CN110552095B

CN110552095B - Yarn splicing device

Info

Publication number: CN110552095B
Application number: CN201910742304.8A
Authority: CN
Inventors: 周其洪; 孙宝通; 岑均豪; 陈革; 孙志宏; 占齐宸
Original assignee: Guangzhou Shengyuancheng Automation Technology Co ltd; Donghua University
Current assignee: Guangzhou Shengyuancheng Automation Technology Co ltd; Donghua University
Priority date: 2019-08-13
Filing date: 2019-08-13
Publication date: 2020-10-30
Anticipated expiration: 2039-08-13
Also published as: CN110552095A

Abstract

The invention relates to a yarn splicing device, which comprises a yarn barrel clamping hand, a driving system I, a suction nozzle assembly, a negative pressure device, a driving system II, a magnetic finding fixing body, a driving system III, a yarn clamping hand and an industrial robot, wherein the yarn barrel clamping hand is arranged on the driving system I; the driving system I is used for driving the yarn barrel clamping hand to move along an X axis, a Y axis and a Z axis of a space rectangular coordinate system, and simultaneously is used for driving the yarn barrel clamping hand to clamp a yarn barrel, release the yarn barrel and rotate; the driving system II is used for driving the suction nozzle assembly to move along the X axis and the Y axis and simultaneously driving the negative pressure device to generate negative pressure to suck broken ends of yarns on the yarn drum to a position to be clamped; the driving system III is used for driving the magnetic finding fixing body to move along the X axis and the Y axis so as to shift the steel wire ring to a specified position; the industrial robot is used for driving the yarn gripper to clamp the broken end of the yarn, then the yarn gripper is sequentially hung with the steel wire ring, the air ring and the yarn guide hook and then placed into a front roller jaw of a spinning frame to be loosened. The yarn splicing device can perform yarn splicing work on a complex three-dimensional route.

Description

Yarn splicing device

Technical Field

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

Background

After the existing spinning frame breaks the yarn, the mainstream of the adopted yarn splicing technology is that the yarn is manually spliced again by a worker, namely, the worker takes out the broken spindle, manually searches the broken end of the yarn, and then uses the traditional yarn pinching method to reconnect the broken yarn for continuous spinning.

Patent CN105568455A discloses an automatic wire connector for broken wires, which uses the combined action of a driving roller and a holding roller to pull back the front end of the broken wire to be sent to a twisting and wiring device for wiring, and the broken wire can be opened in the process, and the wired structure is compact and good in quality, but is only suitable for wiring in a two-dimensional horizontal mode, and cannot be applied to textile machinery such as a ring spinning frame and the like with wiring requirements in a three-dimensional space.

Patent CN206706287U discloses an automatic doubling machine of working a telephone switchboard, sending the broken end of the yarn into the doubling spindle through the servo motor and the traction electromagnet, the distance between the doubling spindle and the roller is controlled by the thrust electromagnet, so the automatic wiring can be realized. The device can carry out vertical or horizontal wiring without polluting yarns, but uses the cooperation of the traction electromagnet and the servo motor to send the broken ends of the yarns into the doubling spindle, the process is similar to the automatic broken-yarn wiring connector disclosed in the patent CN105568455A, the whole process of sending the broken ends of the yarns to the wiring position is carried out on a straight line, and the device cannot be applied to spinning frames, textile machinery with a complicated three-dimensional route as the route in the wiring process.

Therefore, there is a need to develop a yarn splicing apparatus that can automatically search for a yarn broken end and can realize automatic yarn splicing with a complicated yarn splicing route in a three-dimensional space.

Disclosure of Invention

The invention aims to solve the problem that a yarn splicing device in the prior art is not suitable for a textile machine with a complicated three-dimensional yarn splicing path, and provides an automatic yarn splicing device which has higher efficiency, can automatically find yarn broken ends, is suitable for a complicated yarn splicing path in a three-dimensional space and can provide service for a plurality of yarns by one device.

In order to achieve the purpose, the invention adopts the following scheme:

a yarn splicing device comprises a yarn barrel clamping hand, a driving system I, a suction nozzle assembly, a negative pressure device, a driving system II, a magnetic finding fixing body, a driving system III, a yarn clamping hand and an industrial robot;

the driving system I is used for driving the yarn barrel clamping hand to move along an X axis, a Y axis and a Z axis of the space rectangular coordinate system, and simultaneously is used for driving the yarn barrel clamping hand to clamp the yarn barrel, release the yarn barrel and rotate.

The drive system I may be composed of a plurality of interrelated components, or may be composed of a plurality of independent components, when the components are mutually associated, the driving system I is not disclosed by the prior art, when the components are mutually independent, the driving system I consists of a component for driving the yarn bobbin clamping hand to move along the X axis of a space rectangular coordinate system, a component for driving the yarn bobbin clamping hand to move along the Y axis of the space rectangular coordinate system, a component for driving the yarn bobbin clamping hand to move along the Z axis of the space rectangular coordinate system, a component for driving the yarn bobbin clamping hand to clamp and release the yarn bobbin, and a component for driving the yarn bobbin clamping hand to rotate, wherein all the components can be found in the prior art, the driving system I with mutually independent components is more complicated relative to the driving system I with mutually associated components, and the driving system I with mutually associated components is preferably used; under the mutual cooperation of the components, the driving system I can drive the yarn drum clamping hand to move in a three-dimensional space, so that even if the path in the yarn splicing process is a complex three-dimensional path, the broken end of the yarn can be easily sent to the yarn splicing position to complete automatic yarn splicing;

in the prior art, the whole process of sending the broken ends of the yarns to the yarn splicing position is carried out on a straight line or a plane, for example, patent CN105568455A adopts a guide frame, four rollers, a twisting wiring device, a driving roller pair and a clamping roller pair, when the broken yarns are detected, the driving roller and the clamping roller pull the front broken yarn sections backwards into the twisting wiring device for wiring, the yarn splicing can be carried out without taking out a yarn drum, but the yarn splicing device is only suitable for textile machinery with a straight line and an uncomplicated textile process, and patent CN206706287U is also suitable for textile machinery with a straight line and an uncomplicated textile process, and the above prior art needs a device for guiding the broken yarns, and is completely unsuitable for machinery with complex textile processes such as a spinning machine and the like; the yarn splicing device is relatively independent from the textile machinery, a driving roller pair and a holding roller pair are not adopted in the yarn splicing process, yarn guide devices (such as yarn guide tubes, yarn guide frames and the like) are not needed, all parts are in charge of a yarn splicing function in the structure, yarn splicing is completed through mutual matching, and yarn splicing can be completed without guiding yarn broken ends through the yarn guide devices such as the yarn guide tubes and the like;

the suction nozzle assembly is positioned below the side of the yarn barrel clamping hand, is communicated with the negative pressure device and is used for sucking out yarn, and when the yarn barrel clamping hand clamps the yarn barrel and conveys the yarn barrel to the suction side position of the suction nozzle assembly, the working end of the suction nozzle assembly is over against the axis of the yarn barrel;

the driving system II is used for driving the suction nozzle assembly to move along the X axis and the Y axis and simultaneously driving the negative pressure device to generate negative pressure to suck broken ends of yarns on the yarn drum to a position to be clamped; the driving system II and the driving system I can be composed of a plurality of mutually related components or a plurality of mutually independent components, and the former is more favorable for simplifying the structure relative to the latter, thereby being taken as a preferred scheme of the invention; the driving system II and the driving system I can be mutually independent or mutually associated, for example, the driving system II and the driving system I share some components, and the latter is more favorable for simplifying the structure compared with the former and is taken as a preferred scheme of the invention;

the magnetic finding fixing body is positioned right below the suction nozzle assembly and comprises a steel wire ring shifting block, the steel wire ring shifting block is a T-shaped block with an electromagnet function and consists of a first block body and a second block body, the first block body is positioned at the end part of the magnetic finding fixing body, the lower surface of the first block body is upwards sunken to form an inverted concave structure, the space of a steel collar position is limited, the steel wire ring shifting block is set as the T-shaped block, the space can be saved, the damage caused by the contact between the steel wire ring shifting block and a textile machine during action is avoided, and in addition, the influence on the action of other parts in the device can be reduced to the maximum extent; first block lower surface is upwards sunken to form the structure of falling the concavity, also is for saving space, but more importantly is in order to guarantee to take the steel wire winding to move on the ring, prescribe the steel wire winding all the time in the block region is stirred to the steel wire winding, avoids droing at stirring in-process steel wire winding to improve the reliability of connecting, so can guarantee that the steel wire winding is prescribed a limit in the block region is stirred to the steel wire winding, because: the steel collar ring can be divided into a left semicircle and a right semicircle, two ends of the inverted concave block body are respectively responsible for the movement of one semicircle, if the steel wire ring shifting block moves anticlockwise on the steel collar, the right semicircle of the steel collar is moved by taking the left end of the inverted concave block body as a working end to drive the steel wire ring, and when the left semicircle of the steel collar is reached, the right end of the concave block body is taken as the working end to drive the steel wire ring to move, so that the steel wire ring is always driven to move and cannot slip from the shifting block;

the driving system III is used for driving the magnetism finding fixing body to move along the X axis and the Y axis so as to shift the steel wire ring to a specified position (when the steel wire ring of a ring spinning frame in the textile machinery moves on the steel collar to twist yarns, the steel wire ring can move along the steel collar, and when the magnetism finding fixing body moves along the steel collar for a circle from a specific position, the steel wire ring at a random position on the steel collar can be carried together by the steel wire ring shifting block at the front end of the magnetism finding fixing body, so that the magnetism finding fixing body can change the position of the steel wire ring), and the specified position is the position, closest to the yarn splicing device, on the steel collar; the driving system III and the driving system I can be composed of a plurality of mutually related components or a plurality of mutually independent components, and the former is more favorable for simplifying the structure relative to the latter, thereby being taken as a preferred scheme of the invention; the driving system III and the driving system I may be independent of each other or may be associated with each other, for example, they share some components, and the latter is more favorable for simplifying the structure than the former, and thus is a preferred solution of the present invention;

the yarn clamping hand is positioned on one side of the suction nozzle assembly, which is far away from the yarn barrel clamping hand, and is connected with the industrial robot;

the industrial robot is used for driving the yarn clamping hand to move to a position to be clamped to clamp the broken yarn end, then the yarn clamping hand is driven to hang the broken yarn end on the steel wire ring, the air ring and the yarn guide hook in sequence and then place the broken yarn end into a front roller jaw of a spinning machine, and the broken yarn end is loosened.

The yarn splicing device can be a non-automatic yarn splicing device, namely a manually controlled yarn splicing device, and can also be matched with a control system to form an automatic yarn splicing device, the control system can adopt a PLC, an industrial personal computer, a DSP and the like, the concrete form is not limited, now, the PLC is taken as an example for explanation, the PLC (master control PLC, which is used for overall situation) is used as the master control of the control system, the PLC is controlled by a sub-PLC (which is only responsible for controlling the industrial robot), the sub-PLC receives the control of the master control PLC, the sensor and the master control PLC are used for matching control in the aspect of motion, and the concrete matching mode is as follows: the control system is connected with the driving system I, the driving system II, the driving system III and the industrial robot, and the control steps of the control system are as follows:

(1) controlling a yarn barrel clamping hand to clamp the yarn barrel;

(2) controlling the bobbin clamping hand to move until the bobbin is positioned at the suction side of the suction nozzle assembly;

(3) controlling the magnetic fixing body to shift the steel wire ring to a specified position;

(4) controlling the yarn barrel clamping hand to start autorotation and controlling the negative pressure device to start working;

(5) after the suction nozzle assembly sucks the broken yarn end, controlling the yarn barrel clamping hand to stop rotating, and controlling the suction nozzle assembly to move until the broken yarn end extends out of the suction nozzle assembly by a length;

(6) controlling the yarn clamping hand to move to a position to be clamped to clamp the broken yarn;

(7) controlling the negative pressure device to stop working, controlling the bobbin clamping hand to put the bobbin back on the spindle of the spinning frame and then releasing the bobbin;

(8) controlling a yarn clamping hand to hang the broken ends of the yarns in turn on a steel wire ring, an air ring and a yarn guide hook and then placing the yarn broken ends into a front roller jaw of a spinning machine;

(9) controlling the yarn clamping hands to loosen the broken ends of the yarns;

(10) and controlling the automatic yarn splicing device to reset.

The control procedure is not limited to this, and may be appropriately adjusted, for example, the step (4) of controlling the yarn bobbin holding hand to start rotation and the negative pressure device to start operation may be performed synchronously, or may be performed asynchronously, and the yarn bobbin holding hand is controlled to start rotation first and then the negative pressure device is controlled to start operation, or the negative pressure device is controlled to start operation first and then the yarn bobbin holding hand is controlled to start rotation, and the present invention is applicable as long as the control purpose can be achieved.

It should be noted that the automatic yarn splicing device of the present invention refers to the automatic operation of yarn splicing, that is, the operation process of the yarn splicing device after reaching the position of the broken end of the yarn is automatic, and not to the automatic operation of the whole process from the discovery of the broken end of the yarn to the completion of the yarn splicing, and certainly, the automatic operation of the whole process can be realized, the automatic yarn splicing device of the present invention can also be matched with a transport trolley, a yarn breakage detection device, etc. to realize the automatic operation of the whole process, the automatic yarn splicing device is fixed on the transport trolley, when the yarn breakage detection device on the spinning frame detects the yarn breakage, a signal is sent to the transport trolley, the transport trolley drives the automatic yarn splicing device to move to the position of the yarn sent by the yarn breakage signal to splice, thereby realizing that one yarn splicing device acts on a plurality of yarns; most of yarn receiving devices in the prior art are installed on a textile machine, and one yarn receiving device can only act on one yarn in one textile machine, for example, the wiring mode adopted in the prior art patents CN206706287U and CN105568455A is to modify the textile machine, the broken yarn is guided back to a roller for wiring by different principles (such as using air guide, mechanical device guide, or using an electromagnet as a guide device, etc.), the guide device must be installed on a working spindle of the textile machine, and only the broken yarn on the spindle can be guided for service, so that one-to-many operation cannot be realized, the cost is increased, and the resource waste is caused.

As a preferable scheme:

as above a connect yarn device, yarn section of thick bamboo tong mainly by the plate body with the perpendicular many columns of being connected of plate body press from both sides and indicate to constitute, many columns press from both sides and indicate to relax through the shrink and to put yarn section of thick bamboo upper end, realize that the principle that the shrink was relaxed is similar to the principle that three rotary chucks shrink and relax: the motor control gear is meshed with a plane thread on the back of the disc-shaped bevel gear, the upper end of the clamping finger is provided with teeth meshed with a thread groove on the front of the disc-shaped bevel gear, the clamping finger is fixedly installed on the clamping finger, the disc-shaped bevel gear is driven to move forward when the motor rotates forward, the thread groove on the front of the disc-shaped bevel gear moves to enable the clamping finger installed on the clamping finger to contract, and when the motor rotates reversely, the clamping finger releases the action in a reverse direction; the space shape surrounded by the columnar clamping fingers is the same as the shape of the upper end of the yarn drum, so that the yarn drum can be stressed uniformly when being clamped, the yarn drum is prevented from being damaged, the stability of clamping and placing the yarn drum is improved, and the inner side surfaces of the columnar clamping fingers are provided with anti-skid components (specifically, tiny concave-convex groove marks, convex points, convex strips and the like); the yarn tube clamping device in patent CN108842239A is a yarn tube clamping hand in the prior art, a connection mode that a yarn clamping tube and a yarn clamping head are sleeved and slide is adopted, the upper end of a yarn tube is positioned in a gap between the yarn clamping tube and the yarn clamping head, and the upper end of the yarn tube is clamped by the yarn clamping head stretching in the yarn clamping tube; the other method is to adopt a manipulator gripper to clamp the yarn barrel, and a motor (or pneumatic) drives a mechanical structure to open and close the manipulator, so that clamping and releasing of the yarn barrel are realized.

The driving system I mainly comprises a motor clamping hand coupler, a motor mounting plate, a clamping hand motor, a cylinder push rod, a cylinder fixing-sliding block connecting plate, a linear guide rail sliding frame gamma, a sliding block of the linear guide rail sliding frame gamma, a motor a, a sliding table seat, a main guide rail sliding frame, a sliding block of the main guide rail sliding frame, a motor b, an auxiliary guide rail sliding frame and a sliding block of the auxiliary guide rail sliding frame; the motor mounting plate, the gripper motor, the yarn barrel gripper, the motor gripper coupler, the cylinder, the push rod and the cylinder fixing-sliding block connecting plate jointly form a pipe clamping assembly;

the motor mounting plate and the sliding seat are both of L-shaped plate structures and are composed of a transverse plate and a vertical plate, the transverse plate of the motor mounting plate is arranged above the vertical plate, the vertical plate of the motor mounting plate is arranged below the vertical plate, and the transverse plate of the sliding seat is arranged below the vertical plate; the cylinder fixing-sliding block connecting plate consists of a transverse plate and an L-shaped vertical plate, the L-shaped vertical plate consists of a vertical plate P and a vertical plate Q, the upper part of the end part of the vertical plate P far away from the vertical plate Q is connected with the transverse plate of the cylinder fixing-sliding block connecting plate to form an L shape, and the transverse plate and the vertical plate Q of the cylinder fixing-sliding block connecting plate are respectively positioned at two sides of the vertical plate P;

the plate body of the yarn cylinder clamping hand is connected with the lower end of the motor clamping hand shaft coupling, the upper end of the motor clamping hand shaft coupling is connected with a clamping hand motor through a hole on the transverse plate of the motor mounting plate, the clamping hand motor is used for controlling the yarn cylinder clamping hand to drive the yarn cylinder to rotate at a constant speed so as to play the roles of taking, placing and rotating the yarn cylinder, the clamping hand motor is connected and fixed on the motor mounting plate, a vertical plate of the motor mounting plate is connected with a cylinder push rod, the cylinder push rod is connected with a cylinder and is parallel to the Y-axis direction, the cylinder is fixed on the transverse plate of a cylinder fixing-sliding block connecting plate, a vertical plate Q of the cylinder fixing-sliding block connecting plate is fixedly connected with a working surface of a sliding block of a linear guide rail sliding frame gamma, the linear guide rail sliding frame gamma is fixedly connected with an A surface of a vertical plate of a sliding base and is parallel to the Z-axis direction, the main guide rail sliding frame and the auxiliary guide 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 gamma and the main guide rail sliding frame, all there is ball in the general linear guide carriage in machinery (except that the linear sliding guide of supplementary direction, because of not needing motor drive, so can not have ball only guide rail), the motor rotates ball drive sliding block and follows linear guide carriage motion, and linear guide carriage gamma and motor a are used for leading and drive linear guide carriage gamma's sliding block and follow the Z axle motion, leading rail carriage and motor b are used for leading and drive leading rail carriage's sliding block and follow X axle motion, and the auxiliary guide carriage is used for leading auxiliary guide carriage's sliding block and follows X axle motion, and the cylinder push rod is used for the driving motor mounting panel and follows Y axle motion.

According to the yarn splicing device, the motor a is installed at the lower end part of the linear guide rail sliding frame gamma, a first U-shaped limiter, a second U-shaped limiter and a third U-shaped limiter are sequentially fixed on the vertical side of the linear guide rail sliding frame gamma from top to bottom, the first U-shaped limiter is installed in a first T-shaped groove, the second U-shaped limiter and the third U-shaped limiter are installed in a second T-shaped groove, a first external inductor is installed on the vertical side of a sliding block of the linear guide rail sliding frame gamma, and the first external inductor 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 guide rail sliding frame and is close to the end part, a fourth U-shaped limiter, a fifth U-shaped limiter and a sixth U-shaped limiter are sequentially fixed on the horizontal side of the main guide rail sliding frame from the position close to the motor b to the position far away from the motor b, the fourth U-shaped limiter and the fifth U-shaped limiter are installed in a third T-shaped groove, the sixth U-shaped limiter is installed in a fourth T-shaped groove, a second external inductor is installed on the surface of the main guide rail sliding frame, on the same side as the fourth U-shaped limiter, on the sliding block, and the second external inductor is located between the fourth U-shaped limiter and the sixth U-shaped limiter; the T-shaped groove, the external inductor, the limiter and other parts of the yarn splicing device are the same as those in the prior art, and the structure of the yarn splicing device is not different from that of the prior art.

The yarn splicing device mainly comprises the suction nozzle, a suction pipe and a suction nozzle seat, wherein the suction nozzle is of a horn-shaped structure, the size of the m end is larger than that of the n end, the m end of the suction nozzle faces to the position right below the yarn cylinder clamping hand, the n end of the suction nozzle is connected with the suction pipe, and the suction pipe penetrates through the suction nozzle seat and is fixedly connected with the suction nozzle seat; the suction nozzle component in patent CN108842239a is a combination of a hollow trapezoid body and a hollow cuboid, the narrow end (i.e. the end with small end surface area) of the trapezoid body faces the bobbin, and the wide end (i.e. the end with large end surface area) is connected with the hollow cuboid; the suction nozzle is mainly used for conveniently and effectively sucking broken yarns by the suction nozzle component, the n-end is small and mainly used for matching the shape of the suction pipe, the area of the cross section of the suction pipe is smaller than that of the m-end, the specific shapes of the m-end and the n-end are not limited, the m-end is preferably a flat opening, the n-end is a round opening, and the position to be clamped is a position which keeps a certain distance from the end of the suction pipe far away from the suction nozzle, namely the suction nozzle component is mainly used for searching broken yarns and controlling the position of the broken yarns, the length of the sucked yarns and the length of the exposed yarns; the position of the yarn end is controlled, that is, the position of the yarn end is transferred from the bobbin to the vicinity of the nozzle of the suction nozzle assembly, because the position of the yarn end on the bobbin after the yarn breakage cannot be specifically determined, that is, the position of the yarn end after the yarn breakage is at the upper end part, the middle part or the lower end part of the bobbin is unknown, the position of the yarn end after the yarn breakage is random, the suction nozzle assembly sucks the whole bobbin, the working area is large, therefore, the position of the yarn end when the yarn end is sucked by the suction nozzle assembly cannot be clearly known, the position of the yarn end is unknown, the yarn gripper cannot know the position to clamp the yarn end, the position of the sucked yarn end needs to be controlled, the sucked yarn end can be carried to the position of the suction nozzle by the air flow no matter where the yarn end is sucked, and the position of the yarn end is changed from a large area of the nozzle opening to a small area around the suction nozzle, so that the yarn gripper directly grips the yarn broken end in the small area; controlling the length of the sucked yarn, namely controlling the length of the yarn penetrating from the suction pipe, specifically, carrying out fuzzy control by prescribing a time or carrying out control by adding a sensor in the suction pipe to detect the length of the sucked yarn; controlling the length of the exposed yarn, namely withdrawing the yarn through the suction nozzle assembly until the third external inductor on the sliding block of the upper linear guide rail sliding frame is detected by the eighth U-shaped limiter; the reason why the sucked yarn length and the exposed yarn length are controlled is that if the yarn gripper does not control the length, the yarn gripper cannot accurately grip the broken end portion of the broken yarn end, and the position where the broken yarn end is gripped is too long or too short, which may greatly affect the subsequent yarn splicing process, and even cause yarn splicing failure.

According to the yarn splicing device, the driving system II mainly comprises the sliding table seat, the upper linear guide rail sliding frame, the sliding block of the upper linear guide rail sliding frame, the motor c, the main guide rail sliding frame, the sliding block of the main guide rail sliding frame, the motor b, the auxiliary guide rail sliding frame and the sliding block of the auxiliary guide rail sliding frame;

the suction nozzle seat is fixedly connected with the working face 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 face of the vertical plate of the sliding seat and is parallel to the Y axis direction.

According to the yarn splicing device, the motor c is installed at the end portion of the upper linear guide rail sliding frame, a seventh U-shaped limiting device, an eighth U-shaped limiting device and a ninth U-shaped limiting device are sequentially fixed on the upper side of the upper linear guide rail sliding frame from the position far away from the motor c to the position close to the motor c, the seventh U-shaped limiting device is installed in a fifth T-shaped groove, the eighth U-shaped limiting device and the ninth U-shaped limiting device are installed in a sixth T-shaped groove, a third external inductor is installed on the upper side of a sliding block of the upper linear guide rail sliding frame, and the third external inductor is located between the seventh U-shaped limiting device and the ninth U-shaped limiting device.

The yarn splicing device is characterized in that the magnetism finding fixing body further comprises a supporting fixing block, and the steel wire ring shifting block is fixed at the head end of the supporting fixing block;

the driving system III mainly comprises the sliding platform seat, a lower linear guide rail sliding frame, a sliding block of the lower linear guide rail sliding frame, a motor d, the main guide rail sliding frame, the sliding block of the main guide rail sliding frame, the motor b, the auxiliary guide rail sliding frame and the sliding block of the auxiliary guide rail sliding frame;

the tail end of the supporting fixed block is fixedly connected with the working face 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 fixedly connected with the B face of the vertical plate of the sliding seat base and parallel to the Y axis direction.

According to the yarn splicing device, the motor d is installed at the end portion of the lower linear guide rail sliding frame, the tenth U-shaped stopper, the eleventh U-shaped stopper and the twelfth U-shaped stopper are sequentially fixed on the upper side of the lower linear guide rail sliding frame from the position close to the motor d to the position far away from the motor d, the tenth U-shaped stopper and the eleventh U-shaped stopper are installed in the seventh T-shaped groove, the twelfth U-shaped stopper is installed in the eighth T-shaped groove, the fourth external inductor is installed on the upper side of the sliding block of the lower linear guide rail sliding frame, and the fourth external inductor is located between the tenth U-shaped stopper and the twelfth U-shaped stopper.

The yarn connecting device comprises a base and a plurality of semi-section columnar clamping fingers arranged on the base, wherein the base of the yarn clamping hand is fixedly connected with an industrial robot, all the clamping fingers in the yarn clamping hand are distributed in two rows and multiple columns, the opposite surfaces of two fingers in the same column are planes, the number of the yarn clamping hands is multiple and are distributed in the two rows and the multiple columns, so that the yarn clamping hand can clamp yarns in multiple sections, when the yarn clamping hand hangs a steel wire ring, a yarn guide hook and an air ring, different yarn positions in multiple sections of clamping line sections are adopted to adapt to different operations, when the steel wire ring is hung, the opening of the steel wire ring is small, the moving range of the yarn clamping hand is narrow, the steel wire ring can be hung by adopting line sections between two adjacent fingers, when the air ring is hung, the action is complex, the moving range is large, therefore, the line sections can be clamped by the fingers positioned at two sides in three fingers, and the fingers in the middle are loosened, the air suspension ring is removed, so that the wire suspension device has the advantages of high flexibility and good stability in wire suspension operation, and meanwhile, the reliability in the wire suspension operation is improved; the specific shape of the clamping finger in the yarn clamping hand is not limited, the clamping finger can be a half-section cylinder or a half-section cylinder analog, the cylinder analog is a combination of a cylinder and a hemisphere, the hemisphere is positioned on the circular plane of the end surface of the cylinder, the clamping finger in the yarn clamping hand only needs to meet the condition that the opposite surface is a plane, and the shape of the finger does not influence any shape of operations of hanging a steel wire ring, an air ring, a yarn guide hook and putting in a front roller; the yarn gripper in the prior art is a yarn clamping mechanism as in patent CN109576886A or patent CN107557970A, a yarn channel, an airflow channel and a working chamber are arranged on the clamping mechanism, when the yarn channel and the airflow channel are opened, compressed air passes through the airflow channel, so that the yarn channel forms negative pressure to suck external yarn into the channel of the clamping mechanism, and when the yarn channel and the airflow channel are closed, a yarn pressing spring in the working chamber controls a yarn clamping slide block to clamp the yarn; or a clamping mode that the yarn is clamped by mutually matching the yarn clamping wheel and the yarn clamping groove is adopted; the yarn clamping mechanism in the prior art is complex, so that a novel clamping mechanism is designed, the structure of the yarn gripper has the characteristics of small size, flexibility and stability, and the operation of flexibly hanging a steel wire ring, a yarn guide hook and an air ring can be ensured by adopting a simpler mode.

The whole action process of the yarn splicing device comprises the following steps: the yarn receiving device is fixed on the transport trolley, when the transport trolley moves to the broken yarn spindle position of a spinning frame, an in-place signal is sent to the yarn receiving device, the yarn receiving device receives the signal and then drives the tube clamping component to convey a yarn tube clamping hand to the position at the upper end of the yarn tube, a signal is sent to the motor clamping hand coupler after the position is reached, the motor clamping hand coupler receives the signal and then drives the yarn tube clamping hand to clamp the yarn tube, then a clamping completion signal is sent to the yarn receiving device, the yarn receiving device receives the signal and then takes out the broken yarn tube to be placed at the suction side position of the suction nozzle component, after the in-place signal is sent to the yarn receiving device, the in-place signal of the suction nozzle component and the magnetic finding fixing body is sent to the yarn receiving device, the yarn receiving device controls the yarn tube clamping hand to start autorotation, meanwhile, the negative pressure device and the suction nozzle component are controlled to start working, the broken yarn is sucked out by the suction nozzle component to, the pipe clamping component stops rotating after receiving the signal of finding the broken ends of the yarns, a rotation stop signal is sent to the yarn splicing device, the yarn splicing device drives the suction nozzle component to start moving for a certain distance after receiving the signal so that the broken ends of the yarns are exposed out of a part capable of being clamped, then a signal of finishing the exposure of the broken ends of the yarns is sent to the yarn splicing device, the magnetic fixing body is found to start moving for a circle around a steel collar from a specified position after receiving the signal of reaching the position when the suction nozzle component starts working, the steel wire ring is shifted to the specified position (the specified position is the position on the steel collar closest to the yarn splicing device), then a signal of finishing the shifting of the steel wire ring is sent to the yarn splicing device, the yarn splicing device simultaneously receives the signal of finishing the shifting of the steel wire ring and the signal of finishing the exposure of the broken ends of the yarns and then sends a signal to the yarn gripper after the industrial robot, the yarn receiving device drives the clamping pipe assembly to put back the yarn barrel after receiving the finish signal, the negative pressure device is controlled to stop working, the industrial robot follows in the yarn barrel putting back process, the yarn receiving device sends a signal to the motor clamping hand coupler after the yarn barrel is put back, the yarn barrel is driven to release the yarn barrel by the yarn receiving device, the finish signal is sent to the industrial robot after the release, the industrial robot runs according to a specific route and actions after receiving the signal, namely the yarn clamping hand sequentially hangs the yarn broken end on a steel wire ring, a gas ring and a yarn guide hook and then puts the yarn broken end into a front roller jaw of a spinning frame, and finally the device resets.

Has the advantages that:

(1) according to the yarn splicing device, yarn broken ends can be automatically found through the matching of the pieces, so that the labor cost is reduced;

(2) the yarn splicing device can be used for automatically taking out a yarn barrel, is stable in clamping and can avoid damage to the yarn barrel;

(3) according to the yarn splicing device, the universal use of various ring spinning frames can be realized only by changing the positions of the upper and lower linear guide rail sliding frames, and the application range is wide;

(4) according to the yarn splicing device, the yarn broken ends are searched by a non-contact method, so that the yarns are not polluted;

(5) the yarn splicing device can replace manpower, avoid the wiring failure or poor wiring quality caused by unskilled wiring technology of workers, and reduce the time and economic cost spent by culturing the skilled wiring workers by enterprises;

(6) the yarn splicing device can perform the wiring work that the wiring path is a complex three-dimensional path;

(7) the yarn splicing device can provide wiring service for all yarns on one spinning machine, and greatly reduces the cost.

Drawings

FIGS. 1 to 3 are schematic structural views of a yarn splicing device according to the present invention;

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

FIG. 5 is a perspective view of the transport trolley axle of the automatic yarn splicing device for broken yarn of the spinning frame of the present invention;

FIG. 6 is a top view of the main guide carriage;

FIG. 7 is a view showing a structure of a slide table base;

FIG. 8 is a view showing a structure of a magnetic fixing body;

FIG. 9 is a connection structure diagram of a motor mounting plate, a gripper motor, a bobbin gripper, and a motor gripper coupler;

FIG. 10 is a view showing a cylinder fixing-slider connecting plate;

FIG. 11 is a view showing a coupling structure of the suction nozzle and the suction pipe;

FIG. 12 is a view showing the construction of a nozzle holder;

FIG. 13 is a view of the structure of a yarn gripper;

fig. 14 is a top view structural view of the auxiliary rail carriage;

wherein, 1-third T-shaped groove, 2-second external inductor, 3-sliding block of main guide rail sliding frame, 4-main guide rail sliding frame, 5-fifth U-shaped stopper, 6-fourth U-shaped stopper, 7-motor b, 8-fourth T-shaped groove, 9-lower linear guide rail sliding frame, 10-steel wire ring stirring block, 11-bobbin, 12-suction nozzle, 13-suction pipe, 14-bobbin gripper, 15-motor gripper coupler, 16-motor mounting plate, 17-gripper motor, 18-cylinder push rod, 19-upper linear guide rail sliding frame, 20-seventh U-shaped stopper, 21-cylinder, 22-cylinder fixed-sliding block connecting plate, 23-sliding block of linear guide rail sliding frame gamma, 24-linear guide rail sliding frame gamma, 25-sixth T-shaped groove, 26-eighth U-shaped stopper, 27-third external sensor, 28-ninth U-shaped stopper, 29-sliding block of upper linear guide rail sliding frame, 30-yarn gripper, 31-industrial robot, 32-motor c, 33-suction nozzle seat, 34-motor d, 35-supporting fixing plate, 36-sliding seat, 37-sliding block of auxiliary guide rail sliding frame, 38-auxiliary guide rail sliding frame, 39-sixth U-shaped stopper, 40-eighth T-shaped groove, 41-twelfth U-shaped stopper, 42-fifth T-shaped groove, 43-first U-shaped stopper, 44-first T-shaped groove, 45-tenth U-shaped stopper, 46-eleventh U-shaped stopper, 47-seventh T-shaped groove, 48-second T-shaped groove, 49-a second U-shaped stopper, 50-a third U-shaped stopper, 51-a motor a, 52-a sliding block of a lower linear guide rail sliding frame, 53-a fourth external sensor and 54-a first external sensor.

Detailed Description

The invention will be further illustrated with reference to specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.

Throughout the description of the present invention, it is to be noted that the determination of the movement direction is based on the directions of the X, Y and Z axes represented by the main guide rail sliding frame 4, the upper linear guide rail sliding frame 19 and the linear guide rail sliding frame γ 24 in fig. 1, and the indicative orientations or positional relationships of the terms "front", "top", "left", "right", "horizontal" and "vertical" are only used for convenience and simplicity in describing the present invention, and it is not intended that the components or devices be specifically configured and moved in the designated orientations, and therefore, the present invention is not to be construed as being limited thereto.

Throughout the description of the present invention, it is expressly intended that the terms "mounted," "secured," "connected," and the like are to be construed broadly unless otherwise indicated and limited by the explicit conditions and limitations.

A yarn splicing device is shown in figures 1-3 and comprises a yarn cylinder clamping hand 14, a driving system I, a suction nozzle component, a negative pressure device, a driving system II, a magnetic finding fixing body shown in figure 8, a driving system III, a yarn clamping hand 30 shown in figure 13 and an industrial robot 31;

the yarn barrel clamping hand 14 mainly comprises a plate body and a plurality of columnar clamping fingers vertically connected with the plate body, the shape of a space surrounded by the plurality of columnar clamping fingers is the same as that of the upper end of the yarn barrel 11, and anti-skidding parts are arranged on the inner side surfaces of the plurality of columnar clamping fingers;

the driving system I is used for driving the yarn cylinder clamping hand 14 to move along the X axis, the Y axis and the Z axis of the space rectangular coordinate system, and simultaneously is used for driving the yarn cylinder clamping hand 14 to clamp the yarn cylinder 11, release the yarn cylinder 11 and rotate; the driving system I mainly comprises a motor tong coupling 15, a motor mounting plate 16, a tong motor 17, a cylinder push rod 18, a cylinder 21, a cylinder fixing-sliding block connecting plate 22, a linear guide rail sliding frame gamma 24, a sliding block 23 of the linear guide rail sliding frame gamma, a motor a 51, a sliding block seat 36, a main guide rail sliding frame 4, a sliding block 3 of the main guide rail sliding frame, a motor b 7, an auxiliary guide rail sliding frame 38 and a sliding block 37 of the auxiliary guide rail sliding frame;

the motor mounting plate 16 and the sliding seat 36 are both in L-shaped plate structures and are composed of a transverse plate and a vertical plate, the transverse plate of the motor mounting plate 16 is arranged above the vertical plate, the transverse plate of the sliding seat 36 is arranged below the vertical plate, and the vertical plate of the sliding seat 36 is arranged above the vertical plate; the cylinder fixing-sliding block connecting plate 22 consists of a transverse plate and an L-shaped vertical plate, the L-shaped vertical plate consists of a vertical plate P and a vertical plate Q, the upper part of the end part of the vertical plate P far away from the vertical plate Q is connected with the transverse plate of the cylinder fixing-sliding block connecting plate to form an L shape, and the transverse plate and the vertical plate Q of the cylinder fixing-sliding block connecting plate are respectively positioned at two sides of the vertical plate P;

the plate body of the yarn cylinder clamping hand 14 is connected with the lower end of the motor clamping hand coupling 15, the upper end of the motor clamping hand coupling 15 is connected with the clamping hand motor 17 through a hole on the transverse plate of the motor mounting plate 16, the clamping hand 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 cylinder clamping hand 14 and the motor clamping hand coupling 15 is shown in figure 9, the vertical plate of the motor mounting plate 16 is connected with the cylinder push rod 18, the cylinder push rod 18 is connected with the cylinder 21 and is parallel to the Y-axis direction, the cylinder 21 is fixed on the transverse plate of the cylinder fixing-sliding block connecting plate 22 shown in figure 10, the vertical plate Q of the cylinder fixing-sliding block connecting plate 22 is fixedly connected with the working surface of the sliding block 23 of the linear guide rail sliding frame gamma, the linear guide rail sliding frame gamma is fixedly connected with the A surface of the vertical plate of the, the lower surface of the transverse plate of the slide pedestal 36 is fixedly connected with the working surface of the sliding block 3 of the main guide rail sliding frame and the working surface of the sliding block 37 of the auxiliary guide rail sliding frame, and the main guide rail sliding frame 4 shown in fig. 6 and the auxiliary guide rail sliding frame 38 shown in fig. 14 are parallel to the X-axis direction;

a motor a 51 in the driving system I is installed at the lower end part of a linear guide rail sliding frame gamma 24, a first U-shaped limiting stopper 43, a second U-shaped limiting stopper 49 and a third U-shaped limiting stopper 50 are sequentially fixed on the vertical side of the linear guide rail sliding frame gamma 24 from top to bottom, the first U-shaped limiting stopper 43 is installed in a first T-shaped groove 44, the second U-shaped limiting stopper 49 and the third U-shaped limiting stopper 50 are installed in a second T-shaped groove 48, a first external inductor 54 is installed on the vertical side of a sliding block 23 of the linear guide rail sliding frame gamma, and the first external inductor 54 is located between the first U-shaped limiting stopper 43 and the third U-shaped limiting stopper 50;

a motor b 7 in the driving system I is arranged on one side of a main guide rail sliding frame 4 and is close to the end part, a fourth U-shaped limiter 6, a fifth U-shaped limiter 5 and a sixth U-shaped limiter 39 are sequentially fixed on one horizontal side of the main guide rail sliding frame 4 from the position close to the motor b 7 to the position far away from the motor b 7, the fourth U-shaped limiter 6 and the fifth U-shaped limiter 5 are arranged in a third T-shaped groove 1, the sixth U-shaped limiter 39 is arranged in a fourth T-shaped groove 8, a second external inductor 2 is arranged on the surface of the main guide rail sliding frame, on the same side of a sliding block 3 and the fourth U-shaped limiter 6, and the second external inductor 2 is positioned between the fourth U-shaped limiter 6 and the sixth U-shaped limiter 39;

the suction nozzle assembly is positioned below the side of the yarn barrel clamping hand 14 and communicated with the negative pressure device, and when the yarn barrel clamping hand 14 clamps the yarn barrel and conveys the yarn barrel to the suction side of the suction nozzle assembly, the working end of the suction nozzle assembly is over against the axis of the yarn barrel; the yarn cylinder clamping device mainly comprises a suction nozzle 12, a suction pipe 13 and a suction nozzle seat 33, wherein the suction nozzle 12 is of a horn-shaped structure, the size of the m end is larger than that of the n end, the m end of the suction nozzle 12 faces to the position right below a yarn cylinder clamping hand 14, the n end of the suction nozzle 12 is connected with the suction pipe 13, the connection structure of the suction nozzle 12 and the suction pipe 13 is shown in figure 11, the suction pipe penetrates through the suction nozzle seat 33, the suction nozzle seat 33 is shown in figure 12 and is fixedly connected with the suction nozzle seat 33, and the position to be clamped is a position keeping a distance from the end of the suction pipe 13 far away from the suction;

the driving system II is used for driving the suction nozzle assembly to move along the X axis and the Y axis and simultaneously driving the negative pressure device to generate negative pressure to suck broken ends of yarns on the yarn barrel 11 to a position to be clamped; the device mainly comprises a slide pedestal 36, an upper linear guide rail sliding frame 19, a sliding block 29 of the upper linear guide rail sliding frame, a motor c 32, a main guide rail sliding frame 4, a sliding block 3 of the main guide rail sliding frame, a motor b 7, an auxiliary guide rail sliding frame 38 and a sliding block 37 of the auxiliary guide rail sliding frame;

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

a motor c 32 in the driving system II is arranged at the end part of an upper linear guide rail sliding frame 19, a seventh U-shaped stopper 20, an eighth U-shaped stopper 26 and a ninth U-shaped stopper 28 are sequentially fixed on the upper side of the upper linear guide rail sliding frame 19 from a position far away from the motor c 32 to a position close to the motor c 32, the seventh U-shaped stopper 20 is arranged in a fifth T-shaped groove 42, the eighth U-shaped stopper 26 and the ninth U-shaped stopper 28 are arranged in a sixth T-shaped groove 25, a third external inductor 27 is arranged on the upper side of a sliding block 29 of the upper linear guide rail sliding frame, and the third external inductor 27 is positioned between the seventh U-shaped stopper 20 and the ninth U-shaped stopper 28;

the magnetic finding fixing body is positioned right below the suction nozzle component and comprises a steel wire ring shifting block 10, the steel wire ring shifting block 10 is a T-shaped block with an electromagnet function and consists of a first block body and a second block body, the first block body is positioned at the end part of the magnetic finding fixing body, and the lower surface of the first block body is upwards sunken to form an inverted concave structure; the magnetic finding fixing body further comprises a supporting fixing block 35, and the steel wire ring shifting block 10 is fixed at the head end of the supporting fixing block 35;

the driving system III is used for driving the magnetism finding fixing body to move along the X axis and the Y axis so as to shift the steel wire ring to a specified position, and the specified position is the position, closest to the yarn splicing device, on the steel collar; the driving system III mainly comprises the slide pedestal 36, the lower linear guide rail sliding frame 9, the sliding block 52 of the lower linear guide rail sliding frame, the motor d 34, the main guide rail sliding frame 4, the sliding block 3 of the main guide rail sliding frame, the motor b 7, the auxiliary guide rail sliding frame 38 and the sliding block 37 of the auxiliary guide rail sliding frame;

the tail end of a supporting fixed block 35 in the magnetic fixing body is fixedly connected with the working surface of a sliding block 52 of a lower linear guide rail sliding frame, a motor d 34 in a driving system III is connected with the lower linear guide rail sliding frame 9, and the lower linear guide rail sliding frame 9 is positioned below an upper linear guide rail sliding frame 19, is fixedly connected with the surface B of a vertical plate of a sliding seat 36 and is parallel to the Y-axis direction;

the motor d 34 is installed at the end of the lower linear guide rail sliding frame 9, a tenth U-shaped stopper 45, an eleventh U-shaped stopper 46 and a twelfth U-shaped stopper 41 are sequentially fixed on the upper side of the lower linear guide rail sliding frame 9 from a position close to the motor d 34 to a position far away from the motor d 34, the tenth U-shaped stopper 45 and the eleventh U-shaped stopper 46 are installed in the seventh T-shaped groove 47, the twelfth U-shaped stopper 41 is installed in the eighth T-shaped groove 40, a fourth external inductor 53 is installed on the upper side of a sliding block 52 of the lower linear guide rail sliding frame shown in fig. 4, and the fourth external inductor 53 is located between the tenth U-shaped stopper 45 and the twelfth U-shaped stopper 41;

the yarn gripper 30 is located on the side of the suction nozzle assembly remote from the yarn drum gripper 14 and is connected to an industrial robot 31; the yarn gripper 30 consists of a base and a plurality of semi-section columnar gripper fingers arranged on the base, the base of the yarn gripper 30 is fixedly connected with the industrial robot 31, all the gripper 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 for driving the yarn clamping hand 30 to move to a position to be clamped to clamp the broken yarn end, and then driving the yarn clamping hand 30 to hang the broken yarn end on the steel wire ring, the air ring and the yarn guide hook in sequence and place the broken yarn end into a front roller jaw of a spinning machine.

The automatic yarn splicing device can be matched with a control system (the control system can adopt a PLC, an industrial personal computer, a DSP and the like, the concrete form is not limited, now, the PLC is taken as an example for explanation, the general control PLC is used for controlling an industrial robot in a general situation, the branch PLC is used for receiving the control of the general control PLC, and the motion control is realized by using a sensor and the general control PLC in a matched mode: the control system is connected with the driving system I, the driving system II, the driving system III and the industrial robot; when the yarn is broken, the yarn splicing device is adopted for automatically splicing the yarn, the yarn splicing device can be moved to a yarn breaking position along a rail by a transport trolley as shown in figure 5, the movement process is controlled by a control system, when the yarn breaking is detected, the control system transmits a yarn breaking signal generated by a yarn breaking spindle to the transport trolley, and the transport trolley receives the signal, determines the position of the yarn breaking spindle according to the information in the received signal and then moves to the position of the yarn breaking spindle. The control steps are as follows:

(1) the yarn barrel clamping hands 14 are controlled to clamp the yarn barrel 11, and the specific process is as follows: after a bobbin clamping hand 14 of the yarn receiving device clamps an upper end cylinder of a bobbin 11, a motor a 51 of a linear guide rail sliding frame gamma 24 moves to drive a pipe clamping assembly (consisting of a motor mounting plate, a clamping hand motor, a bobbin clamping hand, a motor clamping hand coupling, an air cylinder, a push rod and an air cylinder fixing-sliding block connecting plate) to move along the linear guide rail sliding frame gamma 24 in the Z-axis direction, and the bobbin 11 is taken out of a spindle of a spinning frame;

(2) the bobbin gripper 14 which grips the bobbin 11 is controlled to move until the bobbin 11 is positioned at the suction side of the suction nozzle assembly, and the specific process is as follows: the cylinder 21 makes the cylinder push rod 18 move to drive the magnetism finding fixing body shown in fig. 8 to move in the Y-axis direction, and through the movement in the two directions, the bobbin 11 taken in the process (1) can be brought to the suction side position in front of the suction nozzle 12 in the suction nozzle assembly (the suction side position is that the m end of the suction nozzle is opposite to the axial direction of the bobbin 11, and the yarn on the bobbin 11 is in the position in the working space of the suction nozzle);

(3) the magnetic fixing body is controlled to shift the steel wire ring to a specified position, and the specific process is as follows: after the yarn bobbin 11 is taken out, synchronously with the process (2), finding a steel wire ring shifting block 10 of the magnetic fixing body to move to a steel collar of a spinning frame, leaving a gap between the steel wire ring shifting block and the steel collar to avoid contact type damage, then, leading the front end of the steel wire ring shifting block 10 to protrude out of two ends of an inverted concave character, starting to wind the steel collar by a circle from a specified position when the steel wire ring is connected with a wire, and shifting the steel wire ring at any position on the steel collar to the specified position (the specified position is the position closest to a yarn connecting device on the steel collar); the action process is realized by the cooperation action of a linear guide rail sliding frame alpha (consisting of a main guide rail sliding frame 4 and an auxiliary guide rail sliding frame 38) and a lower linear guide rail sliding frame 9;

(4) the yarn barrel clamping hand 14 is controlled to start autorotation, the negative pressure device is controlled to start working, and the specific process is as follows: after the processes (2) and (3) are finished, the gripper motor 17 acts to drive the yarn drum gripper 14 to drive the yarn drum 11 to rotate, when the yarn drum gripper 14 drives the yarn drum 11 to rotate in front of the suction nozzle 12, the suction nozzle 12 generates suction force through air negative pressure, and airflow enters along the port m through the rotating yarn drum 11, so that yarn broken ends on the yarn drum 11 can be found out and sucked into the suction nozzle 12 under the action of the airflow;

(5) after the suction nozzle assembly sucks the broken yarn end, the yarn barrel clamping hand 14 is controlled to stop rotating, the suction nozzle assembly is controlled to move to the broken yarn end, and the broken yarn end extends out of the suction nozzle assembly by a length, and the specific process is as follows: in the process (4), the broken yarn is sucked into the suction nozzle 12 and sucked out for a certain length, the gripper motor 17 stops operating, the yarn drum 11 stops rotating, the suction nozzle assembly still keeps negative pressure to keep the broken yarn horizontal to the suction pipe 13, and the broken yarn is withdrawn for a certain distance along the upper linear guide rail sliding frame 19 under the action of the motor c 32 until the third external sensor 27 on the sliding block 29 of the upper linear guide rail sliding frame is detected by the eighth U-shaped limiter 26, and the broken yarn is exposed;

(6) the yarn clamping hand 30 is controlled to move to the position to be clamped to clamp the broken yarn, and the specific process is as follows: after the position of the yarn end is determined in the process (5), the yarn gripper 30 moves to the specific position of the yarn end through specific guiding under the driving of the industrial robot 31, and grips the yarn end according to a certain length and multiple sections (namely, the finger F1, the finger F2 and the finger F3 all act to grip the yarn),

(7) the negative pressure device is controlled to stop working, the bobbin clamping hand 14 is controlled to release the bobbin 11 after the bobbin 11 is put back to a spindle of a spinning frame, and the specific process is as follows: after the process (6) is finished, the negative pressure device is controlled to stop working, the motor a 51 of the linear guide rail sliding frame gamma 24 moves to drive the pipe clamping assembly to move along the linear guide rail sliding frame gamma 24 in the Z-axis direction, the cylinder 21 enables the cylinder push rod 18 to move, and meanwhile, the magnetic fixing body is driven to move in the Y-axis direction, the yarn bobbin 11 is placed back to a spindle of a spinning frame, and in order to prevent yarn from being torn, in the process of placing the yarn bobbin 11 back, the industrial robot 31 and the yarn clamping hand 30 clamp the broken yarn end to move along a certain track, and yarn breakage is avoided;

(8) the yarn clamping hand 30 is controlled to hang the broken ends of the yarns in turn on a steel wire ring, an air ring and a yarn guide hook and then put the broken ends of the yarns into a front roller jaw of a spinning frame, and the specific process is as follows: after the bobbin in the process (7) is replaced, the industrial robot 31 moves to move the yarn gripper 30 to the position of the spinning machine traveler, then the yarn gripper 30 is in a horizontal posture (namely, the gripping fingers F1, F2 and F3 are on the horizontal plane), then the finger F3 is loosened, the finger F1 and the finger F2 grip the yarn to hang the yarn on the traveler, the finger F2 is loosened, and then the finger F1 grips the yarn to push the position of the traveler out;

the industrial robot 31 moves to move the yarn clamping hand 30 to the air ring position of the spinning machine, the yarn clamping hand 30 is changed to be in a vertical posture (namely clamping fingers F1, F2 and F3 are on a vertical plane), the finger F2 clamps the yarn, then the yarn is wound into the air ring according to the action of the specified posture, the finger F2 is loosened, and the finger F1 clamps the yarn to be pushed out of the air ring position;

the industrial robot 31 moves to move the yarn clamping hand 30 to the position of a yarn guide hook of a spinning machine, the yarn clamping hand 30 keeps a vertical posture, the finger F2 clamps the yarn, then the yarn is wound into the yarn guide hook according to the action of the specified posture, the finger F2 is loosened, the finger F1 clamps the yarn to push out the air ring position, and then the yarn moves to the position of a jaw of a front roller;

(9) controlling the yarn clamping hand 30 to feed the broken yarn end into the front roller jaw in a specific posture, and then quickly loosening the F1; at this time, the broken ends of the yarns and the joint yarns placed in the front roller can be twisted and stretched again under the action of the roller to be connected together, so that the wiring process is realized;

(10) the industrial robot 31 returns to the initial posture and position, the pipe clamping assembly, the suction nozzle assembly, the magnetic searching fixing body and the linear guide rail sliding table assembly also return to the initial state, and automatic wiring is completed.

Claims

1. The utility model provides a yarn splicing device which characterized by: the device comprises a yarn cylinder clamping hand, a driving system I, a suction nozzle assembly, a negative pressure device, a driving system II, a magnetism finding fixing body, a driving system III, a yarn clamping hand and an industrial robot;

the driving system I is used for driving the yarn barrel clamping hand to move along an X axis, a Y axis and a Z axis of a space rectangular coordinate system, and simultaneously is used for driving the yarn barrel clamping hand to clamp a yarn barrel, release the yarn barrel and rotate;

the suction nozzle assembly is positioned below the side of the yarn barrel clamping hand and communicated with the negative pressure device, and when the yarn barrel clamping hand clamps the yarn barrel and conveys the yarn barrel to the suction side position of the suction nozzle assembly, the working end of the suction nozzle assembly is over against the axis of the yarn barrel;

the driving system II is used for driving the suction nozzle assembly to move along the X axis and the Y axis and simultaneously driving the negative pressure device to generate negative pressure to suck broken ends of yarns on the yarn drum to a position to be clamped;

the magnetism finding fixing body is positioned right below the suction nozzle assembly and comprises a steel wire ring shifting block, the steel wire ring shifting block is a T-shaped block with an electromagnet function and consists of a first block body and a second block body, the first block body is positioned at the end part of the magnetism finding fixing body, and the lower surface of the first block body is upwards sunken to form an inverted concave structure;

the driving system III is used for driving the magnetism finding fixing body to move along the X axis and the Y axis so as to shift the steel wire ring to a specified position, and the specified position is the position, closest to the yarn splicing device, on the steel collar;

2. The yarn splicing device according to claim 1, wherein the yarn bobbin gripper is mainly composed of a plate body and a plurality of columnar gripper fingers vertically connected with the plate body, the space surrounded by the plurality of columnar gripper fingers has the same shape as the upper end of the yarn bobbin, and anti-skid members are arranged on the inner side surfaces of the plurality of columnar gripper fingers.

3. The yarn splicing device according to claim 2, wherein the driving system I is mainly composed of a motor clamping hand coupling, a motor mounting plate, a clamping hand motor, a cylinder push rod, a cylinder fixing-sliding block connecting plate, a linear guide rail sliding frame gamma, a sliding block of the linear guide rail sliding frame gamma, a motor a, a sliding table seat, a main guide rail sliding frame, a sliding block of the main guide rail sliding frame, a motor b, an auxiliary guide rail sliding frame and a sliding block of the auxiliary guide rail sliding frame;

the plate body of the yarn cylinder clamping hand is connected with the lower end of the motor clamping hand shaft coupling, the upper end of the motor clamping hand shaft coupling is connected with the clamping hand motor through a hole on the transverse plate of the motor mounting plate, the clamping hand motor is connected and fixed on the motor mounting plate, the vertical plate of the motor mounting plate is connected with the cylinder push rod, the cylinder push rod is connected with the cylinder and is parallel to the Y-axis direction, the cylinder is fixed on the transverse plate of the cylinder fixing-sliding block 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 sliding frame gamma, the linear guide rail sliding frame gamma is fixedly connected with the A surface of the vertical plate of the sliding seat and is parallel to the Z-axis direction, the lower surface of the transverse plate of the sliding seat is fixedly connected with the working surface of the sliding block of the, and the motor a and the motor b are respectively connected with the linear guide rail sliding frame gamma and the main guide rail sliding frame.

4. The yarn splicing device according to claim 3, wherein the motor a is mounted at the lower end of the linear guide rail sliding frame gamma, a first U-shaped stopper, a second U-shaped stopper and a third U-shaped stopper are sequentially fixed on the vertical side of the linear guide rail sliding frame gamma from top to bottom, the first U-shaped stopper is mounted in a first T-shaped groove, the second U-shaped stopper and the third U-shaped stopper are mounted in a second T-shaped groove, a first external inductor is mounted on the vertical side of a sliding block of the linear guide rail sliding frame gamma, and the first external inductor is positioned between the first U-shaped stopper and the third U-shaped stopper;

motor b installs in one side of leading rail carriage and is close to the tip position, leading rail carriage's level one side is fixed with fourth U type stopper in proper order from the position that is close to motor b to the position of keeping away from motor b, fifth U type stopper and sixth U type stopper, fourth U type stopper and fifth U type stopper are installed at third T type inslot, sixth U type stopper is installed at fourth T type inslot, install the second external inductor on the face of the sliding block of leading rail carriage and fourth U type stopper homonymy, the second external inductor is located between fourth U type stopper and the sixth U type stopper.

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 holder, the suction nozzle is of a trumpet-shaped cylindrical structure, the size of the m end is larger than that of the n end, the m end of the suction nozzle faces to the position right below the yarn bobbin clamping hand, the n end of the suction nozzle is connected with the suction pipe, the suction pipe penetrates through the suction nozzle holder and is fixedly connected with the suction nozzle holder, and the position to be clamped is a position keeping a distance from the end of the suction pipe far away from the suction nozzle.

6. The yarn splicing device according to claim 5, wherein the driving system II is mainly composed of the sliding block seat, the upper linear guide rail sliding frame, the sliding block of the upper linear guide rail sliding frame, the motor c, the main guide rail sliding frame, the sliding block of the main guide rail sliding frame, the motor b, the auxiliary guide rail sliding frame and the sliding block of the auxiliary guide rail sliding frame; the suction nozzle seat is fixedly connected with the working face 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 face of the vertical plate of the sliding seat and is parallel to the Y axis direction.

7. The yarn splicing device according to claim 6, wherein the motor c is mounted at an end portion of the upper linear guide rail sliding frame, a seventh U-shaped stopper, an eighth U-shaped stopper and a ninth U-shaped stopper are sequentially fixed on an upper side of the upper linear guide rail sliding frame from a position far away from the motor c to a position close to the motor c, the seventh U-shaped stopper is mounted in a fifth T-shaped groove, the eighth U-shaped stopper and the ninth U-shaped stopper are mounted in a sixth T-shaped groove, a third external inductor is mounted on an upper side of a sliding block of the upper linear guide rail sliding frame, and the third external inductor is located between the seventh U-shaped stopper and the ninth U-shaped stopper.

8. The yarn splicing device according to claim 6, wherein the magnetism-finding fixing body further comprises a supporting fixing block, and the bead ring shifting block is fixed at the head end of the supporting fixing block;

9. The yarn splicing device according to claim 8, wherein the motor d is mounted at an end portion of the lower linear guide rail sliding frame, a tenth U-shaped stopper, an eleventh U-shaped stopper and a twelfth U-shaped stopper are sequentially fixed to an upper side of the lower linear guide rail sliding frame from a position close to the motor d to a position far away from the motor d, the tenth U-shaped stopper and the eleventh U-shaped stopper are mounted in a seventh T-shaped groove, the twelfth U-shaped stopper is mounted in an eighth T-shaped groove, a fourth external inductor is mounted on an upper side of a sliding block of the lower linear guide rail sliding frame, and the fourth external inductor is located between the tenth U-shaped stopper and the twelfth U-shaped stopper.

10. The yarn splicing device according to claim 1, wherein the yarn gripper comprises a base and a plurality of semi-cylindrical gripping fingers mounted on the base, the base of the yarn gripper is fixedly connected with the industrial robot, all the gripping fingers in the yarn gripper are distributed in two rows and a plurality of columns, and the opposite surfaces of the two fingers in the same column are planes.