CN110552095A - yarn splicing device - Google Patents

Abstract

The invention relates to a yarn splicing device, which includes a yarn bobbin gripper, a drive system I, a suction nozzle assembly, a negative pressure device, a drive system II, a magnetic fixer, a drive system III, a yarn gripper and an industrial robot; the drive system I is used to drive the yarn bobbin gripper to move along the X-axis, Y-axis and Z-axis of the space Cartesian coordinate system, and is used to drive the yarn bobbin gripper to grip the bobbin, release the bobbin and rotate; the drive system II is used to drive the suction The nozzle assembly moves along the X-axis and Y-axis, and is used to drive the negative pressure device to generate negative pressure to suck the broken yarn on the bobbin to the position to be clamped; the drive system III is used to drive the magnetically-finding fixed body along the Describe the X-axis and Y-axis movement to move the traveler to the designated position; the industrial robot is used to drive the yarn gripper to clamp the yarn broken end, and then hang it on the traveler, air ring and yarn guide hook in sequence Put it into the front roller jaw of the spinning machine and release it. The yarn joining device of the present invention can perform yarn joining work of complicated three-dimensional routes.

Description

A yarn joining device

technical field

The invention belongs to the technical field of textile machinery and relates to a yarn joining device, in particular to a device for automatically joining yarns after a spinning frame breaks.

Background technique

After the existing spinning frame breaks, the mainstream of the yarn splicing technology is to manually resplice the yarn, that is, the worker takes out the broken spindle, manually finds the broken end of the yarn, and then uses the traditional pinching method. , reconnect the broken thread and continue spinning. This technology requires high proficiency of workers, cumbersome operation, easy to pollute the yarn, and low automation level. Manually find the broken end of the yarn, and then connect it, and the error rate is high. , The quality of the wiring is poor, the efficiency is low, and time is wasted.

Patent CN105568455A discloses a broken wire automatic splicer, which pulls the front end of the broken wire back into the twisting wiring device with the joint action of the driving roller and the holding roller, and then connects it. During this process, the broken wire can be loosened and the spliced wire The thread has compact structure and good quality, but it is only suitable for two-dimensional and horizontal wiring, and cannot be applied to textile machines such as ring spinning machines that require wiring in three-dimensional space.

Patent CN20670687U discloses an automatic doubling machine for wiring. The broken end of the yarn is sent to the ply spindle through the servo motor and the traction electromagnet, and the distance between the ply spindle and the drum is controlled by the thrust electromagnet, so that automatic wiring can be realized. . This device can be connected vertically or horizontally without polluting the yarn, but it uses the traction electromagnet and the servo motor to send the broken end of the yarn into the ply spindle. This process is similar to the automatic wire breaker disclosed in the patent CN105568455A Similarly, the entire process of sending the broken ends of the yarn to the wiring position moves in a straight line, which cannot be applied to textile machinery such as spinning frames whose wiring process is a complex three-dimensional route.

Therefore, there is an urgent need to study a yarn splicing device that can automatically find yarn breakages and can realize automatic wiring with complex wiring routes in three-dimensional space.

Contents of the invention

The purpose of the present invention is to solve the problem that the yarn joining device in the prior art is not suitable for textile machines whose yarn joining path is a complex three-dimensional route, and to provide a yarn jointing device with high efficiency, which can automatically find broken ends of yarns, and is suitable for use in three-dimensional space. It is an automatic yarn splicing device that has complex wiring routes and realizes that one device can provide services for multiple yarns.

In order to achieve the above object, the scheme adopted by the present invention is as follows:

A yarn splicing device, comprising a yarn bobbin gripper, a drive system I, a suction nozzle assembly, a negative pressure device, a drive system II, a magnetic fixer, a drive system III, a yarn gripper and an industrial robot;

The driving system I is used to drive the yarn bobbin gripper to move along the X-axis, Y-axis and Z-axis of the space Cartesian coordinate system, and is used to drive the yarn bobbin gripper to grip the yarn bobbin, release the yarn bobbin and rotate.

The driving system 1 can be made up of a plurality of interrelated parts, and can also be made up of a plurality of independent parts. When the components are related to each other, this driving system 1 has not been disclosed by the prior art. When independent, the drive system 1 consists of a part for driving the yarn bobbin gripper to move along the X-axis of the space Cartesian coordinate system, a part for driving the yarn bobbin gripper to move along the Y-axis of the space Cartesian coordinate system, and a component for driving the yarn bobbin gripper to move along the space Cartesian coordinate system. It consists of a part that drives the yarn bobbin gripper to move along the Z-axis of the space Cartesian coordinate system, a component that drives the yarn bobbin gripper to grip and release the yarn bobbin, and a component that drives the yarn bobbin gripper to rotate on its own. All can be found in the prior art, the drive system 1 that each component is independent of each other is more complex in structure with respect to the drive system 1 that each component is interrelated, the present invention preferably uses the drive system 1 that each component is interrelated; Under the cooperation of each other, the drive system I can drive the yarn bobbin gripper to move in three-dimensional space, so that even if the path in the yarn joining process is a complex three-dimensional route, it can easily send the broken end of the yarn to the yarn joining position to complete the automatic jointing yarn;

In the prior art, the whole process of sending the yarn broken end to the yarn joining position is to move on a straight line or on a plane. For example, the patent CN105568455A adopts a creel, four rollers, a twisting connection device, a pair of driving rollers, For the support roller pair, when a thread breakage is detected, the driving roller and the support roller will pull the broken thread back to the twisting wiring device for wiring. It is possible to perform wiring without taking out the bobbin, but it is only suitable for the textile process in a straight line and The textile machinery with an uncomplicated textile process, the patent CN20670687U is also suitable for a textile machine with an uncomplicated textile process in a straight line, and the above-mentioned prior art must have a device for guiding broken yarns. The machinery of weaving process is not applicable at all; And yarn splicing device of the present invention is relatively independent with textile machinery, and yarn splicing process does not adopt driving roller to be equal to with reinforcing roller, also does not need the device of guiding yarn (as guiding tube, Yarn guide frame, etc.), each part of the structure is responsible for a yarn splicing function, and the yarn splicing is completed through mutual cooperation, and the yarn splicing can be completed without guiding the broken end of the yarn through the yarn guide device such as the yarn guide tube;

The suction nozzle assembly is located under the side of the bobbin gripper and communicated with the negative pressure device for sucking out the yarn. Orientate to the axis of the bobbin;

The drive system II is used to drive the suction nozzle assembly to move along the X-axis and the Y-axis, and at the same time to drive the negative pressure device to generate negative pressure to suck the broken yarn on the bobbin to the position to be clamped; the drive system II The same driving system I can be made up of a plurality of interrelated parts, and can also be made up of a plurality of mutually independent parts, and the former is more conducive to simplifying the structure relative to the latter, so as the preferred solution of the present invention; the driving system II and the driving System 1 can be mutually independent, also can be interrelated, for example, both share some parts, and the latter is more conducive to simplifying the structure relative to the former, thus as the preferred scheme of the present invention;

The magnetic fixing body is located directly below the suction nozzle assembly, including the traveler toggle block. The traveler toggle block is a T-shaped block with an electromagnet function, consisting of the first block and the second block. The first block It is located at the end of the magnet-seeking fixed body, and its lower surface is sunken upwards to form an inverted concave structure. The space at the position of the steel ring is limited. The traveler toggle block is set as a T-shaped block to save space and avoid contact with the textile machine during the action. In addition, it can minimize the impact on the movement of other parts in the device; the lower surface of the first block is recessed upwards to form an inverted concave structure, which is also to save space, but more importantly, to ensure that the traveler with the traveler in the When moving on the steel ring, the traveler is always limited to the area of the traveler toggle block to avoid the traveler falling off during the toggle process, thereby improving the reliability of the connection. The reason why the traveler can be guaranteed to be limited to the traveler toggle In the block area, it is because: the ring ring can be divided into two semicircles on the left and right, and the two ends of the concave block are responsible for the movement of a semicircle. For example, when the traveler block moves counterclockwise on the ring, the ring The right semicircle is driven by the left end of the concave block as the working end to move the traveler, and when it reaches the left semicircle of the steel collar, the right end of the concave block is the working end to move the traveler, which ensures that the traveler is always with movement without slipping off the toggle;

The drive system III is used to drive the magnetic fixed body to move along the X-axis and the Y-axis to move the traveler to a designated position (the traveler of the ring spinning machine in textile machinery moves on the ring to carry out yarn Twisting, so the traveler can move along the program. When the magnetic fixed body walks a circle from a specific position along the steel ring, the traveler shifting block at the front end will bring the traveler at a random position on the steel ring with it. go together, so that finding the magnetic fixation will change the position of the traveler), the designated position is the position on the steel ring closest to the yarn splicing device; the driving system III is the same as the driving system I, and can be composed of multiple interrelated components, or can be composed of The former is more conducive to simplifying the structure than the latter, so it is a preferred solution of the present invention; the drive system III and the drive system I can be independent of each other, and can also be related to each other, for example, the two share some components, The latter is more conducive to simplifying the structure relative to the former, and thus serves as a preferred solution of the present invention;

The yarn gripper is located on the side of the suction nozzle assembly away from the yarn bobbin gripper, and is connected to the industrial robot;

The industrial robot is used to drive the yarn gripper to move to the position to be clamped to clamp the broken end of the yarn, and then drive the yarn gripper to hang the broken end of the yarn in turn on the steel traveler, air ring and yarn guide hook, and then put it into the spinning machine After the nip of the front roller, loosen the broken ends of the yarn.

The yarn joining device of the present invention can be a non-automatic yarn joining device, that is, a manually controlled yarn joining device, and can also cooperate with a control system to form an automatic yarn joining device. The control system can adopt PLC, industrial computer, DSP, etc., and the specific form is different. Now take PLC as an example to explain, the overall control of the control system is to use PLC (general control PLC, the function of overall planning), the control of the robot is controlled by a sub-PLC (only responsible for controlling industrial robots), and the sub-PLC accepts the general control The control of PLC, the control of movement is to use the sensor and the general control PLC to cooperate with the control. The specific cooperation method is: the control system is connected with the drive system I, drive system II, drive system III and industrial robots. The control steps of the control system are as follows:

(1) Control the yarn bobbin gripper to pick up the bobbin;

(2) Control the movement of the yarn bobbin gripper until the yarn bobbin is located on the suction side of the suction nozzle assembly;

(3) Control the magnet-finding fixture to move the traveler to the designated position;

(4) Control the yarn bobbin gripper to start to rotate, and control the negative pressure device to start working;

(5) After the suction nozzle assembly sucks the yarn breakage, control the yarn bobbin gripper to stop the rotation, and control the movement of the suction nozzle assembly until the yarn breakage protrudes from the suction nozzle assembly for a certain length;

(6) Control the movement of the yarn clamp hand to the position to be clamped to clamp the broken end of the yarn;

(7) Control the negative pressure device to stop working, control the yarn bobbin gripper to put the bobbin back on the spindle of the spinning frame and release the bobbin;

(8) Control the yarn gripper to hang the broken end of the yarn in turn on the traveler, air ring and yarn guide hook, and then put it into the front roller jaw of the spinning frame;

(9) Control the yarn clamp to loosen the broken end of the yarn;

(10) Control the reset of the automatic yarn splicing device.

The above-mentioned control steps are not limited to this, and appropriate adjustments can also be made. For example, step (4) controlling the spinning of the yarn bobbin gripper and the control of the negative pressure device to start working is carried out synchronously or asynchronously. First, control the yarn bobbin gripper Start to rotate, and then control the negative pressure device to start to work, or first control the negative pressure device to start to work, and then control the yarn bobbin gripper to start to rotate, as long as the control purpose can be achieved, it can be applied to the present invention.

It should be noted that the automatic yarn splicing device of the present invention refers to the automaticity of the yarn splicing action, that is, the action process of the yarn splicing device after reaching the yarn breakage position is automatic. The automation of the entire process from the beginning to the completion of the yarn splicing, of course, the automation of the entire process can also be realized. The automatic yarn splicing device of the present invention can also cooperate with the transport trolley, the broken thread detection device, etc. to realize the automatic and automatic splicing of the entire process. The yarn device is fixed on the transport trolley. When the thread break detection device on the spinning frame detects a thread break, it sends a signal to the transport trolley, and the transport trolley moves to the yarn position sent by the yarn breakage signal with the automatic yarn splicing device. Yarn, so that one yarn joining device can act on multiple yarns; while most of the yarn joining devices in the prior art are installed on textile machinery, and one yarn joining device can only act on one textile machine A yarn in the machine, such as the wiring method adopted in the prior art patent CN20670687U and the patent CN105568455A, is to refit the textile machinery, and the broken yarn is passed through different principles (such as using air guidance, mechanical device guidance, Or use an electromagnet as a guide device, etc.) to guide the return roller for wiring. The guide device must be installed on a working spindle of the textile machine, and can only guide the broken yarn on the spindle. Unable to achieve one-to-many, resulting in increased costs and waste of resources.

As a preferred solution:

In the above-mentioned yarn joining device, the yarn bobbin gripper is mainly composed of a plate body and a plurality of columnar fingers vertically connected to the plate body, and the plurality of columnar fingers can clamp and release the upper end of the yarn bobbin by shrinking and relaxing, so as to realize contraction and relaxation The principle is similar to the principle of contraction and relaxation of the three-turn chuck: the motor control gear meshes with the plane thread on the back of the bevel gear, and the upper end of the clamp finger has teeth that mesh with the thread groove on the front of the bevel gear. Instead of being installed and fixed, when the motor rotates in the forward direction, it drives the bevel gear to move forward. The movement of the threaded groove on the front of the bevel gear makes the fingers mounted on it shrink. When the motor rotates in the reverse direction, it is the opposite of the above action. , the clamping fingers perform a relaxing action; the shape of the space surrounded by multiple columnar clamping fingers is the same as the shape of the upper end of the bobbin, which can make the bobbin bear even force when clamping the bobbin, avoid damage to the bobbin, and improve the efficiency of clamping and placing the bobbin. Stability, the inner surface of multiple columnar fingers is provided with non-slip parts (specifically small concave-convex grooves, but also bumps, convex lines, etc.); the bobbin gripper in the patent CN108842239A is a prior art A kind of gripper for a yarn tube, which adopts the connection mode of the yarn gripper tube and the yarn gripper head sleeved and slides, the upper end of the yarn barrel is located in the gap between the two, and the yarn bobbin is aligned by the yarn gripper head stretching and contracting in the yarn gripper tube Clamping at the upper end; another is to use a manipulator gripper to clamp the bobbin, and drive the mechanical structure through a motor (or pneumatically) to make the manipulator open and close, so as to realize the gripping and releasing of the bobbin.

A kind of yarn splicing device as mentioned above, drive system 1 is mainly made up of motor clamping hand coupling, motor mounting plate, clamping hand motor, cylinder push rod, cylinder, cylinder fixing-slider connecting plate, linear guide rail sliding frame γ, The sliding block of the linear guide rail sliding frame γ, the motor a, the sliding table seat, the main rail sliding frame, the sliding block of the main rail sliding frame, the motor b, the auxiliary rail sliding frame and the sliding block of the auxiliary rail sliding frame; the motor mounting plate, the clip Hand motor, bobbin gripper, motor gripper coupling, cylinder and push rod, cylinder fixation—slider connecting plate together constitute the clamping assembly;

Both the motor mounting plate and the sliding table base are L-shaped plate-shaped structures, which are composed of horizontal plates and vertical plates. The horizontal plate of the motor mounting plate is on the top, and the vertical plate is on the bottom. The slider connecting plate is composed of a horizontal plate and an L-shaped vertical plate. The L-shaped vertical plate is composed of a vertical plate P and a vertical plate Q. The upper part of the vertical plate P away from the end of the vertical plate Q is connected with the horizontal plate to form an L shape. and the vertical plate Q are located on both sides of the vertical plate P;

The plate body of the yarn tube gripper is connected with the lower end of the motor gripper coupling, and the upper end of the motor gripper coupling is connected with the gripper motor through the hole on the horizontal plate of the motor mounting plate, and the gripper motor is used to control the yarn bobbin The clamping hand drives the yarn reel to rotate at a constant speed, and plays the role of picking, placing and rotating the yarn reel. The motor of the clamping hand is connected and fixed on the motor mounting plate, the vertical plate of the motor mounting plate is connected with the cylinder push rod, and the cylinder push rod is connected with the cylinder. Parallel to the Y-axis direction, the cylinder is fixed on the horizontal plate of the cylinder fixing-slider connecting plate, the vertical plate Q of the cylinder fixing-sliding block connecting plate is fixedly connected with the working surface of the sliding block of the linear guide rail γ, and the linear guide rail γ The sliding frame of the sliding frame is fixedly connected with the A surface of the vertical plate of the sliding table seat, and parallel to the Z-axis direction, the lower side of the horizontal plate of the sliding table seat is connected with the working surface of the sliding block of the main rail sliding frame and the sliding block of the auxiliary rail sliding frame The working surface is fixedly connected, the main guide rail slide frame and the auxiliary guide rail slide frame are parallel to the X-axis direction, and the motor a and the motor b are respectively connected with the linear guide rail slide frame γ and the main guide rail slide frame. In machinery, the linear guide rail slide frame is generally There are ball screws (except for the linear sliding guide rail for auxiliary guidance, because there is no need for motor drive, so there is no ball screw and only guide rails), the motor rotates the ball screw to drive the sliding block to move along the linear guide rail sliding frame, and the linear guide rail sliding frame γ and motor a are used to guide and drive the sliding block of the linear guide carriage γ to move along the Z axis, the main guide carriage and motor b are used to guide and drive the sliding block of the main guide carriage to move along the X axis, The auxiliary rail sliding frame is used to guide the sliding block of the auxiliary rail sliding frame to move along the X-axis, and the cylinder push rod is used to push the motor mounting plate to move along the Y-axis.

In the yarn joining device as described above, the motor a is installed on the lower end of the linear guide carriage γ, and the vertical side of the linear guide carriage γ is sequentially fixed with a first U-shaped limiter, a second U-shaped limiter and the third U-shaped limiter, the first U-shaped limiter is installed in the first T-shaped slot, the second U-shaped limiter and the third U-shaped limiter are installed in the second T In the groove, a first external sensor is installed on the vertical side of the sliding block of the linear guide rail sliding frame γ, and the first external sensor is located between the first U-shaped limiter and the third U-shaped limiter ;

The motor b is installed on one side of the main rail sliding frame and close to the end position, and the horizontal side of the main rail sliding frame is sequentially fixed with the fourth U-shaped limiter, the fifth The U-shaped limiter and the sixth U-shaped limiter, the fourth U-shaped limiter and the fifth U-shaped limiter are installed in the third T-shaped slot, and the sixth U-shaped limiter is installed in the fourth T. In the groove, a second external sensor is installed on the same side of the sliding block of the main rail sliding frame as the fourth U-shaped stopper, and the second external sensor is located between the fourth U-shaped stopper and the sixth U-shaped stopper. Between the U-shaped stoppers; the components such as T-shaped slots, external sensors and stoppers of a yarn splicing device of the present invention are existing in the prior art, and have little structural difference from the prior art. .

A yarn splicing device as described above, the suction nozzle assembly is mainly composed of a suction nozzle, a suction pipe and a suction nozzle seat, the suction nozzle is a trumpet-shaped structure, the size of the m end is larger than the n end, and the m end of the suction nozzle is facing the yarn tube to clamp the hand directly below the suction nozzle, the n-end of the suction nozzle is connected with the suction pipe, and the suction pipe penetrates the suction nozzle seat and is fixedly connected with the suction nozzle seat; the suction nozzle assembly in the patent CN 108842239A is a combination of a hollow trapezoid and a hollow cuboid, and the trapezoid The narrow end (i.e. the end with a small end surface area) of the tube is facing the bobbin, and the wide end (i.e. the end with a large end surface area) is connected with the hollow cuboid; the size of the m end of the suction nozzle of the present invention is larger mainly for the convenience of suction The nozzle assembly effectively absorbs the broken ends of the yarn. The size of the n-end is small mainly to match the shape of the straw. The cross-sectional area of the straw is smaller than the area of the m-end mainly for the convenience of the yarn clamp to clamp the broken yarn. The m-end and the The specific shape of the n-end is not limited, preferably the m-end is a flat mouth, and the n-end is a round mouth, and the position to be clamped is a position keeping a certain distance from the end of the suction pipe away from the suction nozzle, that is, the suction nozzle assembly is mainly used to find yarn breaks head, and control the position of the yarn breakage, the length of the sucked yarn and the length of the exposed yarn; the control of the position of the yarn breakage is to transfer the position of the yarn breakage from the yarn bobbin to the suction nozzle assembly Near the mouth of the suction pipe, the reason for controlling the position of the yarn breakage is that after the yarn breakage, the position of the yarn breakage on the bobbin cannot be specifically determined, that is, the yarn breakage after the yarn breakage is unknown Whether it is located at the upper part, the middle part or the lower part of the yarn bobbin, its position is random, and the suction nozzle assembly sucks the whole yarn bobbin, and the working area is very large, so when the broken end of the yarn is sucked out by the suction nozzle assembly The position cannot be clearly known, and if the position of the yarn breakage is not known, the yarn gripper does not know where to clamp it, so it is necessary to control the position of the sucked yarn breakage so that it does not matter Wherever it is sucked out, it will be brought to the position of the straw by the airflow, so that its position is changed from a large area at the mouth of the suction nozzle to a small area around the straw, so that the yarn gripper can directly go to this small area to grab Yarn breakage; controlling the length of the sucked yarn is to control the length of the yarn passing through the suction tube, specifically by specifying a time for fuzzy control or adding a sensor in the suction tube to detect the length of the sucked yarn. The control is realized in two ways; to control the length of the exposed yarn is to withdraw the suction nozzle assembly until the third external sensor on the sliding block of the upper linear guide rail carriage is detected by the eighth U-shaped limiter ; The reason why the length of the sucked yarn and the length of the exposed yarn is controlled is because if the length is not controlled, the yarn gripper cannot accurately clamp the broken end of the broken yarn, and the clamped yarn If the position of the broken end is too long or too short, it will have a great influence on the subsequent yarn splicing process, and even cause yarn splicing failure.

In the yarn joining device as described above, the drive system II is mainly composed of the sliding platform seat, the upper linear guide rail carriage, the sliding block of the upper linear guide rail carriage, the motor c, the main guide rail carriage, and the main guide rail sliding The sliding block of the frame, the motor b, the auxiliary guide rail sliding frame and the sliding block of the auxiliary guiding rail sliding frame;

The nozzle seat is fixedly connected with the working surface of the sliding block of the upper linear guide rail sliding frame, the motor c is connected with the upper linear guide rail sliding frame, and the upper linear guide rail sliding frame is fixedly connected with the B surface of the vertical plate of the sliding platform seat, and is parallel to the Y-axis direction.

In the above-mentioned yarn joining device, the motor c is installed at the end of the upper linear guide rail carriage, and the upper side of the upper linear guide rail carriage is sequentially fixed with a seventh U-shaped The limiter, the eighth U-shaped limiter and the ninth U-shaped limiter, the seventh U-shaped limiter is installed in the fifth T-shaped slot, the eighth U-shaped limiter and the ninth U-shaped limiter The sensor is installed in the sixth T-shaped slot, and the upper side of the sliding block of the upper linear guide rail sliding frame is installed with a third external sensor, and the third external sensor is located at the seventh U-shaped limiter and the ninth U-shaped limiter. between bit registers.

A yarn joining device as described above is characterized in that the magnet-finding fixed body also includes a supporting fixed block, and the traveler moving block is fixed on the head end of the supporting fixed block;

Drive system III is mainly composed of the sliding platform seat, the lower linear guide rail sliding frame, the sliding block of the lower linear guide rail sliding frame, the motor d, the main rail sliding frame, the sliding block of the main rail sliding frame, the motor b, The auxiliary guide rail sliding frame and the sliding block of the auxiliary guide rail sliding frame are composed;

The tail end of the support fixed block is fixedly connected with the working surface of the sliding block of the lower linear guide rail sliding frame, the motor d is connected with the lower linear guide rail sliding frame, and the lower linear guide rail sliding frame is located below the upper linear guide rail sliding frame, and is vertical to the slide table seat. The B side of the plate is fixedly connected while being parallel to the Y-axis direction.

In the above-mentioned yarn joining device, the motor d is installed at the end of the lower linear guide rail carriage, and the upper side of the lower linear guide rail carriage is sequentially fixed with a tenth U-shaped limiter from a position close to the motor d to a position far away from the motor d. The 11th U-shaped stopper and the 12th U-shaped stopper, the tenth U-shaped stopper and the eleventh U-shaped stopper are installed in the seventh T-shaped slot, the twelfth U-shaped stopper The U-type limiter is installed in the eighth T-shaped slot, and the fourth external sensor is installed on the upper side of the sliding block of the lower linear guide rail sliding frame. The fourth external sensor is located between the tenth U-shaped limiter and the twelfth U-type limiter. Between the U-shaped stoppers.

In the above-mentioned yarn joining device, the yarn gripper is composed of a base and a plurality of half-section columnar fingers installed on the base, the base of the yarn gripper is fixedly connected with the industrial robot, and all the grippers in the yarn gripper The fingers are distributed in two rows and multiple columns, and the opposite surfaces of the two fingers in the same column are planes. The number of yarn grippers is multiple and distributed in two rows and multiple columns, so that the yarn grippers can hold the yarn in multiple sections. When hanging the traveler, yarn guide hook and air ring, the yarn gripper adopts different yarn positions in the multi-segment clamping line to adapt to different operations. For example, when hanging the traveler, the opening of the traveler is small and the yarn The range of motion of the clamp hand is narrow, and the line segment between two similar fingers can be used to hang the steel traveler. When hanging the air ring, the movement is complicated and the range of motion is large, so the three fingers located on both sides can be used to hold the line segment. Loosen the fingers and remove the air ring, which has the advantages of high flexibility and good stability in the thread hanging operation, and at the same time improves the reliability of the thread hanging operation; the specific shape of the fingers in the yarn gripper is not limited, and can be It is a half-section cylinder, and it can also be a half-section cylinder analogue. The cylinder analogue is a combination of a cylinder and a hemisphere. The hemisphere is located on the circular plane of the end face of the cylinder. The surface is a plane, and the shape of the finger will not affect any shape of the operations of hanging the traveler, the gas ring, the yarn guide hook and the front roller; the yarn gripper of the prior art is as patent CN109576886A or In the yarn clamping mechanism in CN107557970A, the clamping mechanism is provided with a yarn passage, an airflow passage and a working cavity. When the yarn passage and the airflow passage are opened, compressed air passes through the airflow passage, so that the yarn passage forms a negative pressure, and the The external yarn is sucked into the channel of the clamping mechanism. When the yarn channel and the air channel are closed, the thread-pressing spring in the working chamber controls the yarn clamping slider to clamp the yarn; or the clamping wheel and the clamping groove cooperate with each other The clamping method of clamping the yarn; the yarn clamping mechanism of the prior art is relatively complicated, so the present invention designs a new clamping mechanism, and the structure of the yarn clamping hand of the present invention has a small, flexible and stable structure. Features, using a relatively simple method to ensure that the flexible operation of hanging the traveler, yarn guide hook and air ring can be realized.

The entire action process of a yarn joining device of the present invention is as follows: the yarn joining device is fixed on the transport trolley, and when the transport trolley moves to the position of the broken spindle of the spinning frame, it sends a signal to the yarn joining device, and the yarn joining device receives this signal Afterwards, the clamping tube assembly is driven to transport the yarn bobbin gripper to the upper end of the yarn bobbin. After reaching this position, a signal is sent to the motor gripper coupling. After receiving the signal, the motor gripper coupling drives the yarn bobbin gripper to clamp the yarn bobbin. , and then send a clamping completion signal to the yarn joining device, after receiving the signal, the yarn joining device will take out the broken yarn bobbin and place it on the suction side of the suction nozzle assembly, and send the suction nozzle assembly and magnetic search to the yarn joining device after it is in place When the signal of the fixed body is in place, the yarn connecting device controls the yarn bobbin gripper to start to rotate, and at the same time controls the negative pressure device and the suction nozzle assembly to start working to suck out the broken yarn, and the suction nozzle assembly sucks the broken yarn to a certain length, After the sensor of the suction nozzle assembly detects the yarn breakage, it sends a signal of finding the yarn breakage to the clamping tube assembly. After the device receives the signal, it drives the suction nozzle assembly to start moving for a certain distance to expose the broken end of the yarn to the clampable part, and then sends a signal to the yarn splicing device to complete the exposure of the broken end of the yarn, and finds the magnetism when the above suction nozzle assembly starts to work After the fixed body receives the in-position signal, it starts to move around the steel ring from the specified position, dials the traveler to the specified position (the specified position is the position closest to the yarn connecting device on the steel ring), and then sends a dial to the yarn connecting device. The traveler completion signal, the yarn connecting device receives the traveler completion signal and the yarn breakage completion signal at the same time, and then sends a preparation completion signal to the industrial robot, and the industrial robot drives the yarn gripper to the yarn breakage after receiving the signal , after it is in place, send a signal to the yarn gripper to drive it to clamp the broken end of the yarn, and then the yarn gripper sends a clamping completion signal to the yarn joining device, and the yarn joining device drives the clamping assembly to remove the yarn bobbin after receiving the completion signal. Put it back, and control the negative pressure device to stop working. The industrial robot follows the yarn bobbin in the process of putting it back. After the yarn bobbin is put back, the yarn splicing device sends a signal to the motor gripper coupling to drive the yarn bobbin gripper to release the yarn bobbin. , after releasing, the signal is sent to the industrial robot. After receiving the signal, the industrial robot runs according to a specific route and action, that is, the yarn clamp hand hangs the broken end of the yarn in turn on the steel traveler, gas ring and yarn guide hook, and then puts it into the spinning frame The front roller jaw, the last device is reset.

Beneficial effect:

(1) A yarn splicing device of the present invention can automatically find broken ends of yarns through the cooperation of components, reducing labor costs;

(2) A yarn splicing device of the present invention can be used to automatically take out the yarn bobbin, and the clamping is stable, which can avoid damage to the yarn bobbin;

(3) A yarn splicing device of the present invention can be universally used for various ring spinning frames only by changing the positions of the upper and lower linear guide rail sliding frames, and has a wide range of applications;

(4) A kind of yarn splicing device of the present invention, adopts non-contact method to search for yarn breakage, can not pollute yarn;

(5) A kind of yarn splicing device of the present invention can replace manual work, avoiding the failure of wiring or poor wiring quality caused by workers' unskilled wiring skills, and also reducing the time and economic costs for enterprises to cultivate skilled wiring workers;

(6) A kind of yarn splicing device of the present invention can carry out the wiring work that the wiring path is a complex three-dimensional route;

(7) A yarn splicing device of the present invention can provide splicing services for all yarns on a spinning frame, greatly reducing costs.

Description of drawings

1 to 3 are schematic structural views of a yarn joining device of the present invention;

Figure 4 is a structural state diagram of the external sensor on the sliding block of the lower linear guide rail sliding frame in the middle of the U-shaped stopper on the T-shaped slot;

Fig. 5 is an axonometric view of the transport trolley of the automatic yarn splicing device of the spinning frame of the present invention;

Fig. 6 is a top view structure diagram of the main rail sliding frame;

Fig. 7 is a structural diagram of the sliding platform;

Fig. 8 is a structure diagram of a magnetic fixing body;

Fig. 9 is a connection structure diagram of the motor mounting plate, the gripper motor, the yarn bobbin gripper, and the motor gripper coupling;

Figure 10 is a structural diagram of the cylinder fixing-slider connecting plate;

Figure 11 is a connection structure diagram of the suction nozzle and the suction pipe;

Figure 12 is a structural diagram of the nozzle seat;

Fig. 13 is the structural diagram of yarn gripper;

Fig. 14 is a top view structure diagram of the auxiliary guide rail sliding frame;

Among them, 1-the third T-shaped slot, 2-the second external sensor, 3-the sliding block of the main rail sliding frame, 4-the main rail sliding frame, 5-the fifth U-shaped limiter, 6-the fourth U-shaped limiter, 7-motor b, 8-fourth T-shaped slot, 9-lower linear guide rail slide frame, 10-traveler toggle block, 11-yarn bobbin, 12-suction nozzle, 13-suction tube, 14 - Yarn tube gripper, 15- motor gripper coupling, 16- motor mounting plate, 17- gripper motor, 18- cylinder push rod, 19- upper linear guide rail sliding frame, 20- seventh U-shaped limiter , 21-Cylinder, 22-Cylinder fixing-slider connecting plate, 23-Sliding block of linear guide rail gamma, 24-Linear guide rail gamma, 25-Sixth T-shaped slot, 26-Eighth U-shaped limit Device, 27-the third external sensor, 28-the ninth U-shaped limiter, 29-the sliding block of the upper linear guide rail sliding frame, 30-yarn gripper, 31-industrial robot, 32-motor c, 33 -Suction nozzle seat, 34-motor d, 35-support fixed plate, 36-sliding table seat, 37-sliding block of auxiliary guide rail sliding frame, 38-auxiliary guide rail sliding frame, 39-sixth U-shaped limiter, 40- The eighth T-shaped slot, 41-the twelfth U-shaped limiter, 42-the fifth T-shaped slot, 43-the first U-shaped limiter, 44-the first T-shaped slot, 45-the tenth U-shaped limiter Stopper, 46-the eleventh U-shaped stopper, 47-the seventh T-shaped slot, 48-the second T-shaped slot, 49-the second U-shaped stopper, 50-the third U-shaped stopper, 51-motor a, 52-the sliding block of the lower linear guide rail sliding frame, 53-the fourth external sensor, 54-the first external sensor, 55-the transport trolley.

Detailed ways

The present invention will be further described below in combination with specific embodiments. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

In all descriptions of the present invention, it should be noted that the determination of the direction of motion is the X, Y, and Z axes respectively represented by the main guide rail slide frame 4, the upper linear guide rail slide frame 19 and the linear guide rail slide frame γ24 in the accompanying drawing 1. The direction of the standard is the standard, and the terms "front", "top view", "left view", "right view", "horizontal", "vertical" and other indicative orientations or positional relationships are only for convenience and simplified description of the invention, and are not specific Said parts or devices must be configured and moved according to the specified orientation and therefore should not be construed as limiting the invention.

In all descriptions of the present invention, it should be noted that terms such as "installation", "fixation", and "connection" are to be understood in a broad sense unless otherwise specified and limited.

A yarn splicing device, as shown in Figures 1 to 3, comprising a yarn bobbin gripper 14, a drive system I, a suction nozzle assembly, a negative pressure device, a drive system II, a magnet-finding fixture as shown in Figure 8, and a drive system III, yarn gripper 30 and industrial robot 31 as shown in Figure 13;

The bobbin gripper 14 is mainly composed of a plate body and a plurality of columnar fingers vertically connected to the plate body. The shape of the space surrounded by the plurality of columnar fingers is the same as that of the upper end of the yarn bobbin 11. The inner surface of the plurality of columnar fingers Equipped with anti-slip parts;

The drive system 1 is used to drive the yarn bobbin gripper 14 to move along the X-axis, Y-axis and Z-axis of the space Cartesian coordinate system, and is used to drive the yarn bobbin gripper 14 to clamp the yarn bobbin 11, release the yarn bobbin 11 and rotate; System I is mainly composed of motor clamp hand coupling 15, motor mounting plate 16, hand clamp motor 17, cylinder push rod 18, cylinder 21, cylinder fixing-slider connecting plate 22, linear guide rail sliding frame γ24, linear guide rail sliding frame γ Slide block 23, motor a 51, slide table seat 36, main guide rail slide frame 4, slide block 3 of main guide rail slide frame, motor b 7, auxiliary guide rail slide frame 38 and auxiliary guide rail slide frame 37 composition;

The motor mounting plate 16 and the sliding platform seat 36 are all L-shaped plate-shaped structures, consisting of horizontal plates and vertical plates. The horizontal plate of the motor mounting plate 16 is on the top, and the vertical plate is on the bottom. Cylinder is fixed—slider connecting plate 22 is made up of horizontal plate and L-shaped vertical plate, and L-shaped vertical plate is made up of vertical plate P and vertical plate Q, and the top of vertical plate P is far away from the end of vertical plate Q and is connected with horizontal plate to form L-shaped, the horizontal plate and the vertical plate Q are located on both sides of the vertical plate P;

The plate body of the yarn bobbin gripper 14 is connected with the lower end of the motor gripper coupling 15, and the upper end of the motor gripper coupling 15 is connected with the gripper motor 17 through the hole on the horizontal plate of the motor mounting plate 16, and the gripper motor 17 is connected and fixed on the motor mounting plate 16, the connection structure of the motor mounting plate 16, the clamping hand motor 17, the yarn bobbin clamping hand 14, and the motor clamping hand coupling 15 is as shown in Figure 9, the vertical plate of the motor mounting plate 16 and the cylinder The push rod 18 is connected, and the cylinder push rod 18 is connected with the cylinder 21, and is parallel to the Y-axis direction. The vertical plate Q of the block connecting plate 22 is fixedly connected with the working surface of the sliding block 23 of the linear guide rail γ, and the sliding frame of the linear guide rail γ is fixedly connected with the A face of the vertical plate of the slide platform seat 36 as shown in Figure 7, parallel to In the Z-axis direction, the lower side of the horizontal plate of the slide platform seat 36 is fixedly connected with the working surface of the sliding block 3 of the main rail sliding frame and the working surface of the sliding block 37 of the auxiliary guiding rail sliding frame, and the main rail slides as shown in Figure 6 The frame 4 and the auxiliary rail sliding frame 38 shown in Figure 14 are parallel to the X-axis direction;

The motor a 51 in the drive system 1 is installed on the lower end of the linear guide rail sliding frame γ24, and the vertical side of the linear guide rail sliding frame γ24 is fixed with the first U-shaped stopper 43 and the second U-shaped stopper 43 sequentially from top to bottom. Stopper 49 and the third U-shaped stopper 50, the first U-shaped stopper 43 is installed in the first T-shaped slot 44, the second U-shaped stopper 49 and the third U-shaped stopper 50 are installed in In the second T-shaped slot 48, a first external sensor 54 is installed on the vertical side of the sliding block 23 of the linear guide rail sliding frame γ, and the first external sensor 54 is located between the first U-shaped limiter 43 and the second Between the three U-shaped stoppers 50;

The motor b7 in the drive system 1 is installed on one side of the main rail sliding frame 4 and near the end position, and the horizontal side of the main rail sliding frame 4 is sequentially fixed from a position close to the motor b7 to a position away from the motor b7. The fourth U-shaped limiter 6, the fifth U-shaped limiter 5 and the sixth U-shaped limiter 39, the fourth U-shaped limiter 6 and the fifth U-shaped limiter 5 are installed on the third T-shaped In the slot 1, the sixth U-shaped stopper 39 is installed in the fourth T-shaped slot 8, and the sliding block 3 of the main rail sliding frame is installed on the same side as the fourth U-shaped stopper 6. The sensor 2, the second external sensor 2 is located between the fourth U-shaped limiter 6 and the sixth U-shaped limiter 39;

The suction nozzle assembly is located under the side of the bobbin gripper 14 and communicated with the negative pressure device. When the bobbin gripper 14 grips the bobbin and transports it to the suction side of the suction nozzle assembly, the working end of the suction nozzle assembly is facing the axis of the bobbin; It is mainly composed of a suction nozzle 12, a suction tube 13 and a suction nozzle seat 33. The suction nozzle 12 is a horn-shaped structure, and the size of the m end is larger than the n end. The n end of the suction pipe 13 is connected, the connection structure of the suction nozzle 12 and the suction pipe 13 is shown in Figure 11, the suction pipe penetrates the suction nozzle seat 33, the structure of the suction nozzle seat 33 is shown in Figure 12, and is fixed with the suction nozzle seat 33 connected, the position to be clamped is a position keeping a certain distance from the end of the suction pipe 13 away from the suction nozzle 12;

The driving system II is used to drive the suction nozzle assembly to move along the X-axis and the Y-axis, and is used to drive the negative pressure device to generate negative pressure to suck the broken yarn on the bobbin 11 to the position to be clamped; mainly by The sliding platform seat 36, the upper linear guide rail sliding frame 19, the sliding block 29 of the upper linear guiding rail sliding frame, the motor c 32, the main rail sliding frame 4, the sliding block 3 of the main rail sliding frame, the motor b 7. The auxiliary rail sliding frame 38 and the sliding block 37 of the auxiliary rail sliding frame are composed;

The suction nozzle seat 33 is fixedly connected with the working surface of the sliding block 29 of the upper linear guide rail slide frame, the motor c 32 is connected with the upper linear guide rail slide frame 18, and the upper linear guide rail slide frame 19 is connected with the B of the vertical plate of the slide platform seat 36. The surfaces are fixedly connected and parallel to the Y-axis direction;

The motor c 32 in the drive system II is mounted on the end of the upper linear guide rail slide frame 19, and the upper side of the upper linear guide rail slide frame 19 is sequentially fixed with a seventh U-shaped frame from a position away from the motor c 32 to a position close to the motor c 32. Limiter 20, the eighth U-shaped limiter 26 and the ninth U-shaped limiter 28, the seventh U-shaped limiter 20 is installed in the fifth T-shaped slot 42, the eighth U-shaped limiter 26 and The ninth U-shaped limiter 28 is installed in the sixth T-shaped slot 25, and the upper side of the sliding block 29 of the upper linear guide rail sliding frame is equipped with a third external sensor 27, and the third external sensor 27 is located on the seventh Between the U-shaped limiter 20 and the ninth U-shaped limiter 28;

Find a magnetic fixed body, located directly below the nozzle assembly, including a traveler toggle block 10. The traveler toggle block 10 is a T-shaped block with an electromagnet function, consisting of a first block and a second block. One body is located at the end of the magnetism-seeking fixture, and its lower surface is sunken upwards to form an inverted concave structure; the magnetism-finding fixture also includes a support fixing block 35, and the traveler moving block 10 is fixed on the head end of the support fixation block 35;

The drive system III is used to drive the magnetic-finding fixed body to move along the X-axis and the Y-axis to move the traveler to a designated position, and the designated position is the position closest to the yarn connecting device on the ring; the drive system III mainly By described slide platform seat 36, lower linear guide rail sliding frame 9, the sliding block 52 of lower linear guide rail sliding frame, motor d 34, described main rail sliding frame 4, the sliding block 3 of described main rail sliding frame, described motor b 7. The auxiliary guide rail sliding frame 38 and the sliding block 37 of the auxiliary guide rail sliding frame are composed;

The tail end of the support fixed block 35 in the magnetic fixed body is fixedly connected with the working surface of the sliding block 52 of the lower linear guide rail sliding frame, the motor d 34 in the drive system III is connected with the lower linear guide rail sliding frame 9, and the lower linear guide rail slides The frame 9 is located below the upper linear guide rail sliding frame 19, and is fixedly connected with the B surface of the vertical plate of the sliding platform seat 36, and is parallel to the Y-axis direction;

The motor d 34 is installed on the end of the lower linear guide rail slide frame 9, and the upper side of the lower linear guide rail slide frame 9 is successively fixed with the tenth U-shaped stopper 45, the first U-shaped stopper 45, and the position away from the motor d 34 from the position close to the motor d 34. The eleventh U-shaped stopper 46 and the twelfth U-shaped stopper 41, the tenth U-shaped stopper 45 and the eleventh U-shaped stopper 46 are installed in the seventh T-shaped slot 47, and the twelfth U-shaped stopper 46 is installed in the seventh T-shaped slot 47. The U-shaped limiter 41 is installed in the eighth T-shaped slot 40, and the upper side of the sliding block 52 of the lower linear guide rail slide frame shown in Figure 4 is equipped with a fourth external sensor 53, and the fourth external sensor 53 Located between the tenth U-shaped limiter 45 and the twelfth U-shaped limiter 41;

The yarn gripper 30 is located on the side of the suction nozzle assembly away from the yarn bobbin gripper 14, and is connected to the industrial robot 31; the yarn gripper 30 is composed of a base and a plurality of half-cut cylindrical fingers installed on the base, and the yarn The base of the gripper 30 is fixedly connected to the industrial robot 31, and all the fingers in the yarn gripper 30 are distributed in two rows and multiple columns, and the opposite surfaces of the two fingers in the same column are planes;

The industrial robot 31 is used to drive the yarn gripper 30 to move to the position to be clamped to clamp the broken end of the yarn, and then drive the yarn gripper 30 to hang the broken end of the yarn on the steel traveler, air ring and yarn guide hook in sequence, and then release it. into the front roller nip of the spinning frame.

The yarn splicing device of the present invention can be connected with the control system (the control system can adopt PLC, industrial computer, DSP, etc., the specific form is not limited, now take PLC as an example to illustrate, the master control PLC is to use PLC to be responsible for overall planning, and the sub-PLC is responsible for control. For industrial robots, sub-PLCs are controlled by the main control PLC, and the motion control is controlled by the cooperation of sensors and the main control PLC) to form an automatic yarn splicing device. The specific cooperation methods are: control system and drive system I, drive system II, drive System III is connected with the industrial robot; when the yarn is broken, the yarn joining device of the present invention is used to automatically join the yarn, and the yarn joining device can be moved to the broken thread position along the rail by the transport trolley 55 as shown in Figure 5 , and then The movement process at this point is controlled by the control system. When the thread breakage is detected, the control system transmits the thread breakage signal generated by the broken thread spindle to the transport trolley 55. After the transport trolley 55 receives the signal, it will be clear according to the information in the received signal. The position of the broken thread spindle, and then move to the broken thread spindle. Its control steps are as follows:

(1) Control the yarn bobbin gripper 14 to clamp the yarn bobbin 11. The specific process is: after the yarn bobbin gripper 14 of the yarn connecting device clamps the upper end cylinder of the yarn bobbin 11, the motor a 51 of the linear guide carriage gamma 24 moves to thereby Drive the clamping tube assembly (composed of motor mounting plate, clamping motor, yarn tube clamping hand, motor clamping hand coupling, cylinder and push rod, cylinder fixing-slider connecting plate) to generate Z along the linear guide rail sliding frame γ24 Axial movement to take out the bobbin 11 from the spindle of the spinning frame;

(2) Control the movement of the yarn tube gripper 14 that has clamped the yarn tube 11 until the yarn tube 11 is located on the suction side of the suction nozzle assembly. The magnetic fixed body produces movement in the Y-axis direction. Through the movement in these two directions, the yarn bobbin 11 taken in the process (1) can be brought to the position on the suction side in front of the suction nozzle 12 in the suction nozzle assembly (the suction side The position is that the m end of the suction nozzle is facing the axial direction of the bobbin 11, and the yarns on the bobbin 11 are all in the working space of the suction nozzle);

(3) Control the magnetic fixed body to move the traveler to the designated position. The specific process is: after taking out the yarn bobbin 11, synchronously with the process (2), the traveler block 10 of the magnetic fixed body moves to the spun yarn On the steel ring of the machine, there is a gap between the two to avoid contact damage, and then the protruding parts of the two ends of the concave character at the front end of the traveler toggle block 10 start to go around the steel ring from the designated position when the traveler is connected. Turn the traveler at any position on the steel ring to the designated position (the designated position is the position closest to the yarn connecting device on the steel ring); this action process relies on the linear guide rail carriage α (by the main guide rail carriage 3 and the auxiliary guide rail sliding frame 38 are formed) and the lower linear guide rail sliding frame 9 cooperates to realize;

(4) Control the yarn tube gripper 14 to start to rotate, and control the negative pressure device to start working. The specific process is: after the process (2) and (3) are completed, the action of the gripper motor 17 drives the yarn tube gripper 14 to drive the yarn tube 11 Rotate, when the yarn tube gripper 14 drives the yarn tube 11 to rotate in front of the suction nozzle 12, the suction nozzle 12 generates suction through the air negative pressure at this time, so that the air flow passes through the rotating yarn tube 11 and enters along the m port, so that the yarn can be The broken yarn on the tube 11 is found and sucked into the suction nozzle 12 under the action of the air flow;

(5) After the suction nozzle assembly sucks the yarn breakage, control the yarn bobbin gripper 14 to stop the rotation, and control the movement of the suction nozzle assembly until the yarn breakage protrudes a certain length from the suction nozzle assembly. The specific process is as follows: in the process ( 4) After the broken end of the middle yarn is sucked into the suction nozzle 12 and sucked out for a certain length, the clamping motor 17 stops, the yarn bobbin 11 stops rotating, and the suction nozzle assembly still maintains negative pressure to keep the broken end of the yarn at the level of the suction pipe 13, and Under the action of the motor c 32, retreat a certain distance along the upper linear guide rail carriage 19 until the third external sensor 27 on the sliding block 29 of the upper linear guide rail carriage is detected by the eighth U-shaped stopper 26 So far, revealing the broken end of the yarn;

(6) Control the movement of the yarn gripper 30 to the position to be clamped to clamp the broken end of the yarn. Driven by a specific guiding movement to the specific position of the broken end of the yarn, and clamping the thread end in multiple sections according to a certain length (that is, F1, F2, and F3 all act to clamp the yarn),

(7) Control the negative pressure device to stop working, control the bobbin gripper 14 to put the bobbin 11 back on the spinning frame spindle and release the bobbin 11. The specific process is: after the process (6) is completed, control the negative pressure device Stop working, the motor a 51 of the linear guide rail sliding frame γ24 moves to drive the pinch assembly to move along the linear guide rail sliding frame γ24 in the Z-axis direction, and the cylinder 21 makes the cylinder push rod 18 move, and at the same time drives the cylinder push rod 18 shown in Figure 8 Find the magnetic fixed body to generate movement in the Y-axis direction. Through the cooperation of these two directions, the yarn bobbin 11 can be put back on the spindle of the spinning frame. The industrial robot 31 carries the yarn gripper 30 to clamp the broken end of the yarn and follow a certain track to avoid breaking the yarn;

(8) Control the yarn gripper 30 to hang the broken end of the yarn on the traveler, air ring and yarn guide hook in turn and put it into the front roller jaw of the spinning machine. The specific process is: the yarn bobbin in the process (7) After putting it back, the industrial robot 31 moves the yarn gripper 30 to the position of the ring traveler of the spinning frame, and then the yarn gripper 30 is in a horizontal posture (that is, the gripper fingers F1, F2, and F3 are on the horizontal plane), and then the fingers F3 are loosened. Open, finger F1 and finger F2 clamp the yarn to hang it on the traveler, finger F2 loosen, and then finger F1 clamps the yarn to push out the traveler position;

The movement of the industrial robot 31 moves the yarn gripper 30 to the air ring position of the spinning frame, and the yarn gripper 30 changes to a vertical posture (that is, the fingers F1, F2, and F3 are on the vertical plane), and the fingers F2 grip the yarn, Then wind the yarn into the air ring according to the specified gesture, release the finger F2, and push the yarn out of the air ring with the finger F1;

The industrial robot 31 moves the yarn gripper 30 to the position of the yarn guide hook of the spinning frame, the yarn gripper 30 maintains a vertical posture, and the finger F2 clamps the yarn, and then winds the yarn into the yarn guide hook according to the specified posture action, and the finger F2 grips the yarn. F2 is released, which means that F1 clamps the yarn and pushes out the position of the air ring, and then moves to the position of the front roller jaw;

(9) After controlling the yarn gripper 30 to send the broken end of the yarn into the jaw of the front roller with a specific posture, the finger F1 is quickly released; Re-twist and stretch the yarn under the action to connect them together to realize the wiring process;

(10) The industrial robot 31 returns to the initial posture and position, and the pinch assembly, the suction nozzle assembly, the magnet-finding fixture, and the linear guide slide assembly also return to the initial state, and the automatic wiring is completed.

Claims (10)

1. A yarn splicing device, characterized in that it includes a yarn bobbin gripper, a drive system I, a suction nozzle assembly, a negative pressure device, a drive system II, a magnetic fixer, a drive system III, a yarn gripper and an industrial robot ; The drive system I is used to drive the yarn bobbin gripper to move along the X-axis, Y-axis and Z-axis of the space Cartesian coordinate system, and is also used to drive the yarn bobbin gripper to grip the yarn bobbin, release the yarn bobbin and rotate; The suction nozzle assembly is located under the side of the bobbin gripper and communicates with the negative pressure device. When the bobbin gripper grabs the bobbin and transports it to the suction side of the suction nozzle assembly, the working end of the suction nozzle assembly is facing the axis of the bobbin; The driving system II is used to drive the suction nozzle assembly to move along the X-axis and the Y-axis, and at the same time to drive the negative pressure device to generate negative pressure to suck the broken yarn on the bobbin to the position to be clamped; The magnetic fixing body is located directly below the suction nozzle assembly, including the traveler toggle block. The traveler toggle block is a T-shaped block with an electromagnet function, consisting of the first block and the second block. The first block It is located at the end of the magnetism-seeking fixture, and its lower surface is depressed upwards to form an undercut structure; The driving system III is used to drive the magnetic-finding fixed body to move along the X-axis and the Y-axis, so as to move the traveler to a designated position, and the designated position is the position closest to the yarn connecting device on the steel ring; The yarn gripper is located on the side of the suction nozzle assembly away from the yarn bobbin gripper, and is connected to the industrial robot; The industrial robot is used to drive the yarn gripper to move to the position to be clamped to clamp the broken end of the yarn, and then drive the yarn gripper to hang the broken end of the yarn in turn on the steel traveler, air ring and yarn guide hook, and then put it into the spinning frame After the nip of the front roller, loosen the broken ends of the yarn. 2. A yarn joining device according to claim 1, characterized in that the yarn bobbin gripper is mainly composed of a plate body and a plurality of columnar fingers vertically connected to the plate body, and the space surrounded by the plurality of columnar fingers is The shape is the same as that of the upper end of the bobbin, and the inner surfaces of the multiple columnar fingers are provided with non-slip parts. 3. A kind of yarn splicing device according to claim 2, characterized in that, the driving system 1 is mainly composed of a motor clamping hand coupling, a motor mounting plate, a clamping hand motor, a cylinder push rod, a cylinder, and the fixing-slider of the cylinder Connecting plate, linear guide carriage γ, sliding block of linear guide carriage γ, motor a, carriage seat, main guide carriage, sliding block of main guide carriage, motor b, auxiliary guide carriage and auxiliary guide carriage Composition of sliders; Both the motor mounting plate and the sliding table base are L-shaped plate-shaped structures, which are composed of horizontal plates and vertical plates. The horizontal plate of the motor mounting plate is on the top, and the vertical plate is on the bottom. The slider connecting plate is composed of a horizontal plate and an L-shaped vertical plate. The L-shaped vertical plate is composed of a vertical plate P and a vertical plate Q. The upper part of the vertical plate P away from the end of the vertical plate Q is connected with the horizontal plate to form an L shape. and the vertical plate Q are located on both sides of the vertical plate P; The plate body of the yarn tube gripper is connected with the lower end of the motor gripper coupling, and the upper end of the motor gripper coupling is connected with the gripper motor through the hole on the horizontal plate of the motor mounting plate, and the gripper motor is connected and fixed on the motor installation. On the board, the vertical plate of the motor mounting plate is connected to the cylinder push rod, and the cylinder push rod is connected to the cylinder, while parallel to the Y-axis direction, the cylinder is fixed on the horizontal plate of the cylinder fixing-slider connecting plate, and the cylinder The vertical plate Q of the block connecting plate is fixedly connected with the working surface of the sliding block of the linear guide rail γ, and the sliding frame of the linear guide rail γ is fixedly connected with the A surface of the vertical plate of the sliding platform seat, and is parallel to the Z-axis direction. The lower side of the transverse plate is fixedly connected with the working surface of the sliding block of the main rail sliding frame and the working surface of the sliding block of the auxiliary rail sliding frame, the main rail sliding frame and the auxiliary rail sliding frame are parallel to the X-axis direction, the motor a and the motor b are respectively connected with the linear guide rail sliding frame γ and the main rail sliding frame. 4. A yarn splicing device according to claim 3, characterized in that, the motor a is installed on the lower end of the linear guide carriage γ, and the vertical side of the linear guide carriage γ is sequentially fixed with the first One U-shaped limiter, the second U-shaped limiter and the third U-shaped limiter, the first U-shaped limiter is installed in the first T-shaped slot, the second U-shaped limiter and the third U-shaped limiter The type limiter is installed in the second T-shaped slot, and the vertical side of the sliding block of the linear guide rail sliding frame γ is installed with a first external sensor, and the first external sensor is located between the first U-shaped limiter and the Between the third U-shaped limiters; The motor b is installed on one side of the main rail sliding frame and close to the end position, and the horizontal side of the main rail sliding frame is sequentially fixed with the fourth U-shaped limiter, the fifth The U-shaped limiter and the sixth U-shaped limiter, the fourth U-shaped limiter and the fifth U-shaped limiter are installed in the third T-shaped slot, and the sixth U-shaped limiter is installed in the fourth T. In the groove, a second external sensor is installed on the same side of the sliding block of the main rail sliding frame as the fourth U-shaped stopper, and the second external sensor is located between the fourth U-shaped stopper and the sixth U-shaped stopper. Between the U-shaped stoppers. 5. A yarn splicing device according to claim 3, wherein the suction nozzle assembly is mainly composed of a suction nozzle, a suction pipe and a suction nozzle seat, the suction nozzle is a trumpet-shaped structure, the size of the m end is larger than that of the n end, and the suction nozzle is larger than the n end. The m end of the nozzle faces directly below the gripper of the yarn tube, the n end of the suction nozzle is connected with the suction tube, the suction tube penetrates the suction nozzle seat, and is fixedly connected with the suction nozzle seat, and the position to be clamped is the end of the suction tube away from the suction nozzle Keep a distance. 6. A kind of yarn splicing device according to claim 5, characterized in that, the drive system II is mainly composed of the slide table seat, the upper linear guide rail carriage, the sliding block of the upper linear guide rail carriage, the motor c, the main Guide rail sliding frame, the sliding block of the main rail sliding frame, the motor b, the auxiliary guiding rail sliding frame and the sliding block of the auxiliary guiding rail sliding frame; The nozzle seat is fixedly connected with the working surface of the sliding block of the upper linear guide rail sliding frame, the motor c is connected with the upper linear guide rail sliding frame, and the upper linear guide rail sliding frame is fixedly connected with the B surface of the vertical plate of the sliding platform seat, and is parallel to the Y-axis direction. 7. A yarn joining device according to claim 6, characterized in that the motor c is installed at the end of the upper linear guide rail carriage, and the upper side of the upper linear guide rail carriage moves from a position away from the motor c to close to the motor c The positions of the seventh U-shaped limiter, the eighth U-shaped limiter and the ninth U-shaped limiter are fixed in turn, the seventh U-shaped limiter is installed in the fifth T-shaped slot, and the eighth U-shaped limiter The stopper and the ninth U-shaped stopper are installed in the sixth T-shaped slot, and the third external sensor is installed on the upper side of the sliding block of the upper linear guide rail sliding frame, and the third external sensor is located in the seventh U-shaped Between the stopper and the ninth U-shaped stopper. 8. A yarn joining device according to claim 6, characterized in that, the magnet-finding fixed body also includes a supporting fixed block, and the traveler moving block is fixed on the head end of the supporting fixed block; Drive system III is mainly composed of the sliding platform seat, the lower linear guide rail sliding frame, the sliding block of the lower linear guide rail sliding frame, the motor d, the main rail sliding frame, the sliding block of the main rail sliding frame, the motor b, The auxiliary guide rail sliding frame 38 and the sliding block of the auxiliary guide rail sliding frame are composed; The tail end of the support fixed block is fixedly connected with the working surface of the sliding block of the lower linear guide rail sliding frame, the motor d is connected with the lower linear guide rail sliding frame, and the lower linear guide rail sliding frame is located below the upper linear guide rail sliding frame, and is vertical to the slide table seat. The B side of the plate is fixedly connected while being parallel to the Y-axis direction. 9. A yarn joining device according to claim 8, characterized in that the motor d is installed at the end of the lower linear guide rail carriage, and the upper side of the lower linear guide rail carriage moves from a position close to the motor d to a position far away from the motor d. The positions are fixed in turn with the tenth U-shaped limiter, the eleventh U-shaped limiter and the twelfth U-shaped limiter, and the tenth U-shaped limiter and the eleventh U-shaped limiter are installed on the seventh In the T-shaped slot, the twelfth U-shaped limiter is installed in the eighth T-shaped slot, and the fourth external sensor is installed on the upper side of the sliding block of the lower linear guide rail sliding frame, and the fourth external sensor is located on the tenth Between the U-shaped limiter and the twelfth U-shaped limiter. 10. A yarn splicing device according to claim 1, characterized in that the yarn gripper is composed of a base and a plurality of half-section columnar fingers mounted on the base, and the base of the yarn gripper is fixed to the industrial robot For connection, all the fingers in the yarn gripper are distributed in two rows and multiple columns, and the opposite surfaces of the two fingers in the same column are planes.