CN115821480A

CN115821480A - Yarn carrier shifting device and method for knitting unit

Info

Publication number: CN115821480A
Application number: CN202211489208.5A
Authority: CN
Inventors: 谢易廷; 丁允贺; 阮见; 瞿书涯; 潘梁; 李洪锋; 代满意
Original assignee: Nanjing Fiberglass Research and Design Institute Co Ltd
Current assignee: Nanjing Fiberglass Research and Design Institute Co Ltd
Priority date: 2022-11-25
Filing date: 2022-11-25
Publication date: 2023-03-21

Abstract

The invention discloses a yarn carrier shifting device and method for a weaving unit. The device comprises an operation bracket, an annular rotating device, a linear feeding device, a pose adjusting device, a tail end executing device and an auxiliary supporting device; the device comprises a working support, a linear feeding device, a pose adjusting device, a tail end executing device and an auxiliary supporting device, wherein the circumferential rotating device is arranged on the working support, the linear feeding device is arranged on the circumferential rotating device, the pose adjusting device is arranged at the tail end of the linear feeding device, the tail end executing device is arranged at one end of the pose adjusting device, and the auxiliary supporting device is arranged between the pose adjusting device and the linear feeding device. The method comprises the following steps: firstly, arranging a yarn carrier shifting device, and after receiving an instruction, moving a linear feeding device to a position of a knitting yarn hanging hook in cooperation with a pose adjusting device; then clamping the yarn hook by the tail end executing device; and finally, the linear feeding device carries the yarn hanging hook to the appointed position of the weaving unit to complete the placement of the yarn hanging hook. The invention reduces the labor intensity and the error rate and improves the knitting efficiency.

Description

Yarn carrier shifting device and method for knitting unit

Technical Field

The invention relates to the technical field of textile machinery, in particular to a yarn carrier shifting device and method for a knitting unit.

Background

The three-dimensional multi-directional braided fabric is formed by adopting the modes of needle retraction and release, holding and transverse arrangement, wedge-shaped braiding or multilayer braiding and the like on a weft knitting machine to knit a formed or sheet-shaped fabric with a three-dimensional structure, such as a bent pipe, a sphere, a box body, an automobile cushion or a spacer fabric and the like, and can be used as a framework of an industrial composite material. The three-dimensional multidirectional knitted fabric is formed by adopting a four-step method three-dimensional knitting process, the four-step method regular motion of the yarn carrier is controlled by the longitudinal and transverse type unit machine, the yarn carrier carries yarns to be interwoven in a three-dimensional space, and finally the three-dimensional multidirectional knitted fabric is formed.

The existing three-dimensional weaving prefabricated body is prepared by adopting a weaving unit to realize a three-dimensional weaving process, and the weaving unit is used for controlling the movement rule of yarn bundles and interweaving the yarn bundles in a three-dimensional space, so that the three-dimensional weaving prefabricated body is formed. When weaving a complex revolving type preform, a plurality of weaving units are usually arranged annularly, the movement path of yarn bundles spirally penetrates through the thickness and the length direction of the preform, and each yarn bundle movement needs to pass through all the weaving units. Therefore, the displacement exchange between two adjacent weaving unit modules and inside the weaving unit is required. The existing yarn changing mode is usually completed manually, and has the disadvantages of high labor intensity, low efficiency, easy error and high labor cost. With the progress of society and the development of economy, the requirements of the market cannot be met by manual yarn replacement. China textile science research institute, inc. applies for a yarn carrier and a three-dimensional knitting machine (patent number: 201710174215.9), changes of the yarn carrier occupying knitting positions are realized by arranging a plurality of rolling bodies on a yarn carrier base, but the problems of complex structure, more dismounting actions, large volume and high cost still exist.

Therefore, a yarn carrier and a yarn carrier shifting device are urgently needed to simplify yarn changing actions and improve yarn changing efficiency.

Disclosure of Invention

The invention aims to provide a yarn carrier shifting device and method for a knitting unit, which have simple yarn changing actions and can automatically complete the yarn changing actions by using mechanical equipment.

The technical solution for realizing the purpose of the invention is as follows: a yarn carrier shifting device for a weaving unit comprises an operation bracket, a circumferential rotating device, a linear feeding device, a pose adjusting device, a tail end executing device and an auxiliary supporting device;

the annular rotating device is arranged on the operation support, the linear feeding device is arranged on the annular rotating device, the position and posture adjusting device is arranged at the tail end of the linear feeding device, and the tail end executing device is arranged at one end of the position and posture adjusting device; the auxiliary supporting device is arranged between the pose adjusting device and the linear feeding device.

Furthermore, the operation support comprises an adjustable anchor, an anchor fixing block, a round steel pipe, a first arc-shaped steel section and a second arc-shaped steel section;

the number of the round steel pipes is multiple, and the bottom of each round steel pipe is matched with an adjustable ground foot and a ground foot fixing block; the adjustable anchor is connected with an anchor fixing block through threads, the anchor fixing block is made of steel, the outer surface of the anchor fixing block is in fit welding connection with one end of the bottom of the circular steel tube, threads are arranged on the inner surface of the anchor fixing block, and the anchor fixing block is connected with the adjustable anchor through threads; the second arc-shaped steel section is connected with one end of the top of each circular steel tube in a welding mode to form the operation support, and the middle part of each circular steel tube is fixedly connected with the first arc-shaped steel section arranged in parallel with the second arc-shaped steel section.

Further, the annular rotating device comprises an annular rail, a sliding seat, a tension wheel, a gear, a roller pin, a driving power source, a speed reducer and a speed reducer bracket;

a sliding seat is arranged above the annular rail, a tension wheel is arranged on the sliding seat, and the sliding seat is connected with the annular rail and can move relatively through the tension wheel; the sliding seat is fixedly connected with a speed reducer support through screws, the speed reducer support is fixedly connected with a speed reducer and a driving power source through screws, an output shaft of the speed reducer is connected with the gear, and the rolling needles are arranged in the circumferential direction of the annular rail at equal intervals and are fixedly connected with the annular rail; the gear is connected with the roller pin in a matched mode, the speed reducer and the gear are driven to rotate through the driving power source, and the sliding seat rotates annularly relative to the annular rail.

Further, the linear feeding device comprises a linear guide mechanism, a sliding block, a rapier, a drag chain supporting plate, a wiring groove and a power source;

a power source is arranged at one end of the linear guide mechanism, a sliding block is fixed above the linear guide mechanism, the sliding block is tightly connected with the rapier through a screw, and the rapier can perform feed motion relative to the linear guide mechanism; be provided with tow chain and trough on the rapier, the trough passes through the screw fastening on rapier relevant position, the tow chain backup pad is connected through screw and linear module side, plays supporting role to the tow chain.

Further, the pose adjusting device comprises a swing arm rod, a joint bearing, a first driving mechanism and a second driving mechanism;

one end of the swing arm rod is connected with a rapier in the linear feeding device through a joint bearing, and the first driving mechanism is fastened at the upper end of the rapier through a screw and drives the swing arm rod to adjust the pose; the other end of the swing arm rod is connected with the tail end executing device through a joint bearing, a second driving mechanism is fastened at the upper end of the swing arm rod through a screw and drives the tail end executing device to adjust the pose, and relative rotation between the swing arm rod and the tail end executing device is guaranteed; the swing arm rod drives the tail end executing device to complete position adjustment, and a space moving area is guaranteed.

Further, the tail end executing device comprises a Z-direction lifting mechanism, a lifting mechanism fixing frame, a lifting power source, a pneumatic cylinder fixing frame, a miniature left clamping jaw and a miniature right clamping jaw;

the Z-direction lifting mechanism is connected with the lifting mechanism fixing frame, and the lifting power source is arranged at the top of the lifting mechanism fixing frame; the lifting mechanism fixing frame is connected with one end of a swing arm rod in the pose adjusting device and is connected with the second driving mechanism through a joint bearing, so that the swing arm rod and the lifting mechanism fixing frame can move relatively; the pneumatic cylinder is connected with the Z-direction lifting mechanism through a pneumatic cylinder fixing frame, and the miniature left clamping jaw and the miniature right clamping jaw are fixedly connected with the pneumatic cylinder through screws; the second driving mechanism drives the lifting power source to enable the Z-direction lifting mechanism to move up and down to complete plugging and unplugging actions on the one hand, and drives the pneumatic cylinder to enable the miniature left clamping jaw and the miniature right clamping jaw to complete clamping and releasing actions on the yarn carrier on the other hand, so that the yarn carrier can complete displacement exchange under the condition of carrying yarns.

Furthermore, the auxiliary supporting device comprises an auxiliary supporting wheel, a wheel supporting rod, a spring limiting seat, a spring, a first bearing, a second bearing and a wheel limiting frame;

the two auxiliary supporting wheels are connected to two ends of a wheel supporting rod in a matching mode through bearings, and the wheel supporting rod is connected with the spring limiting seat through a spring and a screw; the spring limiting seat is fixedly connected with a rapier in the linear feeding device through a screw; the wheel limiting frame is fixedly connected with a linear guide mechanism in the linear feeding device through screws; the wheel limiting frame is matched and connected with a bearing on a wheel supporting rod in motion, and the limiting wheel moves up and down; the spring is installed in the spacing seat of spring, through the length of adjusting screw precession, the elasticity size of control spring guarantees at the operation in-process, and the auxiliary stay wheel can enough have the supporting role of removal to the rapier that feeds, can accomplish the ascending action of auxiliary stay wheel through the spacing frame of wheel again.

Furthermore, the annular rotating device, the linear feeding device and the tail end executing device are provided with sensors;

a sensor arranged on an annular track of the annular rotating device is used for detecting whether the annular operation reaches a specified position, and a yarn-carrying shifting mechanism is arranged at the central line position of two weaving units needing yarn exchange to perform feeding and corresponding actions; a sensor arranged on the side surface of the linear module of the linear feeding device is used for detecting the feeding amount, the limit position and the zero position, so that the real-time position of the feeding device can be monitored; the sensor that sets up on the end actuating device is used for detecting that the clamp that gets the mechanism gets state judgement and the instruction is assigned, and after the sensor detected that the clamp got appointed yarn carrier, assign next step's instruction, guarantee the stability of whole mechanism operation.

Furthermore, the yarn carrier shifting device is used for shifting the combined yarn carrier, the combined yarn carrier comprises a yarn hanging hook, a tension ring and a base, an elastic clamping jaw is arranged on the yarn hanging hook, and a limiting mushroom head is arranged at the top end of the base;

the tension ring is installed in the yarn carrier base upper end, hang the yarn hook and accomplish combination and separation through pressing with the yarn carrier base, specifically as follows:

the tension ring can only move between the limiting mushroom head and the base boss; when the yarn hanging hook is sleeved on the base, the elastic clamping jaw moves between the limiting mushroom head and the tension ring, and the yarn hanging hook and the base are combined and cannot be separated; when the yarn hanging hook continues to move downwards, the elastic clamping jaw is opened and sleeved on the tension ring; the yarn hanging hook moves upwards, the tension ring moves upwards along with the elastic clamping jaw until the limiting mushroom head limits the tension ring to continue moving upwards; the opened elastic clamping jaw moves upwards until the elastic clamping jaw is separated from the tension ring and is sleeved on the limiting mushroom head; the elastic clamping jaw continuously moves upwards to separate from the limit mushroom head, and the yarn hanging hook is separated from the base.

A shifting method of a yarn carrier shifting device for a weaving unit is based on the yarn carrier shifting device for the weaving unit and comprises the following steps:

step 1, uniformly distributing and arranging yarn carrying device shifting devices at the periphery of a weaving unit, and setting a certain number of yarn carrying device shifting devices according to an operation area; according to different shapes and contours of woven products, tracks with different shapes and contours are arranged, and each yarn carrier shifting device can be responsible for shifting yarn carriers at one or more stations;

step 2, after the knitting unit finishes knitting according to the set knitting rule, the yarn carrier shifting device obtains an instruction and moves to a specified position from a starting point;

step 3, after the yarn reaches the appointed station, the linear feeding device obtains an instruction and moves to a yarn hanging hook position set by the knitting unit in cooperation with the pose adjusting device;

step 4, the tail end executing device clamps the yarn hanging hook and finishes pulling and inserting, so that the yarn hanging hook finishes the separating action from the base;

step 5, the linear feeding device is matched with the pose adjusting device to carry the yarn hanging hook to the appointed position of the weaving unit, and the yarn hanging hook is placed;

step 6, the tail end executing device pulls out and inserts the yarn hanging hook, so that the yarn hanging hook completes the placing action, and the micro clamping jaw is released;

and 7, circulating the steps 2 to 6 to finish the displacement action of all the yarn hanging hooks.

Compared with the prior art, the invention has the remarkable advantages that:

(1) The combination and the separation of the yarn carriers can be quickly finished by pressing, the yarn changing action is simplified, and the displacement speed, the convenience and the reliability of the yarn carriers are improved;

(2) The spindle exchange among the three-dimensional weaving units and inside the weaving units is realized according to the interweaving rule, and the consistency of the product quality is ensured;

(3) The operation supports with different appearance profiles can be spliced according to different woven products and different spindle arrangement modes, so that the operation supports are convenient and quick;

(4) According to weaving the difference of product and spindle arrangement, the circular orbit can be replaced for the straight line track or the combination of straight line and circular orbit fast to adapt to different product operating mode demands.

Drawings

FIG. 1 is a schematic view of the operation of a yarn carrier displacement apparatus for a knitting unit of the present invention.

Fig. 2a is a schematic view of the general structure of a yarn carrier displacement device for a weaving unit according to the present invention.

FIG. 2b is a partially enlarged view of the circumferential rotating means in the yarn carrier displacing means for the knitting unit of the present invention.

Fig. 2c is an enlarged view of a portion of the end effector and auxiliary support means of the present invention.

Fig. 3a is a schematic structural diagram of the embodiment of the present invention in which the splicing track is circular.

Fig. 3b is a schematic structural diagram of the embodiment of the invention in which the splicing tracks are rounded rectangles.

Fig. 3c is a schematic structural diagram of the embodiment of the present invention in which the splicing rail is circular.

FIG. 4a is a schematic view of the structure of the combined type yarn carrier in the embodiment of the invention.

FIG. 4b is a schematic view of the construction of a yarn hook of the combined type yarn carrier according to the embodiment of the present invention.

FIG. 4c is a schematic view of the base of the combined type yarn carrier according to the embodiment of the present invention.

Fig. 5 is a schematic diagram of the movement principle of the yarn carrying and shifting mechanism in the embodiment of the invention.

Fig. 6 is a schematic view of the gripping spindle of the yarn carrying shift mechanism in the embodiment of the invention.

Fig. 7 is a schematic path diagram of the yarn carrying and shifting mechanism for transferring the spindles in the embodiment of the invention.

Fig. 8 is a schematic view of the yarn carrying displacement mechanism releasing the spindle in the embodiment of the invention.

Detailed Description

The invention relates to a yarn carrier shifting device for a weaving unit, which comprises an operation bracket 1, a circumferential rotating device 2, a linear feeding device 3, a pose adjusting device 4, a tail end executing device 5 and an auxiliary supporting device 6, wherein the operation bracket is fixedly connected with the operation bracket;

the circular rotating device 2 is arranged on the working support 1, the linear feeding device 3 is arranged on the circular rotating device 2, the pose adjusting device 4 is arranged at the tail end of the linear feeding device 3, and the tail end executing device 5 is arranged at one end of the pose adjusting device 4; the auxiliary support device 6 is disposed between the attitude and posture adjustment device 4 and the linear feed device 3.

Further, the operation support 1 comprises an adjustable anchor 1.1, an anchor fixing block 1.2, a round steel pipe 1.3, a first arc-shaped steel section 1.4 and a second arc-shaped steel section 1.5;

the number of the round steel tubes 1.3 is multiple, and the bottom of each round steel tube 1.3 is provided with an adjustable anchor 1.1 and an adjustable anchor fixing block 1.2 in a matched manner; the adjustable anchor 1.1 is connected with an anchor fixing block 1.2 through threads, the anchor fixing block 1.2 is made of steel, the outer surface of the anchor fixing block is in fit welding connection with one end of the bottom of the round steel pipe 1.3, the inner surface of the anchor fixing block is provided with threads, and the anchor fixing block is connected with the adjustable anchor 1.1 through threads; second arc steel section bar 1.5 passes through the welding form with each circular steel tube 1.3's top one end and is connected, constitutes operation support 1, circular steel tube 1.3 middle part is connected fixedly through the first arc steel section bar 1.4 with second arc steel section bar 1.5 parallel arrangement.

Further, the annular rotating device 2 comprises an annular rail 2.2, a sliding seat 2.7, a tension wheel 2.8, a gear 2.5, a roller pin 2.1, a driving power source 2.3, a speed reducer 2.4 and a speed reducer bracket 2.6;

a sliding seat 2.7 is arranged above the annular rail 2.2, a tension wheel 2.8 is arranged on the sliding seat 2.7, and the sliding seat 2.7 is connected with the annular rail 2.2 and can move relatively through the tension wheel 2.8; the sliding seat 2.7 is fixedly connected with the speed reducer support 2.6 through screws, the speed reducer support 2.6 is fixedly connected with the speed reducer 2.4 and the driving power source 2.3 through screws, the output shaft of the speed reducer 2.4 is connected with the gear 2.5, and the roller pins 2.1 are arranged in the circumferential direction of the annular rail 2.2 at equal intervals and are fixedly connected with the annular rail 2.2; the gear 2.5 is connected with the roller pin 2.1 in a matching mode, the speed reducer 2.4 and the gear 2.5 are driven to rotate through the driving power source 2.3, and the sliding seat 2.7 rotates in an annular mode relative to the annular rail 2.2.

Further, the linear feeding device 3 comprises a linear guide mechanism 3.3, a sliding block 3.8, a rapier 3.4, a drag chain 3.2, a drag chain supporting plate 3.6, a wiring groove and a power source 3.1;

one end of the linear guide mechanism 3.3 is provided with a power source 3.1, a sliding block 3.8 is fixed above the linear guide mechanism, the sliding block 3.8 is fixedly connected with the rapier 3.4 through a screw, and the rapier 3.4 can perform feed motion relative to the linear guide mechanism 3.3; be provided with tow chain 3.2 and trough on the rapier 3.4, the trough passes through the screw fastening on rapier 3.4 relevant position, tow chain backup pad 3.6 is connected through screw and linear module side, plays supporting role to tow chain 3.2.

Further, the posture adjusting device 4 comprises a swing arm rod 4.1, a joint bearing 4.2, a first driving mechanism 4.3 and a second driving mechanism 4.4;

one end of the swing arm rod 4.1 is connected with a rapier 3.4 in the linear feeding device 3 through a joint bearing 4.2, the first driving mechanism 4.3 is fastened at the upper end of the rapier 3.4 through a screw, and the swing arm rod 4.1 is driven to carry out pose adjustment; the other end of the swing arm rod 4.1 is connected with the tail end executing device 5 through a joint bearing 4.2, a second driving mechanism 4.4 is fastened at the upper end of the swing arm rod 4.1 through a screw, and drives the tail end executing device 5 to adjust the pose, so that the relative rotation between the swing arm rod 4.1 and the tail end executing device 5 is ensured; the swing arm rod 4.1 drives the tail end executing device 5 to complete position adjustment, and a space moving area is guaranteed.

Further, the tail end executing device 5 comprises a Z-direction lifting mechanism 5.3, a lifting mechanism fixing frame 5.1, a lifting power source 5.2, a pneumatic cylinder 5.4, a pneumatic cylinder fixing frame 5.7, a miniature left clamping jaw 5.5 and a miniature right clamping jaw 5.6;

the Z-direction lifting mechanism 5.3 is connected with the lifting mechanism fixing frame 5.1, and a lifting power source 5.2 is arranged at the top of the lifting mechanism fixing frame 5.1; the lifting mechanism fixing frame 5.1 is connected with one end of a swing arm rod 4.1 in the pose adjusting device 4 and is connected with the second driving mechanism 4.4 through a joint bearing 4.2, so that the swing arm rod 4.1 and the lifting mechanism fixing frame 5.1 move relatively; the pneumatic cylinder 5.4 is connected with the Z-direction lifting mechanism 5.3 through a pneumatic cylinder fixing frame 5.7, and the miniature left clamping jaw 5.5 and the miniature right clamping jaw 5.6 are fixedly connected with the pneumatic cylinder 5.4 through screws; the second driving mechanism 4.4 drives the lifting power source 5.2 on one hand to enable the Z-direction lifting mechanism 5.3 to move up and down to finish the plugging action, and drives the pneumatic cylinder 5.4 on the other hand to enable the miniature left clamping jaw 5.5 and the miniature right clamping jaw 5.6 to finish the clamping and releasing actions of the yarn carrier, so that the yarn carrier can finish the displacement exchange under the condition of carrying yarn.

Further, the auxiliary supporting device 6 comprises an auxiliary supporting wheel 6.1, a wheel supporting rod 6.7, a spring limiting seat 6.6, a spring 6.5, a first bearing 6.2, a second bearing 6.4 and a wheel limiting frame 6.3;

the number of the auxiliary supporting wheels 6.1 is two, the auxiliary supporting wheels are connected to two ends of a wheel supporting rod 6.7 in a matched mode through bearings, and the wheel supporting rod 6.7 is connected with a spring limiting seat 6.6 through a spring 6.5 and a screw; the spring limiting seat 6.6 is tightly connected with a rapier 3.4 in the linear feeding device 3 through a screw; the wheel limiting frame 6.3 is fixedly connected with a linear guide mechanism 3.3 in the linear feeding device 3 through screws; the wheel limiting frame 6.3 is matched and connected with a bearing on a wheel supporting rod 6.7 in motion, and the limiting wheel moves up and down; spring 6.5 is installed in the spacing seat of spring 6.6, through the length of adjusting screw precession, control spring 6.5's elasticity size guarantees that at the operation in-process, supplementary supporting wheel 6.1 can enough have the supporting role of removal to the rapier 3.4 who feeds, can accomplish supplementary supporting wheel 6.1 through spacing 6.3 of wheel again and rise the action.

Further, the annular rotating device 2, the linear feeding device 3 and the tail end executing device 5 are provided with sensors;

a sensor arranged on an annular track 2.2 of the annular rotating device 2 is used for detecting whether annular operation reaches a specified position, and a yarn carrying and shifting mechanism is arranged at the central line position of two knitting units needing yarn exchange to carry out feeding and corresponding actions; a sensor arranged on the side surface of the linear module of the linear feeding device 3 is used for detecting the feeding amount, the limit position and the zero position, so that the real-time position of the feeding device can be monitored; the sensor arranged on the end executing device 5 is used for detecting clamping state judgment and instruction issuing of the clamping mechanism, when the sensor detects that the designated yarn carrier is clamped, the sensor issues the next instruction, and the running stability of the whole mechanism is ensured.

Furthermore, the yarn carrier shifting device is used for shifting the combined yarn carrier, the combined yarn carrier comprises a yarn hanging hook 9, a tension ring 10 and a base 11, an elastic clamping jaw 9.1 is arranged on the yarn hanging hook 9, and a limiting mushroom head 11.1 is arranged at the top end of the base 11;

the tension ring 10 is arranged at the upper end of the yarn carrier base 11, and the yarn hanging hook 9 and the yarn carrier base 11 are combined and separated by pressing, and the method is as follows:

the tension ring 10 can only move between the limiting mushroom head 11.1 and the boss of the base 11; when the yarn hanging hook 9 is sleeved on the base 11, the elastic clamping jaw 9.1 moves between the limiting mushroom head 11.1 and the tension ring 10, the yarn hanging hook 9 is combined with the base 11, and the yarn hanging hook 9 and the base 11 cannot be separated; when the yarn hanging hook 9 moves downwards continuously, the elastic clamping jaw 9.1 is opened and sleeved on the tension ring 10; the yarn hanging hook 9 moves upwards, and the tension ring 10 moves upwards along with the elastic clamping jaw 9.1 until the limiting mushroom head 11.1 limits the tension ring 10 to continue moving upwards; the opened elastic clamping jaw 9.1 moves upwards until the elastic clamping jaw 9.1 is separated from the tension ring 10 and is sleeved on the limiting mushroom head 11.1; the elastic clamping jaw 9.1 moves upwards continuously to be separated from the limiting mushroom head 11.1, and the yarn hanging hook 9 is separated from the base 11.

The invention relates to a shifting method of a yarn carrier shifting device for a weaving unit, which is based on the yarn carrier shifting device for the weaving unit and comprises the following steps:

step 1, uniformly distributing and arranging yarn carrying device shifting devices at the periphery of a weaving unit, and setting a certain number of yarn carrying device shifting devices according to an operation area; the yarn carrier shifting device comprises a plurality of yarn carrier shifting devices, wherein the yarn carrier shifting devices are arranged on the yarn carrier shifting devices;

step 3, after the yarn reaches the appointed station, the linear feeding device 3 obtains an instruction and moves to the position of a yarn hanging hook 9 set by the knitting unit in cooperation with the pose adjusting device 4;

step 4, the tail end executing device 5 clamps the yarn hanging hook 9 and finishes pulling and inserting, so that the yarn hanging hook 9 finishes the separating action from the base 11;

step 5, the linear feeding device 3 is matched with the pose adjusting device 4 to carry the yarn hanging hook 9 to the appointed position of the weaving unit, and the yarn hanging hook 9 is placed;

step 6, the tail end executing device 5 pulls out and inserts the yarn hanging hook 9, so that the yarn hanging hook 9 finishes the placing action, and the micro clamping jaw 5.5 is released;

and 7, circulating the steps 2 to 6 to finish the displacement action of all the yarn hanging hooks 9.

The following describes embodiments of the present invention in further detail with reference to the drawings and specific examples.

As a specific embodiment, with reference to fig. 1, fig. 2a, fig. 2b, and fig. 2c, the yarn carrier shifting device for a knitting unit of the present invention includes a working frame 1, a hoop rotating device 2, a linear feeding device 3, a posture adjusting device 4, an end effector 5, and an auxiliary support device 6;

the annular rotating device 2 is arranged on the operation support 1, the linear feeding device 3 is arranged on the annular rotating device 2, the pose adjusting device 4 is arranged at the tail end of the linear feeding device 3, the tail end executing device 5 is arranged at one end of the pose adjusting device 4, and the auxiliary supporting device 6 is arranged between the pose adjusting device 4 and the linear feeding device 3.

As a specific embodiment, the operation bracket 1 includes an adjustable anchor 1.1, an anchor fixing block 1.2, a round steel pipe 1.3, a first arc-shaped steel section 1.4, and a second arc-shaped steel section 1.5;

the number of the round steel tubes 1.3 is multiple, and the bottom of each round steel tube 1.3 is provided with an adjustable anchor 1.1 and an adjustable anchor fixing block 1.2 in a matched manner; adjust lower margin 1.1 and be connected through screw thread and lower margin fixed block 1.2, lower margin fixed block 1.2 is the steel material, and surface and circular steel tube 1.3 bottom one end cooperation welded connection, internal surface have the screw thread to be connected with adjustable lower margin 1.1, second arc shaped steel section bar 1.5 is connected through the welding form with the circular steel tube 1.3 other end, constitutes operation support 1.

As a specific embodiment, the working support 1 may also be a cross beam directly led out from the outer surface of the knitting unit by a certain length as the working support 1, so that the relative distance between the working support 1 and the knitting unit is more stable. Meanwhile, according to different arrangement modes of woven products and spindles, the operation supports 1 with different appearance contours can be spliced according to the method.

As a specific embodiment, the circumferential rotating device 2 includes an annular rail 2.2, a sliding seat 2.7, a tension wheel 2.8, a gear 2.5, a roller pin 2.1, a driving power source 2.3, a speed reducer 2.4 and a speed reducer bracket 2.6;

a sliding seat 2.7 is arranged above the annular rail 2.2, a tension wheel 2.8 is arranged on the sliding seat 2.7, and the sliding seat 2.7 is connected with the annular rail 2.2 and can move relatively through the tension wheel 2.8; the sliding seat 2.7 is fixedly connected with the speed reducer support 2.6 through screws, the support 2.6 is fixedly connected with the driving power source 2.3 and the speed reducer 2.4 through screws, the output shaft of the speed reducer 2.4 is connected with the gear 2.5, the roller pins 2.1 are arranged in the circumferential direction of the annular track 2.2 at equal intervals and are fixedly connected with the annular track, the gear 2.5 is connected with the roller pins 2.1 in a matched mode, and the sliding seat can be driven to rotate annularly relative to the annular track through rotation of the gear.

As a specific embodiment, according to different arrangement modes of the woven product and the spindle, the annular rail 2.2 can be quickly replaced by a linear rail or a combination of the linear rail and the annular rail to adapt to different working condition requirements of the product, as shown in fig. 3a, 3b and 3c, the annular rail 8.3 is distributed at the outermost periphery of the whole working condition and is used for bearing a yarn-carrying displacement mechanism and an execution mechanism, the first weaving unit 8.2 is arranged in a profiling manner, and the circular woven product 8.1 is arranged at the center of the whole working condition; similarly, the tracks are formed by splicing annular arc sections and straight line sections to form round-angle rectangular tracks 8.6, the second weaving units 8.5 are arranged in a profiling mode, and rectangular weaving products 8.4 are arranged at the center of the whole working condition; similarly, the track is formed by splicing the annular arc section and the straight section into a special-shaped track 8.9, the third weaving unit 8.8 is arranged in a copying mode, and a special-shaped weaving product 8.7 is arranged at the center of the whole working condition.

As a specific embodiment, the linear feeding device 3 comprises a linear guide mechanism 3.3, a slide block 3.8, a rapier 3.4, a drag chain 3.2, a drag chain support plate 3.6, a wiring groove, a power source 3.1 and a power source accessory;

one end of the linear guide mechanism 3.3 is provided with a power source 3.1 and a power source auxiliary part, a sliding block 3.8 is fixed above the linear guide mechanism, the sliding block 3.8 is fixedly connected with the rapier 3.4 through a screw, and the rapier 3.4 can perform feed motion relative to the linear guide mechanism 3.3; the rapier 3.4 is provided with a drag chain 3.2 and a wiring groove, the wiring groove of the drag chain 3.2 is fastened on the corresponding position of the rapier 3.4 through a screw, and the drag chain supporting plate 3.6 is connected with the side surface of the linear guiding mechanism 3.3 through a screw to support the drag chain 3.2; the drag chain 3.2, the wiring groove and the drag chain fixing plate 3.6 are all arranged for ensuring the beautiful wiring of the tail end executing device 5 and the driving device. The linear feeding device 3 is not limited to the linear module guiding mechanism, and a gear synchronous belt guiding mechanism can be adopted.

As a specific example, the posture adjustment device 4 includes a swing arm lever 4.1, a joint bearing 4.2, a first drive mechanism 4.3, a second drive mechanism 4.4, and an auxiliary member thereof;

one end of the swing arm rod 4.1 is connected with the rapier 3.4 through a joint bearing 4.2, the first driving mechanism 4.3 is fastened at the upper end of the rapier 3.4 through a screw to drive the swing arm rod 4.1 to adjust the pose, the other end of the swing arm rod 4.1 is connected with the end executing device 5 through a joint bearing 4.2, the second driving mechanism 4.4 is fastened at the upper end of the swing arm rod 4.1 through a screw to drive the end executing device 5 to adjust the pose, and the relative rotation between the swing arm rod 4.1 and the end executing device 5 is ensured; the swing arm rod (4.1) drives the tail end execution device (5) to complete position adjustment, and a space moving area is guaranteed.

As a specific embodiment, the end effector 5 includes a Z-direction lifting mechanism 5.3, a lifting mechanism fixing frame 5.1, a lifting power source 5.2, a pneumatic cylinder 5.4, a pneumatic cylinder fixing frame 5.7, a micro left clamping jaw 5.5 and a micro right clamping jaw 5.6;

the Z-direction lifting mechanism 5.3 is connected with the lifting mechanism fixing frame 5.1, and a lifting power source 5.2 is arranged at the top of the lifting mechanism fixing frame 5.1; the lifting mechanism fixing frame 5.1 is connected with one end of a swing arm rod 4.1 in the pose adjusting device 4 and is connected with the second driving mechanism 4.4 through a joint bearing, so that the swing arm rod 4.1 and the lifting mechanism fixing frame 5.1 can move relatively, the pneumatic cylinder 5.4 is connected with the Z-direction lifting mechanism 5.3 through a pneumatic cylinder fixing frame 5.7, and the miniature left clamping jaw 5.5 and the miniature right clamping jaw 5.6 are fixedly connected with the pneumatic cylinder 5.4 through screws; the second driving mechanism 4.4 drives the lifting power source 5.2 on one hand to enable the Z-direction lifting mechanism 5.3 to move up and down to finish the plugging action, and drives the pneumatic cylinder 5.4 on the other hand to enable the miniature left clamping jaw 5.5 and the miniature right clamping jaw 5.6 to finish the clamping and releasing actions of the yarn carrier, so that the yarn carrier can finish the displacement exchange under the condition of carrying yarn.

As a specific embodiment, the auxiliary supporting device 6 includes an auxiliary supporting wheel 6.1, a wheel supporting rod 6.7, a spring limiting seat 6.6, a spring 6.5, a first bearing 6.2, a second bearing 6.4 and a wheel limiting frame 6.3;

supplementary supporting wheel 6.1 is two, connects the both ends at wheel bracing piece 6.7 through the cooperation of bearing 6.2, through spring 6.5 and screwed connection between wheel bracing piece 6.7 and the spacing seat 6.6 of spring, spacing seat 6.6 of spring with rapier 3.4 in the linear feeding device 3 passes through screw fastening connection, wheel spacing frame 6.3 with linear guiding mechanism 3.3 in the linear feeding device 3 passes through screw fastening connection, wheel spacing frame 6.3 is connected with the cooperation of first bearing 6.2, second bearing 6.4 on the wheel bracing piece in the motion, and spacing wheel reciprocates, spring 6.5 is installed in the spacing seat 6.6 of spring, through the length of adjusting the screw precession, the elasticity size of control spring guarantees in the operation process, and the wheel can enough have the supporting role of removal to the rapier that feeds, can be smooth again accomplish supplementary supporting wheel 6.1 through wheel spacing frame 6.3 and rise the action.

As a specific embodiment, the circular orbit 2.2 of hoop rotating device 2 pass through the screw with operation support 1 connects, linear feed device passes through the base to be fixed on the slide 2.7 of annular rotating device 2, swing arm pole 4.1 one end of position appearance adjusting device 4 is passed through joint bearing 4.2, the screw cooperation is connected linear feed device 3's rapier 3.4 is terminal, end effector 5 passes through joint bearing 4.2, screw, the power supply 3.1 cooperation of linear feed device 3 is connected at the swing arm pole 4.1 other end. The linear feeding device 3, the pose adjusting device 4 and the end executing device 5 rotate relative to the working support 1 and the annular rail 2.2.

As a specific embodiment, in order to ensure the yarn carrying displacement function and automatic control, sensors are arranged on the annular rotating device 2, the linear feeding device 3 and the end executing device 5;

a sensor arranged on an annular track 2.2 of the annular rotating device 2 is used for detecting whether the annular operation reaches a specified position, and a yarn-carrying shifting mechanism is arranged at the central line position of two weaving units needing yarn exchange to perform feeding and corresponding actions; a sensor arranged on the side surface of the linear module of the linear feeding device 3 is used for detecting the feeding amount, the limit position and the zero position, so that the real-time position of the feeding device can be monitored; a sensor arranged on the tail end executing device 5 is used for detecting clamping state judgment and instruction issuing of the clamping mechanism; when the sensor detects that the designated yarn carrying device is clamped, the next step of instruction is given, and the running stability of the whole mechanism is ensured.

As a specific embodiment, the yarn carrier shifting device is used for shifting a combined type yarn carrier, the combined type yarn carrier comprises a yarn hanging hook 9, a tension ring 10 and a base 11, an elastic clamping jaw 9.1 is arranged on the yarn hanging hook 9, and a limiting mushroom head 11.1 is arranged at the top end of the base 11;

the tension ring 10 is installed at the upper end of the yarn carrier base 11, and the yarn hanging hook 9 and the yarn carrier base 11 are combined and separated by pressing, and the combination is as follows by combining with the drawing 4a, the drawing 4b and the drawing 4 c:

the tension ring 10 can only move between the limiting mushroom head 11.1 and the boss of the base 11; when the yarn hanging hook 9 is sleeved on the base 11, the elastic clamping jaw 9.1 moves between the limiting mushroom head 11.1 and the tension ring 10, the yarn hanging hook 9 is combined with the base 11, and the yarn hanging hook 9 and the base 11 cannot be separated; when the yarn hanging hook 9 moves downwards continuously, the elastic clamping jaw 9.1 is opened and sleeved on the tension ring 10; the yarn hanging hook 9 moves upwards, the tension ring 10 moves upwards along with the elastic clamping jaw 9.1 until the limiting mushroom head 11.1 limits the tension ring 10 to continue moving upwards; the opened elastic clamping jaw 9.1 moves upwards until the elastic clamping jaw 9.1 is separated from the tension ring 10 and is sleeved on the limiting mushroom head 11.1; the elastic clamping jaw 9.1 moves upwards continuously to be separated from the limiting mushroom head 11.1, and the yarn hanging hook 9 is separated from the base 11.

As a specific embodiment, the shifting method of the yarn carrier shifting device for a knitting unit of the present invention comprises the steps of:

step 2, after the knitting unit finishes knitting according to the set interlacing rule, the yarn carrier shifting device obtains an instruction and moves from the initial point to the designated position, as shown in fig. 5;

step 4, the tail end executing device 5 clamps the yarn hanging hook 9 and finishes pulling and inserting, so that the yarn hanging hook 9 finishes the separating action from the base 11, as shown in fig. 6;

step 5, the linear feeding device 3 is matched with the pose adjusting device 4 to carry the yarn hanging hook 9 to the appointed position of the weaving unit, and the yarn hanging hook 9 is placed, as shown in fig. 7;

step 6, the tail end executing device 5 pulls out and inserts the yarn hanging hook 9, so that the yarn hanging hook 9 completes the placing action, and the micro clamping jaw 5.5 is released, as shown in fig. 8;

In conclusion, the yarn carrier shifting device and method for the weaving unit can quickly complete the combination and separation of the yarn carriers by pressing, simplify yarn changing actions and improve the speed, convenience and reliability of the yarn carrier shifting; the spindle exchange among the three-dimensional weaving units and inside the weaving units is realized according to the interweaving rule, and the consistency of the product quality is ensured; the operation supports with different appearance profiles can be spliced according to different woven products and different spindle arrangement modes, so that the operation supports are convenient and quick; according to weaving the difference of product and spindle arrangement, the circular orbit can be changed for the combination of straight line track or straight line and circular orbit fast to adapt to different product operating mode demands.

Claims

1. A yarn carrier shifting device for a knitting unit is characterized by comprising an operation bracket (1), a circumferential rotating device (2), a linear feeding device (3), a pose adjusting device (4), a tail end executing device (5) and an auxiliary supporting device (6);

the circular rotating device (2) is arranged on the operation support (1), the linear feeding device (3) is arranged on the circular rotating device (2), the pose adjusting device (4) is arranged at the tail end of the linear feeding device (3), and the tail end executing device (5) is arranged at one end of the pose adjusting device (4); the auxiliary supporting device (6) is arranged between the pose adjusting device (4) and the linear feeding device (3).

2. The yarn carrier displacement device for a weaving unit according to claim 1, characterized in that the work carrier (1) comprises an adjustable foot (1.1), a foot fixing block (1.2), a round steel tube (1.3), a first curved steel profile (1.4), a second curved steel profile (1.5);

the number of the round steel pipes (1.3) is multiple, and the bottom of each round steel pipe (1.3) is matched with an adjustable anchor (1.1) and an anchor fixing block (1.2); the adjustable anchor (1.1) is connected with an anchor fixing block (1.2) through threads, the anchor fixing block (1.2) is made of steel, the outer surface of the anchor fixing block is matched and welded with one end of the bottom of the round steel pipe (1.3), threads are arranged on the inner surface of the anchor fixing block, and the anchor fixing block is connected with the adjustable anchor (1.1) through the threads; second arc steel section bar (1.5) are connected through the welding form with the top one end of each circular steel tube (1.3), constitute operation support (1), circular steel tube (1.3) middle part is connected fixedly through first arc steel section bar (1.4) with second arc steel section bar (1.5) parallel arrangement.

3. The yarn carrier shifting device for a weaving unit according to claim 1, characterized in that the circumferential rotation device (2) comprises an annular rail (2.2), a slide (2.7), a tension wheel (2.8), a gear (2.5), a needle roller (2.1), a driving power source (2.3), a speed reducer (2.4) and a speed reducer bracket (2.6);

a sliding seat (2.7) is arranged above the annular track (2.2), a tension wheel (2.8) is arranged on the sliding seat (2.7), and the sliding seat (2.7) is connected with the annular track (2.2) and can move relatively through the tension wheel (2.8); the sliding seat (2.7) is fixedly connected with a speed reducer support (2.6) through screws, the speed reducer support (2.6) is fixedly connected with a speed reducer (2.4) and a driving power source (2.3) through screws, an output shaft of the speed reducer (2.4) is connected with the gear (2.5), and the roller needles (2.1) are arranged in the circumferential direction of the annular track (2.2) at equal intervals and are fixedly connected with the annular track (2.2); the gear (2.5) is connected with the roller pin (2.1) in a matched mode, the speed reducer (2.4) and the gear (2.5) are driven to rotate through the driving power source (2.3), and the sliding seat (2.7) rotates in an annular mode relative to the annular rail (2.2).

4. The yarn carrier displacement device for a weaving unit according to claim 1, characterized in that the linear feed device (3) comprises a linear guide mechanism (3.3), a slider (3.8), a rapier (3.4), a drag chain (3.2), a drag chain support plate (3.6), a cabling channel, a power source (3.1);

one end of the linear guide mechanism (3.3) is provided with a power source (3.1), a sliding block (3.8) is fixed above the linear guide mechanism, the sliding block (3.8) is fixedly connected with the rapier (3.4) through a screw, and the rapier (3.4) can perform feed motion relative to the linear guide mechanism (3.3); be provided with tow chain (3.2) and trough on rapier (3.4), the trough passes through the screw fastening on rapier (3.4) relevant position, tow chain backup pad (3.6) are connected through screw and linear module side, play the supporting role to tow chain (3.2).

5. The yarn carrier displacing device for a weaving unit according to claim 1, characterized in that the attitude adjusting device (4) comprises a swing arm lever (4.1), a knuckle bearing (4.2), a first drive mechanism (4.3) and a second drive mechanism (4.4);

one end of the swing arm rod (4.1) is connected with a rapier (3.4) in the linear feeding device (3) through a joint bearing (4.2), the first driving mechanism (4.3) is fastened at the upper end of the rapier (3.4) through a screw, and the swing arm rod (4.1) is driven to carry out pose adjustment; the other end of the swing arm rod (4.1) is connected with the tail end execution device (5) through a joint bearing (4.2), a second driving mechanism (4.4) is fastened at the upper end of the swing arm rod (4.1) through a screw, and the tail end execution device (5) is driven to perform pose adjustment so as to ensure the relative rotation between the swing arm rod (4.1) and the tail end execution device (5); the swing arm rod (4.1) drives the tail end execution device (5) to complete position adjustment, and a space moving area is guaranteed.

6. The yarn carrier displacement device for a weaving unit according to claim 1, characterized in that the end effector (5) comprises a Z-direction lifting mechanism (5.3), a lifting mechanism mount (5.1), a lifting power source (5.2), a pneumatic cylinder (5.4), a pneumatic cylinder mount (5.7), a miniature left gripper (5.5), a miniature right gripper (5.6);

the Z-direction lifting mechanism (5.3) is connected with the lifting mechanism fixing frame (5.1), and the lifting power source (5.2) is arranged at the top of the lifting mechanism fixing frame (5.1); the lifting mechanism fixing frame (5.1) is connected with one end of a swing arm rod (4.1) in the pose adjusting device (4) and is connected with the second driving mechanism (4.4) through a joint bearing (4.2), so that the swing arm rod (4.1) and the lifting mechanism fixing frame (5.1) move relatively; the pneumatic cylinder (5.4) is connected with the Z-direction lifting mechanism (5.3) through a pneumatic cylinder fixing frame (5.7), and the miniature left clamping jaw (5.5) and the miniature right clamping jaw (5.6) are fixedly connected with the pneumatic cylinder (5.4) through screws; the second driving mechanism (4.4) drives the lifting power source (5.2) on one hand to enable the Z-direction lifting mechanism (5.3) to move up and down to finish the plugging action, and drives the pneumatic cylinder (5.4) on the other hand to enable the micro left clamping jaw (5.5) and the micro right clamping jaw (5.6) to finish the clamping and releasing actions of the yarn carrying device, so that the yarn carrying device can finish the displacement exchange under the condition of carrying yarns.

7. The yarn carrier displacement device for a weaving unit according to claim 4, characterized in that the auxiliary support device (6) comprises an auxiliary support wheel (6.1), a wheel support bar (6.7), a spring retainer (6.6), a spring (6.5), a first bearing (6.2), a second bearing (6.4) and a wheel retainer (6.3);

the two auxiliary supporting wheels (6.1) are connected to two ends of a wheel supporting rod (6.7) in a matched mode through bearings, and the wheel supporting rod (6.7) is connected with a spring limiting seat (6.6) through a spring (6.5) and a screw; the spring limiting seat (6.6) is tightly connected with a rapier (3.4) in the linear feeding device (3) through a screw; the wheel limiting frame (6.3) is fixedly connected with a linear guide mechanism (3.3) in the linear feeding device (3) through screws; the wheel limiting frame (6.3) is matched and connected with a bearing on a wheel supporting rod (6.7) in motion, and the limiting wheel moves up and down; spring (6.5) are installed in spring spacing seat (6.6), through the length of adjusting screw precession, the elasticity size of control spring (6.5) guarantees that in the operation process, supplementary supporting wheel (6.1) can enough have the supporting role of removal to rapier (3.4) of feeding, can accomplish supplementary supporting wheel (6.1) through spacing frame of wheel (6.3) again and rise the action.

8. The yarn carrier displacing device for a weaving unit according to claim 1, characterized in that the hoop rotating device (2), the linear feeding device (3), the end effector (5) are provided with sensors;

a sensor arranged on an annular track (2.2) of the annular rotating device (2) is used for detecting whether the annular operation reaches a specified position, and a yarn-carrying shifting mechanism is arranged at the central line position of two weaving units needing yarn exchange to perform feeding and corresponding actions; a sensor arranged on the side surface of a linear module of the linear feeding device (3) is used for detecting the feeding amount, the limit position and the zero position, so that the real-time position of the feeding device can be monitored; the sensor that sets up on end final actuating device (5) is used for detecting to press from both sides the clamp of getting the mechanism and gets state judgement and order and give, and after the sensor detected to press from both sides and gets appointed yarn ware of carrying, give next step's instruction, guarantee the stability of whole mechanism operation.

9. The yarn carrier shifting device for the weaving unit according to claim 1, characterized in that the yarn carrier shifting device is used for shifting a combined yarn carrier, the combined yarn carrier comprises a yarn hanging hook (9), a tension ring (10) and a base (11), an elastic clamping jaw (9.1) is arranged on the yarn hanging hook (9), and a limiting mushroom head (11.1) is arranged at the top end of the base (11);

the tension ring (10) is arranged at the upper end of the yarn carrier base (11), and the yarn hanging hook (9) and the yarn carrier base (11) are combined and separated through pressing, and the method is as follows:

the tension ring (10) can only move between the limiting mushroom head (11.1) and the lug boss of the base (11); when the yarn hanging hook (9) is sleeved on the base (11), the elastic clamping jaw (9.1) moves between the limiting mushroom head (11.1) and the tension ring (10), the yarn hanging hook (9) and the base (11) are combined, and the yarn hanging hook and the base cannot be separated; when the yarn hanging hook (9) continues to move downwards, the elastic clamping jaw (9.1) is opened and sleeved on the tension ring (10); the yarn hanging hook (9) moves upwards, the tension ring (10) moves upwards along with the elastic clamping jaw (9.1) until the limiting mushroom head (11.1) limits the tension ring (10) to continue moving upwards; the opened elastic clamping jaw (9.1) moves upwards until the elastic clamping jaw (9.1) is separated from the tension ring (10) and is sleeved on the limiting mushroom head (11.1); the elastic clamping jaw (9.1) moves upwards continuously to separate from the limit mushroom head (11.1), and the yarn hanging hook (9) is separated from the base (11).

10. A shifting method of a yarn carrier shifting device for a knitting unit, characterized in that the yarn carrier shifting device for a knitting unit according to any one of claims 1 to 9, comprises the steps of:

step 3, after the knitting unit arrives at the appointed station, the linear feeding device (3) obtains an instruction and moves to a position of a yarn hanging hook (9) set by the knitting unit in cooperation with the pose adjusting device (4);

step 4, the tail end executing device (5) clamps the yarn hanging hook (9) and finishes pulling and inserting, so that the yarn hanging hook (9) finishes the separating action from the base (11);

step 5, the linear feeding device (3) is matched with the pose adjusting device (4) to carry the yarn hanging hook (9) to a position appointed by the weaving unit, and the yarn hanging hook (9) is placed;

step 6, the tail end execution device (5) pulls out and inserts the yarn hanging hook (9), so that the yarn hanging hook (9) completes the placing action, and the micro clamping jaw (5.5) is released;

and 7, circulating the steps 2 to 6 to finish the displacement action of all the yarn hanging hooks (9).