CN109335833B

CN109335833B - Feeding mechanism and fancy yarn splicing machine with same

Info

Publication number: CN109335833B
Application number: CN201811447516.5A
Authority: CN
Inventors: 董友耕; 苟宇飞; 朱耀麟; 任学勤; 李攀; 张云云
Original assignee: Xian Polytechnic University
Current assignee: Xian Polytechnic University
Priority date: 2018-11-29
Filing date: 2018-11-29
Publication date: 2023-09-01
Anticipated expiration: 2038-11-29
Also published as: CN109335833A

Abstract

The invention discloses a feeding mechanism and a fancy yarn splicing machine with the same, and belongs to the technical field of textile machinery. The feeding mechanism comprises a wire barrel frame, a wire head fixing disc and a vertical shaft, can distribute wire barrels of various colors on each side face of the polyhedron, and concentrate wire heads of yarns of various colors on the wire head fixing disc, so that the wire heads are distributed on the edge of the wire head fixing disc, the wire head distribution is converted into a curve, the occupied space is small, and the follow-up grabbing is convenient. The fancy yarn splicing machine with the feeding mechanism comprises a manipulator connected with the feeding mechanism and a wiring winding mechanism; the feeding mechanism is turned to the correct position when needed through the motor and the feeding mechanism sensor, the grabbing track of the manipulator is converted into a point through a curve, the feeding mechanism replaces the original manual grabbing yarn through the accurate positioning of the manipulator, the production efficiency is improved, the loss caused by misoperation in the production process is reduced, and the color selecting range is greatly improved.

Description

Feeding mechanism and fancy yarn splicing machine with same

Technical Field

The invention belongs to the technical field of textile machinery, and particularly relates to a feeding mechanism and a fancy yarn splicing machine with the same.

Background

With the improvement of the quality of the national clothing and eating residence, the fancy yarn industry of China starts from the 90 th year of the last century. At present, no matter the production scale or the production yield of fancy yarns, china is always in the first world. The fancy yarn splicing machine is used for splicing yarns with different colors together in an air splicing mode, and after being wound for a certain distance and sheared by a yarn winding mechanism, the fancy yarn splicing machine is used for splicing yarns with another color and then carrying out winding. At present, there are two methods for splicing yarns: one is sectional dyeing, and the other is to use a yarn splicing machine. Most of the existing yarn splicing machines are used for splicing yarns by manually grabbing the yarns and putting the yarns into an air splicing machine, so that the efficiency is low and errors are easy to occur. And along with the increase of colors, how to efficiently and orderly arrange the color wire drums on the feeding mechanism, thereby improving the production efficiency of the fancy splicing machine and reducing the error rate, and being a problem to be solved urgently.

Disclosure of Invention

In order to effectively solve the problems, the invention provides a feeding mechanism and a fancy yarn splicing machine with the feeding mechanism.

The invention is realized by the following technical scheme:

the invention discloses a feeding mechanism which comprises a wire cylinder frame, a wire head fixing disc and a vertical shaft, wherein the wire cylinder frame and the wire head fixing disc are arranged on the vertical shaft; the wire cylinder frame is of a polyhedral structure, and a plurality of wire cylinders are arranged on each side face; the wire end fixing disc comprises a central part fixedly connected with the vertical shaft and a plurality of cantilevers which radiate outwards by taking the central part as a circle center, and a threading hole is arranged at the end part of each cantilever.

Preferably, the bobbins on each side of the bobbin holder are arranged in a square matrix, with the bobbins on each column being offset from each other.

Preferably, the bobbin cradle is of hollow shell type construction.

Preferably, the feeding mechanism further comprises a feeding mechanism motor connected with the vertical shaft.

The invention also discloses a fancy yarn splicing machine with the feeding mechanism, and the fancy yarn splicing machine also comprises a manipulator and a wiring winding mechanism which are cooperated with the feeding mechanism; the feeding mechanism also comprises a feeding mechanism sensor arranged on the central part; the manipulator comprises an end sensor which is communicated and interconnected with the feeding mechanism sensor; when the yarn splicing device works, the manipulator can hook yarns from the thread end fixing disc and put the yarns into the wiring winding mechanism, and the yarns are spliced, wound and sheared in the wiring winding mechanism.

Preferably, the manipulator comprises an operation arm and an end effector connected with the operation arm, the operation arm comprises a support, a manipulator sensor is arranged on the support, the support is connected with a rotary motor through a motor shaft, the rotary motor is connected with the rotary arm, the rotary arm is connected with a large arm through a pitching motor, a swinging motor is arranged on the large arm, the swinging motor is connected with a small arm, the small arm is connected with a wrist rotary motor, the wrist rotary motor is connected with the end effector, the end sensor is arranged on the end effector, and a servo motor wire hook of the end effector is further arranged on the end effector.

Preferably, the wire hook comprises a bottom plate, a gear, a connecting rod and a hook head; the two gears are meshed with each other and fixed on the bottom plate, the two gears are respectively connected with one ends of the two connecting rods, and the other ends of the two connecting rods are connected with and fixed with the hook heads to form a set of connecting rod mechanism; when the two gears are meshed and rotated, the hook head at one end of the connecting rod mechanism can be driven to do linear motion.

Further preferably, the hook head is coated with an anti-slip material.

Preferably, the wire winding mechanism comprises an air splicer, a winding device, a wire pressing device, a shearing device and a wire winding mechanism sensor which work cooperatively; the winding device can wind the yarn onto the yarn spindle under the drive of the motor; the wiring winding mechanism sensor is electrically connected with the feeding mechanism sensor, the air splicer, the winding device, the wire pressing device and the shearing device respectively.

Preferably, the wiring winding mechanism further comprises a motor, the motor is connected with a cylindrical spur gear, the cylindrical spur gear is connected with the shearing device, the cylindrical spur gear is meshed with a bevel gear set, the bevel gear set is connected with a ball screw, and the ball screw is in moving connection with the wire pressing device.

Compared with the prior art, the invention has the beneficial technical effects that:

the invention discloses a feeding mechanism which comprises a wire cylinder frame, a wire end fixing disc and a vertical shaft, wherein the wire cylinder frame and the wire end fixing disc are arranged on the vertical shaft; the wire cylinder frame is of a polyhedral structure, and a plurality of wire cylinders are arranged on each side face; the wire end fixing disc comprises a central part fixedly connected with the vertical shaft and a plurality of cantilevers which radiate outwards by taking the central part as a circle center, and a threading hole is arranged at the end part of each cantilever. After placing each color bobbin, naturally hanging down and passing through the threading hole, when the color is too much, the plane size required by the plane arrangement bobbin is too large, the arrangement and the subsequent grabbing are very inconvenient, the bobbins are distributed on each side face of the polyhedron, the thread ends of the yarns with each color are concentrated on the thread end fixing disc, the thread ends are distributed on the edge of the thread end fixing disc, the thread end distribution is converted into a curve, the occupied space is small, and the subsequent grabbing is convenient.

Further, the bobbins on each side of the bobbin holder are arranged in a square matrix, and the bobbins on each row are staggered from each other, so that the hanging yarns can be prevented from winding and knotting.

Further, the feeding mechanism also comprises a feeding mechanism motor connected with the vertical shaft, and the feeding mechanism motor can be controlled to rotate so as to convert a curved grabbing track into a grabbing point.

Further, the wire cylinder frame is of a hollow shell type structure, so that the overall weight of the wire cylinder frame can be reduced, and the load of the vertical shaft can be reduced.

The invention discloses a fancy yarn splicing machine with the feeding mechanism, which also comprises a manipulator and a wiring winding mechanism which are connected with the feeding mechanism; the feeding mechanism is orderly arranged according to the wire barrels through a motor connected with the vertical shaft and a feeding mechanism sensor arranged on the central part, and is turned to a correct position when needed, so that the grabbing track is converted into a point, and the point is convenient to convert into a program language, thereby realizing automatic operation. The manipulator comprises an operation arm and an end operator connected with the operation arm, wherein an end sensor and a wire hook are arranged on the end operator, and the end sensor can receive signals sent by the sensor; the manipulator can hook the yarn from the plane wire plate according to a preset program and put the yarn into the wiring winding mechanism, and the yarn is spliced, wound and sheared in the wiring winding mechanism. The whole device realizes automatic production through a manipulator and an automatic control element. The feeding mechanism can automatically turn to through a preset program and is matched with the accurate positioning of the mechanical arm to replace the original manual yarn grabbing, so that the production efficiency is improved, the loss caused by misoperation in the production process is reduced, the color selection range is greatly improved, and the condition that excessive manual labor is insufficient due to color is avoided.

Furthermore, the hook head of the manipulator is coated with an anti-slip material, so that on one hand, the friction coefficient is increased, and on the other hand, the wire hook is protected to delay oxidization.

Drawings

FIG. 1 is a workflow diagram of the present invention;

FIG. 2 is a schematic view of the overall structure of the present invention;

FIG. 3 is a block diagram of the feeding mechanism of the present invention;

FIG. 4 is a schematic view of the structure of the bobbin cradle of the present invention;

FIG. 5 is a layout of a spool on a spool mount of the present invention;

FIG. 6 is a schematic diagram of a wire frame according to the present invention;

FIG. 7 is a schematic view of the structure of the thread end fixing plate of the present invention;

FIG. 8 is a schematic view of the structure of the feeding mechanism of the present invention with a housing;

FIG. 9 is a schematic view of the structure of the manipulator of the present invention;

FIG. 10 is a schematic view of the structure of the wire hook of the present invention;

FIG. 11 is a schematic view of the structure of the air splicer of the present invention;

FIG. 12 is a schematic view of the structure of the wire winding mechanism of the present invention;

FIG. 13 is an optimized schematic view of the present invention in a spool arrangement on a spool stand;

in the figure: 1 is a feeding mechanism, 1-1 is a wire cylinder frame, 1-2 is a wire end fixing disc, 1-2-1 is a central part, 1-2-2 is a cantilever, 1-2-3 is a threading hole, 1-3 is a vertical shaft, 1-4 is a wire cylinder, 1-5 is a feeding mechanism motor, and 1-6 is a feeding mechanism sensor;

2 is a manipulator, 2-1 is a manipulator sensor, 2-2 is a rotary motor, 2-3 is a motor shaft, 2-4 is a rotary arm, 2-5 is a pitching motor, 2-6 is a big arm, 2-7 is a swinging motor, 2-8 is a small arm, 2-9 is a wrist rotary motor, 2-10 is an end effector servo motor, 2-11 is an end effector, 2-12 is an end sensor, 2-13 is a wire hook, 2-13-1 is a bottom plate, 2-13-2 is a gear, 2-13-3 is a connecting rod, 2-13-4 is a hook head, and 2-14 is a support;

3 is a wiring winding mechanism, 3-1 is an air splicer, 3-1-1 is a pneumatic device, 3-1-2 is a first sensor of the air splicer, 3-1-3 is a yarn hole, 3-1-4 is a second sensor of the air splicer, 3-2 is a winding device, 3-3 is a motor, 3-4 is a wiring winding mechanism sensor, 3-5 is a yarn spindle, 3-6 is a motor, 3-7 is a cylindrical spur gear, 3-8 is a bevel gear set, 3-9 is a ball screw, 3-10 is a wire pressing device, and 3-11 is a cutting device.

Detailed Description

The invention will now be described in further detail with reference to specific examples, which are intended to illustrate, but not to limit, the invention.

The fancy yarn splicing machine has the functions of splicing yarns with different colors together in an air splicing mode, winding the yarns for a certain distance by a yarn winding machine, cutting the yarns, splicing the yarns with the other colors, and then winding the yarns. Referring to fig. 1, which is a working flow chart of the present invention, fig. 2 is a schematic diagram of an overall structure of the present invention, and an overall movement flow thereof may be divided into three parts, namely, a movement flow of a feeding mechanism 1, a movement flow of a manipulator 2, and a movement flow of a yarn winding mechanism 3.

At the beginning, the wire cylinder 1-4 is placed on the wire cylinder frame 1-1 according to a specified color. When feeding is executed, the motor 1-5 of the feeding mechanism works to rotate the vertical shaft 1-3 and drive the wire barrel frame 1-1 and the wire end fixing disc 1-2 to rotate. And turning the yarn with the required color to a designated position according to a set program. In order to ensure the position accuracy and the repeated position accuracy, the feeding mechanism sensor 1-6 automatically corrects the position, and ensures that the position does not deviate. When the yarn rotates to a designated position, the feeding mechanism sensor 1-6 generates a power signal for the manipulator 2 to drive the manipulator 2 to grasp the yarn. When the wire winding mechanism 3 winds for a fixed length, the action of winding the yarn is completed, a pulse signal is sent to the feeding mechanism 1, the system of the feeding mechanism 1 counts once, and the color procedure is completed. When the program is executed, the feeding mechanism 1 executes the next program.

When the feeding mechanism 1 performs the program, the feeding mechanism 1 moves the desired yarn to a fixed position and drops the yarn, the feeding mechanism 1 signals the robot 2, and the movement program of the robot 2 is started. The swing operation program starts to be executed, and the swing motor 2-2 starts to operate, and when the swing motor 2-2 is rotated to the fixed position, the swing motor is stopped. According to the program setting, the pitching motor 2-5 starts to work, the large arm is driven to be adjusted to a position close to the feeding mechanism, and the pitching motor 2-5 stops working. The swing action program starts to be executed, the swing motor 2-7 adjusts the end effector 2-11 to the working position, and the swing motor 2-7 stops working. The wrist rotary motor 2-9 starts to work, so that the datum plane of the wire hook 2-13 is vertical to the yarn, and the next action is ensured. When the reference surface of the thread hook 2-13 is perpendicular to the thread, the thread hooking operation program starts to be executed, and the end effector servo motor 2-10 is driven, and the end effector servo motor 2-10 rotates anticlockwise to the maximum extending position of the thread hook 2-13 to hook the thread. By the end sensors 2-12, if no yarn is caught, the catching action is repeated, i.e. the end effectors 2-11 are repositioned by cooperation with the feeding mechanism sensors 1-6. When the yarn is hooked, a signal is generated to the end effector servo motor 2-10, the end effector servo motor 2-10 rotates clockwise, and the wire hook 2-13 is retracted. This is accomplished by stopping the end effector servo motors 2-10 and starting the other motors. When the end effector 2-11 approaches the air splicer 3-1, the other motors stop, and the end effector servo motor 2-10 rotates, ensuring that the yarn is fed into the air splicer 3-1. When the yarn is fed into the air splicer 3-1, the robot arm 2 repeatedly moves back to the feeding mechanism 1 to grasp the yarn.

When the manipulator 2 feeds the yarn to the air splicer 3-1, the manipulator 2 feeds the yarn end into the yarn hole of the air splicer 3-1, and the pneumatic device 3-1-1 sucks the yarn into the yarn hole 3-1-3. When the yarn enters the air splicer 3-1, the yarn is detected by a sensor, so that two yarn heads are ensured, and the yarn splicing action is started. When the splicing is completed, a power generation signal is sent to the winding device 3-2, the winding device 3-2 automatically winds the wire, and when the motor 3-3 is wound for a certain length, the winding action is completed. When the yarn winding is completed, the yarn winding device 3-11 is signaled, the servo motor of the cutting device is driven to start rotating, the servo motor of the cutting device drives the yarn pressing device 3-10 to press the yarn, and the yarn is brought to the position of the cutting device 3-11 through the movement of the ball screw to cut the yarn. Repeating the above actions to splice the next section of yarn.

The working principle of the invention is further described by taking a 60-color yarn splicing process as an example:

the feeding mechanism 1 is a device for storing yarns by combining a yarn warehouse, and is convenient for the mechanical arm 2 to grasp and convey the appointed yarns to a fixed position, the yarns can be arranged in advance according to the color of the required yarns through setting, and when the yarns with a certain color are required, the yarns can automatically rotate to the fixed position grasped by the mechanical arm 2.

Fig. 3 shows the structural design of a feeding mechanism 1 of a fancy yarn splicing machine, and considering that the yarn is light in weight and soft in texture, the whole feeding mechanism 1 is vertically arranged, namely a bobbin frame 1-1 and a thread end fixing disc 1-2 are positioned on a vertical shaft 1-3 which is vertically arranged, the bobbin frame 1-1 is positioned below the thread end fixing disc 1-2, and a bobbin 1-4 is arranged on the side surface of the bobbin frame 1-1. The thread end fixing disc 1-2 is fixedly connected with the vertical shaft 1-3 through the central part 1-2-1, key connection can be adopted, the specific structure of the thread end fixing disc 1-2 is shown in fig. 6 and 7, 60 cantilevers 1-2-2 are uniformly distributed in the thread end fixing disc 1-2 in an outward radiation mode by taking the central part 1-2-1 as a circle center, and thread through holes 1-2-3 are formed in the end portions of the cantilevers 1-2-2. The yarn is led out from the bobbin holder 1-1, passes through the threading holes 1-2-3 on the thread end fixing disc 1-2 and naturally drops to the ground. In order to ensure that the thread hook 2-13 of the manipulator 2 cannot fall off after hooking the yarn, the natural falling distance of the yarn from the thread end fixing disc 1-2 is larger than the distance from the thread threading hole 1-2-3 to the air splicer 3-1, the manipulator 2 is set to grasp from a fixed position in order to lighten the complexity of grasping the track when the manipulator 2 moves, and the yarn with the specified number is input through the rotation of the feeding mechanism 1. According to the requirements, the designed mechanism should meet the feeding of 60-color yarns, so the mechanism is adopted as shown in figure 3. The structure adopts a 5 x 3 x 4 arrangement of the bobbins 1-4, i.e. the bobbins 1-4 on each face adopt a 3 row 5 column arrangement, providing a total of 4 faces. In order to reduce the overall weight, the whole structure adopts a shell type structure, thereby reducing the load to the vertical shaft 1-3 in a substantial sense, the structure is as shown in figure 4, a shaft sleeve is fixed on the top plate of the wire cylinder frame 1-1, 4 reinforcing ribs can be added on the shaft sleeve, and the wire cylinder frame 1-1 is prevented from deforming after being provided with 60 branch wire cylinders. Because the feeding mechanism 1 is in a rotating state during operation, in order to prevent personnel from being injured, a cylindrical outer shell can be arranged on the outer layer, and a window for grabbing by the manipulator 2 is formed in the grabbing direction of the manipulator 2, as shown in fig. 8.

In order to prevent the yarns from intertwining or intertwining when the yarns are drawn out from the bobbin holder 1-1, the arrangement of the bobbins 1-4 is sequentially from 1 to 15 as shown in fig. 5, i.e., each column is sequentially (1, 3, 2), (4,6,5), (7,9,8), … … in a sequential arrangement from top to bottom. The other three surfaces are sequentially provided with the wire barrels according to the rule. The numbering process may also be (1, 2, 3), (4, 5, 6), (7, 8, 9), … …. The arrangement of the bobbins 1-4 can also be optimized as shown in fig. 13, and the bobbins 1-4 of each column are staggered with each other, so that entanglement and knotting of the hanging yarns are avoided.

60 bobbins 1-4 are placed on the bobbin holder 1-1, and yarns are led out from the grooves at the tail end of the bobbin holder 1-1 to pass through the thread end fixing disc 1-2 below the bobbins, as shown in fig. 5 and 6, so that each yarn is ensured to pass through the threading holes 1-2-3 on one cantilever 1-2-2 respectively and naturally sags for a certain distance.

The fixing of the thread end adopts annular arrangement so that the manipulator can grasp from a fixed position point, and therefore the complexity of the manipulator grasping path is reduced. The bobbins 1-4 are numbered sequentially from 1 to 60, and the bobbins 1-4 to be numbered are rotated above the grabbing start point of the robot 2 by each rotation of the thread end fixing plate 1-2.

The feeding mechanism 1 puts the wire cylinder 1-4 on the wire cylinder frame 1-1 according to the specified color, and the movement of the wire cylinder is executed by the motor 1-5 of the program control feeding mechanism. When the program is executed, the motor 1-5 of the feeding mechanism works, the vertical shaft 1-3 is rotated by connecting with the coupler above the motor, and the rotation of the vertical shaft 1-3 drives the spool frame 1-1 and the spool fixing disc 1-2 to rotate. And turning the yarn with the specified color to a specified position according to the set program. In order to ensure the position accuracy and the repeated position accuracy, the feeding mechanism sensor 1-6 automatically corrects the position, and ensures that the position does not deviate. When the yarn rotates to the designated position, the feeding mechanism motor 1-5 stops working, and the feeding mechanism sensor 1-6 generates a power signal for the manipulator 2 to drive the manipulator 2 to grasp the yarn. When the wire winding mechanism 3 winds for a fixed length, the action of winding the yarn is completed, the wire winding mechanism sensor 3-4 sends a pulse signal to the feeding mechanism sensor 1-6, the feeding mechanism 1 system counts once, and the color program is completed. When the program is executed, the feeding mechanism 1 executes the next program.

As shown in fig. 9, when the feeding mechanism 1 performs a program, the feeding mechanism 1 rotates a desired yarn to a fixed position and drops the yarn, the sensor 1-9 generates a power signal to the robot sensor 2-1, and the movement program of the robot 2 is started. The rotary action program starts to be executed, the rotary motor 2-2 starts to work, the rotary motor is transmitted to the motor shaft 2-3 to drive the rotary arm 2-4 and mechanisms above the rotary arm to start to rotate, the working time of the rotary motor 2-2 is calculated according to the working position, programming is carried out through the control software of the mechanical arm, and when the rotary motor 2-2 rotates to the fixed position, the rotary arm stops. The rotary motor 2-2 may be preferably a servo motor.

According to the program setting, the pitching motor 2-5 starts to work, the large arm 2-6 is driven to be adjusted to a position close to the feeding mechanism 1, and the pitching motor 2-5 stops working, namely the pitching action program is ended. The swing action program starts to be executed, the swing motor 2-7 starts to operate, the small arm 2-8 and the end effector 2-11 are adjusted to the operating positions, and the swing motor 2-7 stops operating. The wrist rotation action program starts to be executed, the wrist rotation motor 2-9 starts to work, the rotation angle is automatically adjusted according to the program setting, and the aim is to enable the datum plane of the wire hook 2-13 to be perpendicular to the yarn, so that the next action is ensured. When the reference surface of the wire hook 13 is perpendicular to the yarn, the rotary motor 2-2 is stopped.

The specific structure of the wire hook 2-13 at the tail end of the manipulator 2 is shown in figure 10, and the wire hook 2-13 comprises a bottom plate 2-13-1, a gear 2-13-2, a connecting rod 2-13-3 and a hook head 2-13-4; the two gears 2-13-2 are meshed with each other and fixed on the bottom plate 2-13-1, the two gears 2-13-2 are respectively connected with one ends of the two connecting rods 2-13-3, and the other ends of the two connecting rods 2-13-3 are connected with and fixed with the hook heads 2-13-4 to form a set of connecting rod mechanism; when the two gears 2-13-2 are meshed and rotated, the hook heads 2-13-4 at one end of the connecting rod mechanism can be driven to do linear motion. The yarn hooking action program starts to be executed and drives the end effector servo motor 2-10 of the end effector 2-11, and the end effector servo motor 2-10 rotates counterclockwise to the maximum extension position of the hook head 2-13-4 to hook the yarn. After the hook heads 2-13-4 hook the yarn, the hook heads 2-13-4 can retract into the shell and clamp the yarn in cooperation with the rubber of the shell, so that the problem of yarn falling in the clamping process is effectively solved. Meanwhile, rubber is adopted on the hook heads 2-13-4 to cover the hook heads, so that on one hand, the friction coefficient is increased, and on the other hand, the wire hooks are protected to delay oxidization. In order to accurately hook the yarn, end sensors 2-12 are adopted, and if the yarn is hooked, the next link is performed. When yarn ends are fed into the air splicer 3-1, the hook heads 2-13-4 extend out to loosen the yarn, and the feeding process is completed.

By sensing by the end sensor 2-12, if no yarn is caught, the catching action will be repeated, i.e. by cooperation with the sensor 1-9 of the feeding mechanism 1, repositioning of the end effector 2-11. When the yarn is hooked, the end sensor 2-12 signals the end effector servo motor 2-10, the end effector servo motor 2-10 rotates clockwise and retracts the wire hook 2-13. This is accomplished by stopping the end effector servo motors 2-10 and starting the other motors. When the end effector 2-11 approaches the air splicer 3-1, the other motors stop, and the end effector servo motor 2-10 rotates, ensuring that the yarn is fed into the air splicer 3-1. The end sensors 2-12 may employ infrared sensors such as GP2Y0A60SZ0F from SHARP, or MV-E800M/C industrial cameras from Microvision.

The wire is connected by an air splicer 3-1, the structure of which is shown in fig. 11, and the installation position of which is shown in fig. 12 in the wire winding mechanism 3. When the manipulator 2 feeds yarns to the air splicer 3-1, the manipulator 2 is matched with the first sensor 3-1-2 of the air splicer, and the manipulator is used for accurately positioning and driving the pneumatic device 3-1-1 to work. When the pneumatic device 3-1-1 is in operation, the manipulator 2 feeds the thread end into the thread hole 3-1-3 of the air splicer 3-1, and the pneumatic device 3-1-1 sucks the thread into the thread hole 3-1-3. When the yarn enters the air splicer 3-1, the second sensor 3-1-4 of the air splicer detects the yarn, so that two yarn heads are ensured, and the yarn splicing action is started. When the splicing is completed, the second sensor 3-1-4 of the air splicer generates a power generation signal to the winding device 3-2, and the winding device 3-2 automatically winds wires. When the air splicer 3-1 splices the yarns, the first sensor 3-1-2 of the air splicer can signal the motor 3-3 of the feeding mechanism 1 to drive the motor 3-3 to rotate, the rotation of the motor 3-3 drives the winding device 3-2 to rotate, the winding device 3-2 drives the yarn spindle 3-5 to rotate so as to wind the yarns on the yarn spindle 3-5, and when the yarns are wound for a certain length, the motor 3-3 stops moving, so that the winding action is completed. When yarn winding is completed, the wiring winding mechanism sensor 3-4 generates a power signal to the cutting device 3-11, the motor 3-6 starts to rotate, the rotation of the motor 3-6 drives the bevel gear set 3-8 and the cylindrical spur gear 3-7, the rotation of the bevel gear set 3-8 drives the ball screw 3-9 to move, the ball screw 3-9 drives the wire pressing device 3-10, the opening and closing of the wire pressing device 3-10 tightly presses the yarn, the yarn is brought to the position of the cutting device 3-11 through the movement of the ball screw 3-9, and the position of the cutting device 3-11 is the position where the large gear of the cylindrical spur gear 3-7 is connected with the cutting edge. When the thread pressing device 3-10 presses the yarn and is brought to the position of the cutting device 3-11, the cutting device 3-11 cuts the yarn. The shearing device 3-11 may preferably be a circular shearing blade. And then repeating the above actions to splice the next section of yarn until the production task is completed. The sensor 1-9, the manipulator sensor 2-1 and the wire winding mechanism sensor 3-4 adopt photoelectric sensors, such as EE-SPY402.

Claims

1. The flower-type yarn splicing machine is characterized by comprising a feeding mechanism (1), a manipulator (2) and a wiring winding mechanism (3), wherein the manipulator is cooperated with the feeding mechanism (1);

the feeding mechanism (1) comprises a wire barrel frame (1-1), a wire end fixing disc (1-2) and a vertical shaft (1-3), wherein the wire barrel frame (1-1) and the wire end fixing disc (1-2) are arranged on the vertical shaft (1-3); the wire cylinder frame (1-1) is of a polyhedral structure, and a plurality of wire cylinders (1-4) are arranged on each side face; the thread end fixing disc (1-2) comprises a central part (1-2-1) fixedly connected with the vertical shaft (1-3) and a plurality of cantilevers (1-2-2) radiating outwards by taking the central part (1-2-1) as a circle center, and thread holes (1-2-3) are formed in the end parts of the cantilevers (1-2-2); the wire drums (1-4) on each side surface of the wire drum frame (1-1) are arranged according to a square matrix, and the wire drums (1-4) on each row are staggered; the wire cylinder frame (1-1) is of a hollow shell type structure; the feeding mechanism (1) further comprises a feeding mechanism motor (1-5) connected with the vertical shaft (1-3) and a feeding mechanism sensor (1-6) arranged on the central part (1-2-1);

the manipulator (2) comprises a tail end sensor (2-12) which is in communication interconnection with a feeding mechanism sensor (1-6), an operation arm and a tail end manipulator (2-11) which is connected with the operation arm, wherein the operation arm comprises a support (2-14), the support (2-14) is provided with the manipulator sensor (2-1), the support (2-14) is connected with a rotary motor (2-2) through a motor shaft (2-3), the rotary motor (2-2) is connected with a rotary arm (2-4), the rotary arm (2-4) is connected with a big arm (2-6) through a pitching motor (2-5), the big arm (2-6) is provided with a swinging motor (2-7), the swinging motor (2-7) is connected with a small arm (2-8), the small arm (2-8) is connected with a wrist rotary motor (2-9), the wrist rotary motor (2-9) is connected with the tail end manipulator (2-11), the tail end sensor (2-12) is arranged on the tail end manipulator (2-11), and the tail end manipulator (2-11) is further provided with a tail end manipulator (2-13);

when the yarn splicing device works, the manipulator (2) can hook yarns from the yarn end fixing disc (1-2) and put the yarns into the yarn splicing and winding mechanism (3), and the yarns are spliced, wound and cut in the yarn splicing and winding mechanism (3).

2. Fancy yarn splicing machine according to claim 1, wherein the wire hook (2-13) comprises a base plate (2-13-1), a gear (2-13-2), a connecting rod (2-13-3) and a hook head (2-13-4); the two gears (2-13-2) are meshed with each other and fixed on the bottom plate (2-13-1), the two gears (2-13-2) are respectively connected with one ends of the two connecting rods (2-13-3), and the other ends of the two connecting rods (2-13-3) are connected with and fixed with the hook heads (2-13-4) to form a set of connecting rod mechanism; when the two gears (2-13-2) are meshed and rotated, the hook head (2-13-4) at one end of the connecting rod mechanism can be driven to do linear motion.

3. Fancy yarn splicing machine according to claim 2, wherein the hook heads (2-13-4) are coated with an anti-slip material.

4. Fancy yarn splicing machine according to claim 1, wherein the wire winding mechanism (3) comprises a co-operating air splicer (3-1), a winding device (3-2), a crimping device (3-10), a cutting device (3-11) and a wire winding mechanism sensor (3-4); the winding device (3-2) can wind the yarn onto the yarn spindle (3-5) under the drive of the motor (3-3); the wiring winding mechanism sensor (3-4) is electrically connected with the feeding mechanism sensor (1-6), the air splicer (3-1), the winding device (3-2), the wire pressing device (3-10) and the cutting device (3-11) respectively.

5. Fancy yarn splicing machine according to claim 1, wherein the wire winding mechanism (3) further comprises a motor (3-6), the motor (3-6) is connected with a spur gear (3-7), the spur gear (3-7) is connected with the shearing device (3-11), the spur gear (3-7) is meshed with a bevel gear set (3-8), the bevel gear set (3-8) is connected with a ball screw (3-9), and the ball screw (3-9) is in moving connection with the thread pressing device (3-10).