to rotate, intubation power transmission main shaft passes the intubation power input gear on it Drive the power input gear of the guide disc to rotate, drive the upper cone transmission gear of the guide disc drive shaft of the same level as the guide disc power input gear to rotate, and drive the upper cone transmission of the guide disc drive shaft of each cone guide disc in turn The gear rotates, thereby driving the rotation of the cone guide plate each time, and the bobbin is delivered from the bobbin material box to the tube feeding conveying device in the intubation box. When the bobbin is driven to the first stage cone guide plate, It falls into the bobbin groove set on the conical surface of the first-stage frustum guide plate along its generatrix and rotates accordingly, and rotates with the first-stage frustum guide plate to the second-stage When the gap between the conical frustum guide disc and the conical surface busbar is matched, the bobbin falls from the bobbin groove of the first conical frustum guide disc into the bobbin groove of the second conical frustum guide disc, and is guided by the second conical frustum guide disc. The disk drives the guide plate to the subsequent cone guide plate until the horizontally placed bobbins in the bobbin material box are transferred to the bottom of the cone surface of the last stage of the cone guide plate, and the bobbin groove is vertical. , when the bobbin is transported on the multi-stage conical guide plate, the bobbin holder held by its peripheral keeps the bobbin in the bobbin groove and drives the rotation stably, so as to avoid the rotation from falling out of the conical guide plate, and when the bobbin is transported to the last stage When the bobbin groove in the vertical state of the first stage cone guide plate is in the bobbin groove, the bobbin groove on the cylindrical guide plate busbar on the intubation power transmission spindle corresponds to the bobbin groove on the last stage tapered sleeve guide plate to receive the bobbin , the bobbin enters the bobbin groove of the cylindrical guide plate, rotates with the cylindrical guide plate, and under the constraint of the bobbin baffle and the tangential centrifugal force of the cylindrical guide plate rotation, enters the plug on the inner end surface of the upper and lower mounting seats of the cylindrical guide plate Tube guide rail groove, and continue to be sent to the outer end of the intubation guide rail groove along the intubation guide rail groove under the action of centrifugal force, and the outer end of the intubation guide rail groove is correspondingly inserted into the spindle bar under it. The bobbin tube is inserted vertically into the spindle bar to avoid oblique insertion There is a hidden danger that the intubation cannot be dropped. After the bobbin is inserted, the car body continues to feed. The front part of the pressure plate of the tube pressing device on the left side of the intubation device corresponds to the upper end of the bobbin, and the pressure plate is driven by the car body. When the time is given, the inclined pressure plate continues to press down the tube, the adjustment column in the middle of the pressure plate is restricted by the adjustment rod to overcome the pressure spring of the first pressure tube to rise, and the rear end of the pressure plate overcomes the force of the pressure spring of the second pressure tube on the spring guide rod and adjusts along the The waist-shaped groove on the rod along its length moves back to make the rear end of the pressure plate rise synchronously, and the pressure plate is fed with the box body to make the pressure plate inclined structure, which is provided by the lifting reaction of the middle and rear parts of the pressure plate. Fitting and pressing force on each spindle rod, the bobbin sent vertically by the intubation device on each spindle is inserted and then lifted by the elastic tilt of the pressing plate device, passively pressed down and fitted and compacted, so as to realize the complete bobbin on the spindle rod Tight fit.

The present invention uses the spindle distance positioning device, the walking support device, and the walking parallel positioning device to complete the corresponding, vertical and parallel positioning of the trolley box body to the spindle rod insertion and extraction positions of the spinning machine, and the trolley walking driving device drives the upper and lower sides of the spinning machine. The doffing creel travels, combined with the crawler-type positioning transmission belt to mesh with each spindle of the worsting machine, and feeds along the track of the worsting machine while precisely controlling the yarn pressing device, tube pulling device, and compound yarn cutting device corresponding to each spindle bar , intubation device and tube crimping device realize the integrated operation of extubation, intubation, yarn pressing, yarn cutting and tube pressing. The overall structure is compact, and the operation is stable and precise. Tube pulling yarn control and tight fitting of cannula can be adjusted according to various ring spinning machines to meet the integrated plugging and unplugging operation without step-by-step plugging and unplugging, which is beneficial to reduce labor intensity and improve textile efficiency and quality .

Description of drawings

Figure 1 is a schematic diagram of the front side of the spinning machine;

Fig. 2 is a schematic diagram of the use structure of the corresponding worsted spinning machine of the present invention;

FIG. 3 is a schematic diagram of the three-dimensional structure of FIG. 2;

Fig. 4 is a structural schematic diagram of a doffer of the present invention;

Fig. 5 is a schematic diagram of explosion of the three-dimensional structure of Fig. 4;

Fig. 6 is a schematic diagram of the three-dimensional structure of the rack mobile trolley of the present invention;

Fig. 7 is a schematic diagram of the three-dimensional structure of the lifting leg device in Fig. 6;

Fig. 8 is a schematic exploded view of the three-dimensional structure of the insertion and removal tube positioning power device of the present invention;

9 is a schematic diagram of the three-dimensional structure of the extubation device of the present invention;

Fig. 10 is an exploded schematic diagram of the three-dimensional structure of the extubation rack assembly in Fig. 9;

Fig. 11 is an exploded schematic diagram of the three-dimensional structure of the extubated power transmission assembly in Fig. 9;

Fig. 12 is a schematic diagram of the three-dimensional structure of the manipulator grasping and fitting force elimination assembly in Fig. 9;

Fig. 13 is an exploded schematic diagram of the three-dimensional structure of the manipulator grasping device in Fig. 12;

Fig. 14 is a schematic diagram of explosion of a local three-dimensional structure at A in Fig. 13;

Fig. 15 is a schematic exploded view of the three-dimensional structure of the fitting force eliminating device in Fig. 13;

16 is a schematic diagram of the three-dimensional structure of the intubation device of the present invention;

Fig. 17 is an exploded schematic diagram of the three-dimensional structure of the intubation device in Fig. 16;

Fig. 18 is an exploded schematic diagram of the three-dimensional structure of the bobbin feeding conveying device in Fig. 17;

Fig. 19 is a schematic exploded view of the three-dimensional structure of the intubation actuator in Fig. 17;

Fig. 20 is a schematic diagram of the three-dimensional structure of the tube crimping device of the present invention;

Fig. 21 is an exploded schematic diagram of the three-dimensional structure of the yarn pressing device of the present invention;

Fig. 22 is a schematic diagram of the three-dimensional structure of the compound yarn cutting device of the present invention;

FIG. 23 is an exploded schematic view of the three-dimensional structure in FIG. 22 .

Among the figure: frame mobile trolley 1, carriage body 101, feed box 102, handrail 103, frame pillar 104, motor upper fixed seat 105, leg linear motor 106, motor lower fixed seat 107, telescopic connecting shaft 108, stably maintain Frame 109, pulley 110, linear bearing fixed seat 111, linear bearing 112, fixed seat plate 113, universal roller 114, center roller 115, travel drive motor 116, travel drive reducer 117, travel driving wheel 118, travel driven wheel 119 , walking support frame 120, support roller 121, spindle gauge positioning motor 122, spindle gauge positioning moving shaft 123, spindle gauge positioning linear bearing 124, spindle gauge positioning block 125, walking parallel positioning frame 126, walking parallel positioning roller 127;

Insertion and extraction tube positioning power device 2, positioning mobile connection seat 201, curved roller bearing 202, crawler positioning transmission belt 203, extubation power pulley 204, extubation power main transmission shaft 205, intubation power driving pulley 206, toothed transmission belt 207 , Extubation power driven pulley 208, extubation power transmission main shaft 209, crawler positioning linear motor 210, crawler positioning linear motor fixing seat 211, crawler positioning linear motor driving fixing seat 212, linear slide bar 213, linear slide bar fixing seat 214 , linear slider bearing 215;

Extubation device 3, the upper fixing plate 301 for extubation, the lower fixing plate 302 for extubation, the upper track box 303 for the extubation slide seat, the lower track box 304 for the extubation slide seat, the upper and lower bottom plate fixing columns 305, the slide bar anti-deviation inner track 306, Fitting force spring compression track 307, fitting force reaction force protection track 308, grasping bump 309, loose bump 310, extubation power transmission chain 311, extubation power auxiliary transmission shaft 312, extubation power main drive wheel 313, Extubation power pair transmission wheel 314, transmission guide plate 315, guide bayonet 316, positioning hole 317, linear slide rail 318, linear slide block 319, chain fixing seat 320, slide rail positioning roller 321, guide vertical positioning frame 322, guide Vertical positioning roller 323, manipulator slider connecting seat 324, manipulator lower positioning plate 325, clamping linkage rod 326, clamping force rod 327, lever U-shaped opening 328, loosening linkage rod 329, loosening force rod 330 , release push rod 331, clamping lever 332, loosening lever 333, support rod 334, tension spring 335, movable arm 336, fixed arm 337, compression spring 338, the first movable jaw 339, the second Movable jaw 340, jaw pushing head 341, clamping cage 342, upper positioning plate 343 of the manipulator, impact rod fixing plate 344, spring sleeve 345, impact lifting groove 346, compression spring ejector rod 347, impact rod 348, impact Compression spring 349, lower roller 350 of the manipulator, upper roller 351 of the manipulator, side sealing plate 352;

Intubation device 4, intubation box 401, material storage box 402, upper mounting seat 403 of the cone guide plate, lower mounting seat 404 of the cone guide plate, 405 cone plate guide plate, cone groove 406, guide plate drive Shaft 407, guide plate transmission gear 408, guide plate power input gear 409, intubation power input gear 410, bobbin holder 411, lower pallet 412, pallet support 413, bobbin guide material opening 414, upper cylindrical guide plate Mounting seat 415, mounting seat 416 under the cylindrical guide plate, intubation guide rail groove 417, cylindrical guide plate 418, cylindrical bobbin groove 419, bobbin baffle 420;

Pressure tube device 5, fixed bracket 501, pressure plate 502, adjustment rod 503, adjustment column 504, connecting pin 505, spring guide rod 506, first pressure tube pressure spring 507, second pressure tube pressure spring 508, waist groove 509 ;

Cutting complex yarn cutting device 6, yarn shearing fixed bracket 601, left fixed bracket 602, right fixed bracket 603, micro motor 604, left blade 605, right blade 606, rotating sawtooth blade 607;

Yarn pressing device 7, yarn pressing fixed bracket 701, yarn pressing linear motor 702, guiding tube 703, guiding steel wire 704, and yarn pressing steel wire 705;

Spinning frame 8, upper doffing creel 801, lower doffing creel 802, spindle seat 803, spindle bar 804, yarn bobbin 9, bobbin 901.

detailed description

The present invention will be further described below in conjunction with drawings and embodiments.

As shown in Fig. 1: the front part of the spinning frame, on the spinning frame 8 there are a plurality of spindle bases 803 evenly distributed along its length direction, the spindle bar 804 is connected to the spindle bases 803, and the bobbin 901 of the bobbin 9 is fitted On the spindle bar 804, upper and lower doffing frames 801, 802 are arranged up and down along its length direction on the frame of the spinning machine 8 spindle base 803 front side.

Shown in Figures 2 and 3: the doffer of the present invention corresponds to the worsted spinning machine 8 and feeds from left to right, as shown in Figures 4 and 5: the doffer of the present invention includes a frame mobile trolley 1, and a plugging and unplugging tube positioning power device 2 , Extubation device 3, intubation device 4, pressure tube device 5, cutting guillotine compound yarn cutting device 6 and pressing yarn device 7.

As shown in Figure 6: the frame mobile trolley 1 includes a carriage body 101, a material box 102, a handrail 103, a trolley walking drive device, a walking support device, a spindle gauge positioning device, a walking parallel positioning device and a lifting foot device. The front side of the body 101 faces the spinning machine 8, and the other sides of the car box body 101 are provided with handrails 103, and the material box 102 is arranged in the car box body 101 corresponding to the bottom of the extubation device 3 on the car box body 101, and the center of the bottom surface of the car box body 101. Two center rollers 115 are set, and the frame pillars 104 at the four corners of the car body 101 are connected to the universal rollers 114 through the elevating feet device arranged in the frame pillar; Seat 105, motor lower fixed seat 107, supporting foot telescopic connection shaft 108, stable cage 109, pulley 110, linear bearing fixed seat 111, linear bearing 112 and fixed seat plate 113, the upper fixed seat of the motor and the lower fixed seat of the motor are in the upper and lower positions Fixed in the frame pillar 104, the linear motor of the leg is fixedly connected up and down to the upper and lower fixing seats of the motor, the linear motor of the leg is connected to the upper end of the telescopic connection shaft of the leg, the telescopic connection shaft of the leg is sleeved with a stable cage, and a plurality of pulley pins are connected to the stable The side of the cage is pressed against the inner wall of the frame pillar, and the lower end of the telescopic connection shaft of the leg is passed through the linear bearing and connected to the linear bearing fixing seat and extends out to connect to the fixing seat plate. The linear bearing fixing seat encapsulates the lower opening of the rack pillar and fixes the seat plate The universal roller 114 is connected below; the trolley walking drive device includes a walking driving motor 116, a walking driving reducer 117, a walking driving wheel 118 and a walking driven wheel 119, and the walking driving motor 116 is arranged in the carriage body 104 to connect the walking driving deceleration The machine 117 drives the walking driving wheel 118, and the walking driving wheel 118 and the walking driven wheel 119 are arranged on the left and right positions of the front side of the carriage body 101 and are supported and articulated on the doffing frame 801 on the spinning machine 8 to roll; Said walking supporting device comprises two walking supporting frames 120 and two supporting rollers 121, two walking supporting frames 120 are arranged on the left and right positions of the front side of the car box body 101, and two supporting rollers 121 are respectively pinned on the two walking supporting frames 120 to be supported on the precise The rolling state on the doffing frame 802 under the spinning machine 8; the spindle gauge positioning device described in Fig. 5 includes a spindle gauge positioning motor 122, a spindle gauge positioning block 125, a spindle gauge positioning moving shaft 123 and a spindle gauge positioning linear bearing 124, the spindle gauge positioning The motor 122 and the spindle gauge positioning linear bearing 124 are fixed in the carriage body 101, and the spindle gauge positioning motor 122 is connected to the spindle gauge positioning moving shaft 123 which is connected in the spindle gauge positioning linear bearing 124, and is in a telescopic state towards the front side of the carriage body 101 The outer end of the spindle gauge positioning block 125 connected to the spindle gauge positioning moving shaft is stretched under the drive of the spindle gauge positioning moving shaft so that the spindle gauge positioning block is positioned at the spinning machine spindle seat 803 or the spindle foot state; referring to the walking parallel positioning device described in Figure 5 Comprising a walking parallel positioning frame 126 and a walking parallel positioning roller 127, more than two walking parallel positioning frames are arranged on the left and right positions on the front side of the car body, and the walking parallel positioning roller pins are connected to the walking parallel positioning roller pins. The position frame is in the state of rolling and walking on the doffing frame on the spinning machine in parallel positioning state; referring to FIG.

The insertion and extraction tube positioning power device 2 shown in Fig. 8 comprises a positioning mobile connection seat 201, a curved roller bearing 202, a crawler type positioning transmission belt 203, an extubation power pulley 204, an extubation power main transmission shaft 205, an intubation power driving pulley 206, Toothed transmission belt 207, intubation power driven pulley 208, intubation power transmission shaft 209, crawler belt positioning linear motor 210, crawler belt positioning linear motor fixing seat 211, crawler belt positioning linear motor driving fixing seat 212, linear slide bar 213, linear slide Rod fixing seat 214 and linear sliding rod bearing 215, positioning mobile connecting seat 201 is arranged on the frame mobile trolley 1, and positioning mobile connecting seat 201 is provided with two curved roller bearings 202 on the left and right sides, two curved roller bearings 202 and extubation power pulley 204 is arranged on the same horizontal plane and is connected through the transmission of the crawler-type positioning transmission belt 203. The crawler-type positioning transmission belt 203 is uniformly distributed outwards with a plurality of notches corresponding to the circumference of the spindle seat of the spinning machine. The extubation power main transmission shaft 205 on the extubation device, the extubation power main transmission shaft 205 bottom is passed through the intubation power driving pulley 206, and the intubation power driving pulley 206 is on the same level as the toothed transmission belt 207 to transmit the intubation power from Moving pulley 208, on the intubation power driven pulley 208, the intubation power transmission shaft 209 whose upper end is fixed on the intubation device is vertically penetrated; one end of the crawler belt positioning linear motor 210 is pinned to the crawler belt positioning linear motor fixing seat 211 and is connected in the car body, The other end is pinned to the track positioning linear motor drive fixing seat 212 and connected to the positioning and moving connecting seat 201 to be in a state of being fed by the track positioning linear motor through the track positioning linear motor driving fixing seat to drive the positioning moving connecting seat towards the direction of the spinning machine. One end of the rod 213 is connected to the car box body through the linear slide bar fixing seat 214, and the linear slide bar bearing 215 of the other end is movable and fixedly connected to drive, position and move the connecting seat 201 in a state of guiding, positioning and moving the connecting seat along the direction of the linear slide bar;

As shown in Figure 9-15, the extubation device 3 includes an extubation frame assembly, an extubation power transmission assembly, and a manipulator grasping and fitting force elimination assembly, and the extubation frame assembly described in Figure 10 is arranged on the machine On the right side of the rack mobile trolley, the extubation rack assembly includes the upper fixed plate 301 for extubation, the upper track box 303 for the extubation slide seat, the lower fixation plate 302 for the extubation slide seat, the lower track box 304 for the extubation slide seat, and the upper and lower bottom plate fixing columns 305 , Fitting force reaction force protection rail 308, fitting force spring compression rail 307, slide bar anti-deviation inner rail 306, grasping bump 309 and loose bump 310, the upper and lower fixing plates 301 and 302 are respectively connected and pulled out The upper and lower track boxes 303, 304 of the tube slide seat are connected to the upper and lower track boxes of the tube drawing slide seat through the upper and lower bottom plate fixing columns 305 to support the upper and lower fixing plates of the tube drawing seat, and the upper and lower track boxes of the tube drawing seat are correspondingly formed in the middle The wedge-shaped track is lifted from the right side to the left side of the moving trolley of the rack, the wedge-shaped track on the front and rear sides of the upper and lower track boxes of the extubation slide and the gap between the upper and lower track boxes of the extubation slide form a complete grip Take the track, set a circle of slide rod anti-deviation inner track 306 on the upper and lower sides of the fixed column on the upper and lower bottom plates, connect a section of fitting force reaction protection track 308 to the bottom edge of the right side of the track box on the pullout slide seat, and connect the right side of the lower track box on the pullout slide seat One end of the lower fixing seat of the outer extubation is connected to the fitting force spring compression track 307 corresponding to the fitting force reaction protection track, and the front part of the fitting force spring compression track is provided with a catch bump on the inner end surface facing the front side of the lower track box of the pulling seat 309, the rear side of the left side of the track box under the extubation slide seat is provided with a loosening bump 310, and an inclined surface is provided on the loosening bump 310; referring to Figure 11, the extubation power transmission assembly includes the extubation power main drive shaft 205 , extubation power auxiliary transmission shaft 312, extubation power main transmission wheel 313, extubation power auxiliary transmission wheel 314, extubation power transmission chain 311 and transmission guide plate 315, extubation power main and auxiliary transmission shafts 205, 312 are respectively parallel From the bottom to the top, the bearings are passed through the lower and upper fixing plates 301 and 302 of the extubation power. The upper and lower parts of 312 are connected with extubation power auxiliary transmission wheels 314, the extubation power main and auxiliary transmission wheels in the same horizontal plane are connected through the extubation power transmission chain 311, and the upper and lower extubation power transmission chains 311 A plurality of positioning holes 317 are evenly arranged on the top, and more than one transmission guide disc 315 is connected to the main and auxiliary transmission shafts of the extubation power respectively, and a plurality of guide bayonets 316 are evenly distributed on the outer circumference of the transmission guide disc; The gripping and fitting force elimination assembly of the manipulator is evenly spaced on the gripping track. Referring to Figure 12, the gripping and fitting force elimination assembly of the manipulator includes a linear slide rail 318, a linear slider 319, a chain fixing seat 320, and slide rail positioning rollers. 321, guide vertical positioning frame 322, guide vertical positioning roller 323 and manipulator grabbing and fitting force elimination composite device, the top and bottom of linear slide rail 318 are provided with the upper and lower fixing plates 301, 302 for contact with extubation Positioned slide rail positioning roller 321, the upper and lower parts of the linear slide rail 318 are respectively fixed in the positioning hole 317 through the chain holder, and the linear slide rail 318 is provided with two respectively located in the upper and lower track boxes of the tube pulling slide. Guide vertical positioning frame 322, any guide vertical positioning frame is pin-connected with two guide vertical positioning rollers 323 that respectively lean against the corresponding slide bar anti-deviation inner track and the tube pulling slide seat track box inwall, and the manipulator grasps and The fitting force elimination compound device is connected to the linear slide rail through the linear slider, and the linear slide rail rotates with the extubation power transmission chain through the guide bayonet 316 of the transmission guide plate to push and guide the turning; the manipulator grasps and the fitting force elimination compound device Including the manipulator grabbing device and the fitting force elimination device, referring to Fig. 13 and 14, the manipulator device includes the manipulator slider connection seat 324, the manipulator lower positioning plate 325, the clamping force rod 327, the clamping linkage rod 326, and the lever holding Frame 342, loose rod 330, loose linkage rod 329, loose push rod 331, movable arm 336, clamping lever 332, loose lever 333, support rod 334, extension spring 335, fixed arm 337, compression spring 338, the first movable jaw 339 and the second movable jaw 340, the manipulator slider connecting seat 324 is connected on the linear slider 319, the lower positioning plate 325 of the manipulator is connected on the manipulator slider connecting seat and positioned under the manipulator The bottom is provided with the moving roller 350 of the manipulator that slides against the wedge-shaped track of the lower track box of the extubation slide seat, and the lever holder 342 is arranged in parallel on the lower positioning plate 325 of the manipulator, and the middle rotating pin of the clamping linkage rod 326 is connected to the lever holder Between the manipulator and the lower positioning plate, the front end of the clamping linkage rod 326 is vertically connected to the clamping force bar 327, and the lower end of the clamping force bar is a grabbing bump 309 force-pressed dial corresponding to the fitting force spring compression track with the movement of the grabbing track. In the moving state, the rear end of the clamping linkage rod 326 is provided with a U-shaped opening 328 of the driving rod, and the middle part of the loosening linkage rod 329 passes through the upper chute and connects the positioning pin between the driving rod holder and the lower positioning plate of the manipulator along the chute. In the moving state, the front end of the loosening linkage rod 329 is vertically connected to the loosening stress rod 330, and the lower end of the loosening stress rod is moved along with the grasping track to correspond to the inclined plane of the loosening protrusion 310 of the lower track box of the tube pulling slide seat. state, the rear end of the loose linkage lever 329 is vertically provided with a loose push rod 331, the fixed arm 337 and the movable arm 336 are respectively supported on the lever holder 342, and the fixed arm 337 is limited to the movable arm 336 and the side seal Between the plates 352, the rear part of the movable arm 336 is connected to the loosening lever 333 through the rotating pin of the clamping lever 332, and the upper end of the loosening pushrod 331 correspondingly pushes the loosening lever 333 to be driven by the loosening lever to rotate the movable lever. state, the lower part of the clamping lever 332 is correspondingly arranged in the U-shaped opening 328 of the lever, the middle part of the movable arm 336 is pinned to the lever holder and at the same time pinned to the support rod to pull the rear part of the fixed arm 337, the movable arm The 336 front end rotating pins are connected to the middle part of the second movable jaw 340, and the movable pins at the rear end of the second movable jaw 340 are connected to the middle part of the fixed force arm 337 and the second The tension spring 335 is connected between the rear part of the movable jaw and the middle part and/or the rear part of the fixed arm. The front end of the fixed force arm 337, one side of the rear part of the first movable jaw corresponds to the push head of the jaw, and a compression spring 338 is arranged between the other side of the rear part of the first movable jaw and the fixed force arm. The front ends of the jaws correspond to each other to form the shape of the sand and the yarn bobbin 9 bobbins 901; referring to Figure 15, the fitting force elimination device includes a positioning plate 343 on the manipulator, a striking rod fixing plate 344, a striking rod 348, a compression spring push rod 347, The spring sleeve 345 and the impact compression spring 349, the positioning plate 343 on the manipulator is fixed on the slider connecting seat 324 of the manipulator, the spring sleeve 345 is vertically arranged on the positioning plate 343 on the manipulator, and the impact rod fixing plate 344 is connected to the spring sleeve In the impact lifting groove 346 opened up and down on the front side, one end of the impact rod fixing plate extending into the spring sleeve is vertically connected downwards to the compression spring push rod, and the lower end of the compression spring push rod can be movably stretched out from the lower opening of the spring sleeve to form a tight fitting force. In the state of the spring compression track, the end of the striking rod fixing plate extending into the spring sleeve is elastically connected to the upper end of the spring sleeve through the impact compression spring built in the spring sleeve, and the other end of the striking rod fixing plate is vertically connected to the striking rod downwards. The impact rod is set between the front ends of the first and second movable jaws in a state of lifting corresponding to the top of the impact spindle rod 804, and the upper surface of the upper positioning plate of the manipulator is provided with a sliding corresponding limit or against the wedge-shaped track of the track box on the extubation slide seat. Move roller 351 on the manipulator.

As shown in Figures 16-19, the intubation device 4 includes an intubation box 401, a bobbin material box, a bobbin feeding conveying device, and an intubation execution device. The tube material box is correspondingly arranged at the upper end of the rear part of the intubation box to feed and connect the intubation box. Referring to FIG. Conical frustum guide disc 405, guide disc drive shaft 407, guide disc drive gear 408, guide disc power input gear 409, intubation power input gear 410 and bobbin holder 411. The seat is fixed in the intubation box, and the frustum guide discs with more than two stages are connected to the transmission shafts of more than two guide discs respectively. The angle between the busbars on the upper and farthest cone surfaces is 90︒, the upper and lower drive shafts of the guide plate can be rotatably connected between the upper and lower mounting seats of the cone guide plate, and there are multiple edges evenly distributed on the cone surface of the cone guide plate. The direction of the generatrix is set, and the conical tube groove 406 corresponding to the arc surface of the bobbin is set. The two or more guide plate drive shafts are connected with two or more guide plate transmission gears that are sequentially meshed and driven. The two or more cones The cones of the table guide discs are spaced close to each other, and the two cone guide discs are rotated so that the bobbin grooves on them are in a corresponding state. The guide disc drive shaft of the last stage of the cone guide discs is also connected in series with the guide disc power. The input gear 409 and the intubation power input gear 410 are threaded through the intubation power transmission main shaft 209 and meshed with the guide plate power input gear 409, and the bobbin holder 411 is set on the side of the cone guide plate with more than two stages; refer to FIG. 19 The intubation actuator includes the upper and lower mounting seats 415, 416 of the cylindrical guide plate, the cylindrical guide plate 418 and the bobbin baffle plate 420. The upper mounting seat of the cylindrical guide plate, the cylindrical guide plate and the lower mounting seat of the cylindrical guide plate are connected in sequence On the intubation power transmission main shaft 209, a plurality of cylindrical bobbin grooves 419 parallel to the intubation power transmission main shaft and coincident with the bobbin arc surface are evenly distributed on the side of the cylindrical guide plate 418, the cylindrical guide plate and the last The step-cone guide discs are spaced close to each other along the direction of their respective generatrices, and they are rotated to make the bobbin grooves on them correspond to each other. The opposite ends of the upper and lower mounting seats 415, 416 of the cylindrical guide discs are provided with one end corresponding to each other. The intubation guide rail groove 417 that guides the upper and lower ends of the bobbin, the bobbin baffle plate 420 is arranged in parallel on the outer side of the cylindrical guide plate to connect the inner end of the intubation guide rail groove and the bobbin holder 411, and the outer end of the intubation guide rail groove 417 corresponds to The top of the 8 spindle rods 804 of the spinning machine is in the state where the guide bobbin is pulled out of the intubation guide rail groove and inserted into the spindle rod; the bobbin material box includes a material storage box 402, a lower pallet 412, a pallet bracket 413 and a bobbin guide material opening 414, the material storage box is supported on the pallet support by the lower pallet, the pallet support is arranged on the intubation box, and the bobbin guide material port is supported on the pallet support to connect the material storage box and the guide plate along the first-stage conical frustum The direction of the busbar corresponds to the bobbin groove of the first stage cone guide plate;

As shown in Figure 20: the pressure tube device 5 includes a pressure tube fixing bracket 501, a pressure plate 502, an adjustment rod 503, an adjustment column 504, a crimping pin 505, a first pressure tube compression spring 507, a spring guide rod 506 and a second pressure tube The pressure spring 508 and the pressure tube fixing bracket 501 are connected to the frame moving trolley 1, the front end of the fixing bracket is connected to the adjustment rod 503 along the direction of the doffing frame on the spinning machine, and the front end of the adjustment rod 503 extends into the adjustment column 504 through the connecting pin 505 is limited in the adjustment column by the first pressure tube pressure spring 507 elastically crimping in the adjustment column to rise and fall along the vertical direction of the adjustment column. The adjustment column 504 is connected to the middle of the pressure plate 502. Above the spindle bar, the front end of the pressing plate 502 is set behind the direction of the doffing frame on the outer end of the corresponding intubation guide rail groove 417, and the other end of the adjustment rod is connected with the spring guide rod 506 in the waist groove 509 along its length direction. The upper end and the lower end of the spring guide rod are movable and hinged to the rear end of the pressing plate 502, and a second pressure tube compression spring 508 is crimped between the lower end of the spring guide rod and the adjusting rod.

Shown in Figure 21: cutting guillotine composite yarn cutting device 6 comprises yarn cutting fixed bracket 601, micro motor 604, left and right fixing brackets 602,603, left and right blades 605,606 and rotary sawtooth blade 607, and yarn cutting fixed bracket is set On the left side or the rear side of the track box under the tube pulling slide seat, the left and right fixing brackets are supported on the yarn shearing fixing brackets, and the left and right blades are arranged in parallel with each other and fixed between the left and right fixing brackets. The motor is connected to the yarn shearing fixed bracket or the left fixed bracket or the right fixed bracket. The micro motor is connected to the rotating sawtooth blade. The rotating sawtooth blade is parallel to the left and right blades and partly arranged between the left and right blades. The manipulator device moves to the left side or the rear position of the left side of the track box under the tube pulling slide, so that the yarn corresponding to the bobbin enters the working area of the left and right blades and the rotary sawtooth blade;

As shown in Figures 22 and 23, the yarn pressing device 7 includes a yarn pressing fixed bracket 701, a yarn pressing linear motor 720, a guide steel wire 704, a guide tube 703, and a yarn pressing steel wire 705. On the right side of the tube device, a yarn pressing linear motor is installed in the yarn pressing fixed bracket. The yarn pressing linear motor is connected to the lower end of the guide steel wire through the connecting block. The upper end is connected to the yarn-pressing steel wire parallel to the arrangement direction of the spindle bars of the spinning machine and arranged on the front side of the spindle bar. Guillotine compound yarn cutting device.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and that described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention also has various aspects without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (1)

1. a worsted doffing machine, it is characterized in that: comprise frame mobile dolly, electric control box, insertion and extraction tube positioning power unit, extubation device, intubation device, pressure yarn device, cutting and cutting composite yarn cutting device and Pressure pipe device; The frame mobile trolley includes a trolley body, a material box, a handrail, a trolley driving device, a walking support device, a spindle gauge positioning device, a walking parallel positioning device and a lifting foot device, and the front side of the trolley body faces the spinning machine. , the other sides of the car body are provided with handrails, the material box is set in the car body below the extubation device corresponding to the car body, two center rollers are set front and rear in the center of the bottom surface of the car body, and the frame pillars at the four corners of the car body are set on the frame. The lifting leg device in the pillar is connected to the universal roller; the lifting leg device includes a leg linear motor, an upper motor fixing seat, a lower motor fixing seat, a telescopic connecting shaft for the legs, a stable cage, a pulley, a linear bearing fixing seat, a linear bearing and The seat plate is fixed, the motor upper fixing seat and the motor lower fixing seat are fixed in the frame pillar in the up and down position, the leg linear motor is fixed up and down to connect the motor upper and lower fixing seats, the leg linear motor is connected to the upper end of the leg telescopic connection shaft, and the leg telescopic connection The shaft is sleeved with a stable cage, and multiple pulley pins are connected to the side of the stable cage against the inner wall of the frame pillar. The lower end of the telescopic connection shaft is connected to the linear bearing fixed seat through a linear bearing and extends out to connect to the fixed seat plate. , the linear bearing fixed seat encapsulates the lower opening of the frame pillar, and the fixed seat plate is connected to the universal roller; the traveling driving device of the trolley includes a traveling driving motor, a traveling driving reducer, a traveling driving wheel and a traveling driven wheel, and the traveling driving motor is arranged on The car box body is connected with the walking drive reducer to drive the driving driving wheel, and the driving driving wheel and the driven wheel are arranged at the left and right positions on the front side of the car box body in a state of supporting and hanging on the doffing frame on the spinning machine; the walking supporting device It includes two walking support frames and two supporting rollers. The two walking support frames are arranged at the left and right positions on the front side of the car body. The two walking support frames are respectively pinned to the two supporting rollers to support the rolling state on the doffing frame under the spinning machine; The spindle gauge positioning device includes a spindle gauge positioning motor, a spindle gauge positioning block, a spindle gauge positioning moving shaft and a spindle gauge positioning linear bearing. The spindle gauge positioning motor and the spindle gauge positioning linear bearing are fixed in the carriage body, and the spindle gauge positioning motor is connected through The spindle gauge positioning moving shaft in the spindle gauge positioning linear bearing is stretching towards the front side of the car body, and the spindle gauge positioning block is connected to the outer end of the spindle gauge positioning moving shaft to expand and contract under the drive of the spindle gauge positioning moving shaft, so that the spindle gauge positioning block Locate the state of the spindle seat of the spinning machine; the walking parallel positioning device includes a walking parallel positioning frame and a walking parallel positioning roller, and more than two walking parallel positioning frames are arranged at the left and right positions on the front side of the carriage body, and the walking parallel positioning roller pins are connected to the The walking parallel positioning frame is in the state of rolling and walking on the doffing frame on the spinning machine in parallel positioning state; The insertion and extraction tube positioning power device includes a positioning mobile connection seat, a curved roller bearing, a crawler type positioning transmission belt, an extubation power pulley, an extubation power main transmission shaft, an intubation power driving pulley, a toothed transmission belt, and an intubation power driven drive. Pulley, intubation power transmission shaft, crawler positioning linear motor, crawler positioning linear motor fixing seat, crawler positioning linear motor drive fixing seat, linear slide bar, linear slide bar fixing seat and linear slide bar bearing, and the positioning mobile connection seat is arranged on the machine On the mobile trolley, two curved roller bearings are arranged on the left and right sides of the front side of the positioning mobile connection seat. The two curved roller bearings and the pulley power pulley are arranged on the same horizontal plane and are connected by a crawler-type positioning transmission belt. The crawler-type positioning transmission belt is evenly distributed outwards. The notch corresponding to the circumference of the spindle seat of the worsted spinning machine is vertically connected to the main transmission shaft of the extubation power whose upper end is fixed on the extubation device on the extubation power pulley, and the bottom end of the extubation power main transmission shaft is connected to the intubation power drive pulley , the intubation power driving pulley is on the same level as the horizontal plane, and the intubation power driven pulley is driven by a toothed transmission belt, and the intubation power driven pulley is vertically connected to the intubation power transmission shaft whose upper end is fixed on the intubation device; one end of the linear motor is positioned on the crawler The pin-connected track positioning linear motor fixing seat is connected to the car body, and the other end is pin-connected to the track positioning linear motor drive fixing seat and is connected to the positioning mobile connecting seat. In the state of feeding towards the direction of the worsted spinning machine, one end of the linear slide bar is connected to the carriage body through the linear slide bar fixing seat, and the other end is movably socketed and fixedly connected to drive and position the linear slide bar bearing of the moving connection seat to guide and position along the direction of the linear slide bar. The feed state of the mobile connection seat; The extubation device includes an extubation frame assembly, an extubation power transmission assembly, and a manipulator grabbing and fitting force elimination assembly. The extubation frame assembly is arranged on the right side of the rack mobile trolley, The frame assembly includes the upper fixing plate of the extubation, the upper track box of the extubation slide seat, the lower fixation plate of the extubation slide, the lower track box of the extubation slide seat, the upper and lower bottom plate fixing columns, the fitting force reaction force protection track, the fitting force spring compression track, The anti-deviation inner track of the slide bar, the grabbing bump and the loosening bump, the upper and lower fixing plates of the pulling tube are respectively connected to the upper and lower track boxes of the pulling tube sliding seat, and the upper and lower bottom plates are fixed to the column to pass through the pulling tube sliding seat , The lower track box supports the upper and lower fixing plates for extubation, the middle of the upper and lower track boxes of the extubation slide seat corresponds to a wedge-shaped track that is lifted from the right side to the left side of the rack mobile trolley, and the upper and lower track boxes of the extubation slide seat The wedge-shaped track on the front and rear sides and the gap between the upper and lower track boxes of the tube pulling slide seat form a complete grabbing track. The bottom edge of the right side of the upper track box is connected to a section of fitting force reaction protection track, and one end is connected to the fitting force spring compression track corresponding to the fitting force reaction protection track of the fitting force reaction protection track at the lower fixing seat of the lower track box on the right side of the lower track box, and the fitting force spring compression track The front part is provided with grabbing bumps on the inner end surface facing the front side of the lower track box of the tube pulling slide seat, and a loose bump is provided on the rear side of the left side of the track box under the tube pulling slide seat; the tube pulling power transmission assembly includes Extubation power main transmission shaft, extubation power auxiliary transmission shaft, extubation power main transmission wheel, extubation power auxiliary transmission wheel, extubation power transmission chain and transmission guide plate, extubation power main and auxiliary transmission shafts are respectively parallel from the bottom The top is passed through the lower and upper fixing plates through the bearings in turn, the upper and lower parts of the main transmission shaft of the extubation power are connected with the main transmission wheel of the extubation power, and the upper and lower parts of the auxiliary transmission shaft of the extubation power are connected There is an auxiliary drive wheel for extubation power, and the main and auxiliary drive wheels for extubation power in the same horizontal plane are connected through the extubation power transmission chain. The upper and lower two extubation power transmission chains are evenly equipped with multiple positioning holes. There are more than one transmission guide plate connected to the main and auxiliary transmission shafts of the tube power respectively, and a plurality of guide bayonets are evenly distributed on the outer circumference of the transmission guide plate; On the taking track, the manipulator grabbing and fitting force elimination assembly includes linear slide rails, linear sliders, chain fixing seats, slide rail positioning rollers, guiding vertical positioning frames, guiding vertical positioning rollers, and manipulator grabbing and fitting force eliminating composite devices , the top and bottom of the linear slide rail are equipped with slide rail positioning rollers that are in contact with the upper and lower fixing plates of the extubation tube. There are two guide vertical positioning frames respectively located in the upper and lower track boxes of the tube pulling slide seat, and any one of the guiding vertical positioning frames is pin-connected with two slide bars that respectively abut against the corresponding anti-deviation inner track and tube pulling The guide vertical positioning roller on the inner wall of the sliding seat track box, the manipulator grabbing and the joint force elimination compound device are connected to the linear slide rail through the linear slider, and the linear slide rail rotates with the tube pulling power transmission chain and is pushed through the guide bayonet of the transmission guide plate Steering turn; said The composite device for manipulator grabbing and fitting force elimination includes a manipulator grabbing device and a fitting force eliminating device. Frame, release force rod, release linkage rod, release push rod, movable arm, clamping lever, loosening lever, support rod, extension spring, fixed arm, compression spring, first movable jaw And the second movable jaw, the manipulator slider connecting seat is connected to the linear slider, the lower positioning plate of the manipulator is connected to the manipulator slider connecting seat and the lower positioning bottom of the manipulator is provided with a wedge-shaped track that slides against the lower track box of the extubation slide seat The manipulator moves the roller, the lever holder is set parallel to the lower positioning plate of the manipulator, the rotating pin in the middle of the clamping linkage rod is connected between the lever holder and the lower positioning plate of the manipulator, and the front end of the clamping linkage rod is vertically connected to the clamping force rod , the lower end of the clamping rod is in the state of being pressed by the grabbing bump corresponding to the fitting force spring compression track with the movement of the grabbing track. The upper chute connects the positioning pin between the lever holder and the lower positioning plate of the manipulator and moves along the chute. The orbital movement corresponds to the state of the loosening bump of the track box under the tube pulling slide seat under force. The rear end of the loosening linkage rod is vertically provided with a loosening push rod. The fixed arm and the movable arm are respectively supported on the lever holder. The constraint of the fixed force arm is limited between the movable force arm and the side sealing plate. The rear part of the movable force arm is connected to the loosening lever through the rotating pin of the clamping lever. The rod drives the movable arm to rotate, the lower part of the clamping lever is correspondingly arranged in the U-shaped opening of the lever, the middle part of the movable arm is pinned to the lever holder and at the same time the pin is connected to the support rod to pull the rear part of the fixed arm to move The rotating pin at the front end of the force arm is connected to the middle part of the second movable jaw, the movable pin at the rear end of the second movable jaw is connected to the middle part of the fixed force arm, and the rear part of the second movable jaw is connected to the middle and/or rear part of the fixed force arm A tension spring, the front of the second movable jaw is provided with a jaw pusher, the movable pin in the middle of the first movable jaw is connected to the front end of the fixed force arm, and the rear side of the first movable jaw is correspondingly against the jaw pusher. A compression spring is provided between the other side of the rear part of the first movable jaw and the fixed force arm, and the front ends of the first and second movable jaws correspond to each other to form a matching bobbin shape; the fitting force elimination device includes a positioning plate on the manipulator, The impact rod fixing plate, the impact rod, the pressure spring ejector rod, the spring sleeve and the impact compression spring, the upper positioning plate of the manipulator is fixed on the connecting seat of the slider of the manipulator, the spring sleeve is vertically arranged on the upper positioning plate of the manipulator, and the impact rod fixing plate Connected in the impact lifting groove opened up and down on the front side of the spring sleeve, the end of the impact rod fixing plate extending into the spring sleeve is vertically connected downward to the compression spring push rod, and the lower end of the compression spring push rod can move out of the lower opening of the spring sleeve It is in the state of pressing against the fitting force spring to compress the track. One end of the striking rod fixing plate extending into the spring sleeve is elastically connected with the upper end of the spring sleeve through the impact compression spring built in the spring sleeve, and the other end of the striking rod fixing plate is vertical. Connect the striking rod downwards, and the striking rod is set at the front end of the first and second movable jaws The upper and lower positioning plate of the manipulator is provided with a sliding corresponding limit or a manipulator moving roller against the wedge-shaped track of the track box on the pullout slide seat; The intubation device includes an intubation box, a bobbin material box, a bobbin feeding conveying device and an intubation execution device. The feeding at the upper end of the rear part is connected to the intubation box, and the bobbin feeding conveying device includes the upper mounting seat of the cone guide plate, the lower mounting base of the cone guide plate, the cone guide plate of more than two stages, the drive shaft of the guide plate, and the guide plate. The disc transmission gear, guide disc power input gear, intubation power input gear and bobbin holder, the upper and lower mounting seats of the cone guide disc are fixed in the intubation box, and the cone guide discs with more than two stages are respectively connected to the two On the drive shaft of more than one guide plate, the included angle of the farthest conical generatrix on the first and last stage of the conical frustum guide discs with more than two stages is 90︒, and the guide disc drive shaft can go up and down. It is rotated and connected between the upper and lower mounting seats of the truncated truncated guide disc. The conical surface of the truncated truncated guide disc is evenly distributed with multiple bobbin grooves arranged along the direction of its generatrix and corresponding to the arc surface of the bobbin tube. Two The drive shafts of the above guide discs are connected with more than two stages of guide disc transmission gears that are sequentially meshed and driven. The two slots correspond to each other, and the guide disc drive shaft of the last stage of cone guide disc is also connected in series with the guide disc power input gear. The intubation power input gear is connected to the intubation power transmission main shaft to mesh with the guide disc power input gear , a bobbin holder is set on the side of the conical guide plate with more than two stages; the intubation actuator includes the upper and lower mounting seats of the cylindrical guide plate, the cylindrical guide plate and the bobbin baffle plate, the upper mounting seat of the cylindrical guide plate, the cylindrical The guide plate and the lower mounting seat of the cylindrical guide plate are sequentially connected to the main shaft of the intubation power transmission. On the side of the cylindrical guide plate, there are evenly distributed bobbins parallel to the main shaft of the intubation power transmission and corresponding to the arc surface of the bobbin. Grooves, cylindrical guide discs and the last-stage cone guide discs are spaced close to each other along the direction of their respective generatrices, and they are rotated to make the bobbin grooves on them correspond to each other. The opposite end surfaces of the upper and lower mounting seats of the cylindrical guide discs Both are equipped with an intubation guide rail groove with one end corresponding to the upper and lower ends of the guide bobbin. Corresponding to the state above the spindle rod of the spinning machine, the guide bobbin is pulled out of the intubation guide rail groove and inserted into the spindle rod; The box is supported on the pallet bracket through the lower pallet, the pallet bracket is set on the intubation box, the bobbin guide material port is supported on the pallet bracket to connect the storage box and the corresponding second along the direction of the first-stage conical frustum guide busbar. The bobbin groove of the first-stage cone guide plate; The pressure tube device includes a pressure tube fixing bracket, a pressure plate, an adjustment rod, an adjustment column, a crimping pin, a first pressure tube pressure spring, a spring guide rod and a second pressure tube pressure spring, and the pressure tube fixing bracket is connected to the frame On the moving trolley, the front end of the fixed bracket is connected to the adjustment rod along the direction of the doffing frame on the spinning machine. The front end of the adjustment rod extends into the adjustment column and is limited in the adjustment column by the connecting pin shaft, and the first pressure tube and pressure spring are in the adjustment column The elastic crimping is in the state of lifting along the vertical direction of the adjustment column. The adjustment column is connected to the middle of the pressure plate. The pressure plate is set on the top of the spindle rod in a shape of high front and low rear. At the rear of the creel, the other end of the adjustment rod is connected to the upper end of the spring guide rod in the waist-shaped groove along its length direction. The second pressure tube pressure spring; The yarn pressing device includes a yarn pressing fixed bracket, a yarn pressing linear motor, a guide steel wire, a guide tube and a yarn pressing steel wire, the yarn pressing fixed bracket is connected to the right side of the moving trolley of the frame or the right side of the extubation device, and the yarn pressing fixed bracket is equipped with Yarn pressing linear motor, the yarn pressing linear motor is connected to the lower end of the guide steel wire through the connecting block, the guide steel wire is threaded into the guide tube, the guide tube is threaded and fixed on the upper end of the yarn pressing fixed bracket, and the upper end of the guide steel wire is connected parallel to the spindle bar of the spinning machine direction, the yarn-pressing steel wire set on the front side of the spindle bar, the end of the yarn-pressing steel wire bends upwards and extends to the left side of the lower track box corresponding to the extubation slide in the front and rear direction; The compound yarn cutting device includes a yarn shearing fixed bracket, a micro motor, left and right fixed brackets, left and right blades and a rotating sawtooth blade. In the rear position, the left and right fixing brackets are supported on the yarn cutter fixing bracket, the left and right blades are arranged parallel to each other and fixed between the left and right fixing brackets, and the micro motor is connected to the yarn cutting fixing bracket or the left fixing bracket or the right On the fixed bracket, the micro motor is connected to the rotating serrated blade. The rotating serrated blade is parallel to the left and right blades and partly arranged between the left and right blades. Any bobbin moves with the manipulator device to the left side of the track box under the tube pulling slide Or the position behind the left side makes the yarn corresponding to the bobbin enter the working area of the left and right blades and the rotary sawtooth blade.