CN208776896U - A kind of ring throstle automatic joint machine people - Google Patents

Abstract

The utility model relates to a kind of ring throstle automatic joint machine people, wherein ring throstle automatic joint machine people, for ring throstle, include: rack, for cooperating complete the right arm component of ring throstle connector movement and left arm component and for find Yarn break on ring throstle seek loose thread component, it is provided with yarn clipping device assembly on right arm component, crawl positioning component is provided on left arm component；Right arm component is connected with housing slide with left arm component, and right arm component and left arm component move back and forth along the vertical direction on the rack；Loose thread component is sought to be fixedly connected on the rack and between right arm component and left arm component；By the utility model, realizes and pull up the method that spool finds broken string from spindle, the reliability of change is improved, to improve the gross efficiency of connector；Meanwhile the robot used only have two can flexible motion along the vertical direction mechanical arm, structure is simplified, convenient for carrying out joining operations in narrow connector space.

Description

A kind of ring throstle automatic joint machine people

Technical field

The utility model relates to automatic joint apparatus field more particularly to a kind of ring throstle automatic joint machine people.

Background technique

Currently, ring throstle is one of most important host in spinning process, and traditionally, ring throstle spun yarn broken string Manual splice is used afterwards, this makes ring throstle become the link that labour is the most intensive in RING SPINNING, in recent years, to improve Textile industry automatization level, industry propose a variety of automatic joint method and system, Typical Representative such as Chinese patent The automatic joint method and system that CN107217349A is proposed, Chinese patent CN107217349A disclose a kind of " automatic yarn The method and its robot for recovery of fracture and spindle defects detection ", it includes be integrated with single spindle monitoring system and The component parts such as control system, transportation system and the robot of shipment control system monitor yarn by single spindle monitoring system Thread breakage or spindle defect, using shipment control system control transportation system movement, using transportation system carry robot and Textile material is mobile, handles yarn breakage or spindle defect using robot, robot carries out connector, tool using four mechanical arms Body method are as follows: stop spindle using first mechanical arm brake, find broken string on the spool for being located at spindle using Article 2 mechanical arm The end of a thread and clamp yarn, using Article 3 mechanical arm auxiliary yarn pass through wire loop, yarn is connect using Article 4 mechanical arm Enter drafting system.

Automatic joint method and system in the prior art have the following problems:

(1) jointing method in the prior art directly finds the end of a thread of broken string on the spool for being located at spindle, due to spindle Upper spool surrounding space is limited, and this method reliability is lower, and can not reliably find the end of a thread will lead to the gross efficiency reduction of connector；

(2) robot of adapter system in the prior art has four mechanical arms, and structure is complicated, is unfavorable for efficient land productivity With originally very narrow connector space.

Utility model content

Technical problem to be solved in the utility model be in view of the deficiencies of the prior art, provide a kind of ring throstle from Dynamic connector robot, at least one to solve the above technical problems.

The technical solution that the utility model solves above-mentioned technical problem is as follows, and first aspect provides a kind of ring throstle Automatic joint machine people is used for ring throstle, comprising: rack, right arm component, left arm component and seeks loose thread component, right arm group It is provided with yarn clipping device assembly on part, crawl positioning component is provided on left arm component；Left arm component and right arm component difference are up and down Sliding is arranged on the rack, and seeks the connection of loose thread component on the rack and between right arm component and left arm component；Wherein, it presss from both sides Yarn device assembly is used for for operating brake ingot piece, operation twizzle and clamping Yarn break, crawl positioning component from ring spindle yarn Picking and placing bobbin and operation wire loop on machine, driving spool rotation when seeking loose thread component for finding the broken end of yarn and finding broken end Turn；Yarn clipping device assembly and the cooperation of crawl positioning component carry out lead to the broken end of yarn and successively penetrate wire loop and across guide Hook, and make the drafting system of yarn access ring throstle.

The beneficial effect of the utility model first aspect is: by be arranged the left arm component that connect respectively with housing slide with Right arm component realizes the independently movement of right arm component and left arm component, improves the flexibility ratio of the two movement, greatly Reduce the structure complexity for the connection function for needing four mechanical arms to be just able to achieve in the prior art；Pass through right arm component and a left side Arm component realizes the cooperation of right arm component and left arm component during wiring each along moving on rack vertical direction, The two movement is more smooth, and the transmission framework being driven vertically is simple, and occupied space is few；By being provided with yarn gripper on right arm component Component and it is provided with crawl positioning component on left arm component, spool can be quickly pulled up from spindle and finds broken string the end of a thread, The reliability for improving change, to improve the gross efficiency of connector；Meanwhile the automatic joint machine people used only have two can be with The mechanical arm of flexible motion along the vertical direction, simplifies structure, convenient for carrying out joining operations in narrow connector space.

Based on the above technical solution, the utility model can also do following improvement.

Further, yarn clipping device assembly includes yarn gripper pipe and yarn gripper head；Yarn gripper pipe is rotatably connected on right arm component, Yarn gripper head along the setting that the axial reciprocating of yarn gripper pipe moves in yarn gripper pipe, the one end of yarn gripper head far from right arm component It is stretched out out of yarn gripper pipe or retracts and which is provided with the groove for being clamped yarn；Wherein, yarn gripper pipe and yarn gripper head are matched Close the clamping and release realized to yarn.

Using above-mentioned further scheme the utility model has the advantages that by setting yarn clipping device assembly to comprising yarn gripper pipe and yarn clipping The connection type that device headgear connects and slides simplifies the processing technology of yarn clipping device assembly, simplifies its structure, meanwhile, pass through by Yarn gripper head can be in yarn gripper inner telescoping tube, and realize yarn gripper head has preferable stability in moving process, simultaneously It is stretched by it and the groove on yarn gripper head is passed through into yarn after realizing stretching, yarn is connected to yarn gripper head after retraction and is contracted It returns on the position of yarn gripper pipe, reduces the expulsion rate of yarn.

Further, crawl positioning component includes: lead hook, spool grabber and magnet；Lead hook is rotatably connected on left arm The upper surface of component free end, spool grabber are fixedly connected on the lower surface of left arm component free end, set in spool grabber It is equipped with magnet；Wherein, spool grabber is used for the picking and placing bobbin from ring throstle, and lead hook is used to pass through wire loop to yarn When guide, magnet seeks the closer position of loose thread component for finding wire loop and wire loop is located in distance.

Using above-mentioned further scheme the utility model has the advantages that by setting lead hook, the convenience to manipulating yarn is improved, Yarn positioning easy to accomplish；By the way that spool grabber is arranged, the crawl and placement to spool are realized, yarn change is improved Reliability；By the way that magnet is arranged, it can be realized by the effect of magnetic force to the searching of wire loop and the positioning of wire loop, be reduced The time of search, improve operational efficiency.

Further, seeking loose thread component includes negative pressure suction nozzle and rotation clamp；Negative pressure suction nozzle and rotation clamp are arranged at In rack, rotation clamp is rotatably arranged on the side of face negative pressure suction nozzle air entry；Wherein, negative pressure suction nozzle be used for by negative pressure come Yarn break is found, spool rotation is driven when rotation clamp is for finding Yarn break.

Using above-mentioned further scheme the utility model has the advantages that adsorbed by the searching that suction function carries out yarn, reduce pair The damage of yarn, while the whole device working efficiency with higher under the action of air-flow, by vertically setting negative pressure suction nozzle It sets and is fixed in the perpendicular of the first guide rail and the second guide rail on the rack, improve the sphere of action of negative pressure suction nozzle, it can Preferably different location Yarn break is adsorbed, air pressure absorption is more accurate quickly；By the way that the setting of revotating card connector is existed It the side of the air entry of face negative pressure suction nozzle can be more quasi- in spool when being rotated on the position of face negative pressure suction nozzle air entry The yarn of true absorption fracture.

It further, further include automated guided vehicle；Rack is fixedly connected on automated guided vehicle.

Using above-mentioned further scheme the utility model has the advantages that by the way that rack to be fixedly connected on automated guided vehicle, in fact Show ring throstle automatic joint machine people more flexible moving range in space, improves ring spindle yarn automatic joint Robot carries out the mobility of automatic joint work, it is made to have bigger flexibility ratio, improves the mechanical efficiency used, can make It is accurate fixed when realizing mobile with the automatic joint machine people that machine vision auxiliary is mounted on automated guided vehicle (AGV) Position.

It further, further include horizontally disposed third guide rail；Housing slide is connected on third guide rail and can lead along third Rail moves horizontally.

Using above-mentioned further scheme the utility model has the advantages that by being arranged housing slide on third guide rail, so that ring ingot Spinning frame automatic joint machine people can move according to scheduled track, reduce its because one-movement-freedom-degree it is excessive caused by The collision generated between other equipment, cost is relatively low during mobile working, and stability is good, can be used machine vision auxiliary Accurate positioning when the automatic joint machine people helped on installation guide rail realizes mobile.

It further, further include the first guide rail and the second guide rail；Fixation connects along the vertical direction for first guide rail and the second guide rail It connects on the rack；Right arm component and the first guide rail are slidably connected, and left arm component and the second guide rail are slidably connected；Seek loose thread component position Between the first guide rail and the second guide rail.

Using above-mentioned further scheme the utility model has the advantages that realizing right arm respectively by the first guide rail of setting and the second guide rail Being slidably connected on the rack of component and left arm component, structure is simple, and processing cost is low, is had by the way of guide rail preferably Movement fluency, reduce the frictional resistance that right arm component and left arm component move on the rack, whole device was run Noise is small in journey, wears small, long service life.

Further, right arm pedestal and as several connecting rods head and the tail it is hinged made of the first lever arm；The sliding of right arm pedestal connects It connects on the first guide rail, one end of the first lever arm and the rotation connection of right arm pedestal, the other end rotation connection of the first lever arm There is yarn clipping device assembly.

Preferably, right arm component includes: right arm pedestal, right arm large arm and right arm forearm；Right arm pedestal is slidably connected at On one guide rail, one end of right arm large arm and the rotation connection of right arm pedestal, the other end of right arm large arm and one end of right arm forearm turn Dynamic connection, the other end of right arm forearm are rotatably connected to yarn clipping device assembly.

Using above-mentioned further scheme the utility model has the advantages that by setting big comprising right arm pedestal and right arm for right arm component Rotation connection between arm, comprising between right arm forearm and right arm large arm rotation connection and yarn clipping device assembly and right arm forearm Between rotation connection, improve yarn clipping device assembly movable freedom degree in the horizontal plane, improve operating for right arm component Radius of action makes right arm component can either be in narrow small range by way of the combination arm of right arm large arm and right arm forearm Interior movement, and the operation that can be stretched in larger range improve the mobile flexibility of yarn clipping device assembly；Pass through right arm pedestal And first being slidably connected between guide rail, improve the flexibility that right arm component acts in vertical range.

Further, left arm component include: left arm pedestal and as several connecting rods head and the tail it is hinged made of the second lever arm；It is left Arm pedestal is slidably connected on the second guide rail, second lever arm one end and left arm pedestal rotation connection, the second lever arm it is another End is provided with crawl positioning component.

Preferably, left arm component includes: left arm pedestal, left arm large arm and left arm forearm；Left arm pedestal is slidably connected at On two guide rails, one end of left arm large arm and the rotation connection of left arm pedestal, the other end and left arm the forearm rotation connection of left arm large arm, The free end of left arm forearm is provided with crawl positioning component.

Using above-mentioned further scheme the utility model has the advantages that by setting big comprising left arm pedestal and left arm for left arm component The rotation connection of arm, at the same include left arm large arm and left arm forearm rotation connection and left arm forearm and lead hook between turn Dynamic connection, improves left arm component movable freedom degree in the horizontal plane, improve left arm component can operative radius range, lead to The form for crossing the combination arm of left arm large arm and left arm forearm, so that left arm component can either be acted in narrow a small range, again The operation that can be stretched in larger range improves the flexibility of crawl positioning component operation, makes it have biggish operation Space.

The technical solution that the utility model solves above-mentioned technical problem is as follows, and second aspect provides a kind of ring throstle Automatic joint method, using any one ring throstle automatic joint machine people of above scheme, for operating ring spindle yarn Machine, comprising the following steps:

Step 1: right arm component drives yarn clipping device assembly brake to stop spindle, and left arm component drives crawl positioning component to pull up spool And place it in and seek on loose thread component, seek the broken end that loose thread component finds yarn；

Step 2: the yarn clipping device assembly clamps the broken end of the yarn, the right arm component and left arm component cooperation Yarn lead is successively penetrated into wire loop and passes through twizzle；

Step 3: right arm component leads yarn in drafting system, and yarn clipping device assembly discharges yarn, and yarn will automatically access In drafting system.

The technical solution that the utility model solves above-mentioned technical problem is as follows, and the third aspect provides a kind of ring throstle Automatic joint method, using a kind of ring throstle automatic joint machine people of above scheme, for operating ring throstle Drafting system, guide hook assembly, spool, wire loop, rings, ring rail, spindle, brake ingot piece and the ring set gradually from top to bottom Spindle spinning frame rack is wound with yarn on spool, is rotatably connected to idler wheel on drafting system, yarn after broken end is pulled into rolling Yarn connection can be automatically performed on rear side of wheel and after touching idler wheel；Twizzle and guide shank, guide are provided on guide hook assembly Hook is rotatably connected on guide shank；Rings is fixedly connected on ring rail, and wire loop is slidably connected on the track on rings； One end of spindle is fixed on ring throstle machine frame, and the other end rotatably passes through ring rail relative to ring throstle machine frame With rings and be arranged with spool；Brake ingot piece is hinged in the fixing end of spindle, and when pulling brake ingot piece upwards, spindle, which is stopped, to stop, When pulling brake ingot piece downwards, spindle restores rotation；The following steps are included:

Step 1: right arm component along the vertical direction on be moved downward to the lower section of brake ingot piece, yarn clipping device assembly lifts brake ingot piece Spindle brake is stopped, spool stops operating；

Step 2: left arm component moves along the vertical direction, and crawl positioning component pulls up spool, and yarn clipping device assembly lifts guide Hook, spool is placed on by left arm component to be sought at loose thread component；

Step 3: left arm component moves up and down along the vertical direction according to the position of ring rail, is found using crawl positioning component Wire loop is located on the closer position of rack apart from automatic joint machine people by wire loop, is sought loose thread component and is driven spool Rotation finds the broken end of yarn using negative pressure and seeks broken end sucking in loose thread component, and right arm component is pressed from both sides using yarn clipping device assembly The yarn at loose thread component is firmly sought, lead is prepared；

Step 4: the yarn that right arm component is drawn is after crawl positioning component guidance, in the line tangent with rings, point of contact position Near wire loop, right arm component and left arm component are according to the real time position of ring rail adjusting respective positions, right arm component It cooperates with left arm component and yarn is penetrated into wire loop；

Step 5: right arm component band yarn pushes twizzle aside, and left arm component is using crawl positioning component by spool from seeking loose thread It is returned on spindle on component；

Step 6: right arm component unclamps twizzle, and yarn is then passed through twizzle；

Step 7: right arm component band yarn is gone upward at drafting system, and left arm component comes downwards at brake ingot piece, left arm component Pressing brake ingot piece makes spindle restore rotation, and yarn is led the idler wheel rear into drafting system, yarn is touched idler wheel by right arm component And yarn is discharged by yarn clipping device assembly, yarn will automatically access in drafting system.

The beneficial effect of the utility model third aspect is: spool being placed on rotation clamp by using left arm component Place realizes and pulls up the method that spool finds broken string the end of a thread from spindle, the reliability of change improved, to improve the total of connector Efficiency；Wire loop is found by using the magnetic action of magnet, improves the precision of searching, is simplified needed for finding wire loop Complicated mechanical structure；The broken end of yarn is found by using negative pressure, reduces the mechanical damage to yarn found and generated, together When have more efficiently searching efficiency；By aforesaid operations step, the robot used only have two can be along the vertical direction The mechanical arm of flexible motion, simplifies structure, convenient for carrying out joining operations in narrow connector space, improves fracture yarn The degree of automation of connector.

Detailed description of the invention

Fig. 1 is the structure chart of ring throstle automatic joint machine people of the utility model a kind of；

Fig. 2 is that a kind of ring throstle automatic joint machine people of the utility model is mounted on automated guided vehicle Schematic diagram；

Fig. 3 is that a kind of ring throstle automatic joint machine people of the utility model is mounted in the schematic diagram on guide rail；

Fig. 4 is the right arm assembly assumption diagram of ring throstle automatic joint machine people of the utility model a kind of；

Fig. 5 is the yarn gripper assembly assumption diagram of ring throstle automatic joint machine people of the utility model a kind of；

Fig. 6 is the left arm assembly assumption diagram of ring throstle automatic joint machine people of the utility model a kind of；

Fig. 7 is the left arm element end magnet figure of ring throstle automatic joint machine people of the utility model a kind of；

Fig. 8 is that a kind of ring throstle automatic joint machine people of the utility model seeks loose thread assembly assumption diagram；

Fig. 9 is the operation object ring throstle part of ring throstle automatic joint machine people of the utility model a kind of Figure；

Figure 10 is a kind of ring throstle automatic joint machine people wire loop and ring structure figure of the utility model；

Figure 11 is a kind of step 1 state diagram of ring throstle automatic joint method of the utility model；

Figure 12 is a kind of step 2 state diagram of ring throstle automatic joint method of the utility model；

Figure 13 is a kind of step 3 state diagram of ring throstle automatic joint method of the utility model；

Figure 14 is a kind of step 4 state diagram of ring throstle automatic joint method of the utility model；

Figure 15 is a kind of step 5 state diagram of ring throstle automatic joint method of the utility model；

Figure 16 is a kind of step 6 state diagram of ring throstle automatic joint method of the utility model；

Figure 17 is a kind of step 7 state diagram of ring throstle automatic joint method of the utility model.

In attached drawing, parts list represented by the reference numerals are as follows:

1, rack, the 11, first guide rail, the 12, second guide rail, 2, right arm component, 21, right arm pedestal, 22, right arm large arm, 23, Right arm forearm, 24, yarn clipping device assembly, 241, yarn gripper pipe, 242, yarn gripper head, 25, first rotating shaft, the 26, second shaft, 27, Third shaft, 3, left arm component, 31, left arm pedestal, 32, left arm large arm, 33, left arm forearm, 34, lead hook, 35, spool crawl Device, 36, magnet, the 37, the 4th shaft, the 38, the 5th shaft, the 39, the 6th shaft, 4, seek loose thread component, 41, negative pressure suction nozzle, 42, rotation Turn clamp, the 43, the 7th shaft, 5, ring spindle yarn thermomechanical components, 51, drafting system, 511, idler wheel, 512, eight revolution axis, 52, guide Hook assembly, 521, twizzle, 522, guide shank, 53, wire loop, 54, rings, 55, ring rail, 56, ring throstle machine frame, 57, brake ingot piece, 58, spindle, 59, spool, 6, yarn, 7, automated guided vehicle, 8, third guide rail.

Specific embodiment

The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical It is novel, it is not intended to limit the scope of the utility model.

As shown in Figure 1, the embodiment that the utility model first aspect provides is a kind of ring throstle automatic joint machine People, the ring spindle yarn thermomechanical components 5 on ring throstle, comprising: rack 1, right arm component 2, left arm component 3 and seek loose thread group Part 4 is provided with yarn clipping device assembly 24 on right arm component 2, crawl positioning component is provided on left arm component 3；Left arm component 3 and the right side The setting that arm component 2 slides up and down respectively seeks loose thread component 4 and is connected in rack 1 and is located at 2 He of right arm component in rack 1 Between left arm component 3；Wherein, yarn clipping device assembly 24 is disconnected for operating brake ingot piece 57, operation twizzle 521 and clamping yarn Head, crawl positioning component are used for picking and placing bobbin 59 and operation wire loop 53 from ring throstle, seek loose thread component 4 for finding Driving spool 59 rotates when the broken end and searching broken end of yarn 6；Yarn clipping device assembly 24 and crawl positioning component cooperation are to yarn 6 Broken end carries out lead and successively penetrates wire loop 53 and pass through twizzle 521, and makes the drafting system of the access ring throstle of yarn 6 51。

Specifically, being slidably connected between rack 1 can be through sliding rail respectively for right arm component 2 and left arm component 3 Form can also be by way of nut screw is secondary or pass through the fit form of idler wheel and guide rail；Seek the packet of loose thread component 4 Negative pressure suction nozzle 41 and rotation clamp 42 are included, negative pressure suction nozzle 41 is by lead screw or sliding rail is horizontally movable is connected in rack 1, revolves Turn clamp 42 to be rotatably connected in rack 1 by bearing.

The beneficial effect of the utility model first aspect embodiment is: by the way that the right side being slidably connected respectively with rack 1 is arranged Arm component 2 and left arm component 3 realize the independently movement of right arm component 2 and left arm component 3, improve the two movement Flexibility ratio greatly reduces the structure complexity for the connection function for needing four mechanical arms to be just able to achieve in the prior art；It is logical Right arm component 2 and left arm component 3 are crossed each along moving on 1 vertical direction of rack, realizes right arm component 2 and a left side during wiring The cooperation of arm component 3, the two movement is more smooth, and the transmission framework being driven vertically is simple；It can be quickly from spindle 58 It pulls up spool 59 and finds broken string the end of a thread, improve the reliability of change, to improve the gross efficiency of connector；Meanwhile the machine used Device people only have two can flexible motion along the vertical direction mechanical arm, structure is simplified, convenient in narrow connector space Interior carry out joining operations.

Based on the above technical solution, the utility model can also do following improvement.

As shown in Figure 1 to Figure 3, a kind of ring throstle automatic joint machine people in some alternative embodiments, also Including the first guide rail 11 and the second guide rail 12；First guide rail 11 and the second guide rail 12 are fixedly connected on rack 1 along the vertical direction On；Right arm component 2 and the first guide rail 11 are slidably connected, and left arm component 3 and the second guide rail 12 are slidably connected；Seek loose thread component 4 Between the first guide rail 11 and the second guide rail 12.

Specifically, the first guide rail 11 is connected through a screw thread with the second guide rail 12, rivets or the modes such as soldering connects are fixed First guide rail 11 and the second guide rail 12 are formed by integrally formed mode in rack 1, or in rack 1.

Using above-described embodiment the utility model has the advantages that realizing right arm respectively by the first guide rail 11 of setting and the second guide rail 12 Being slidably connected in rack 1 of component 2 and left arm component 3, structure is simple, and processing cost is low, is had by the way of guide rail The fluency preferably moved reduces the frictional resistance that right arm component 2 and left arm component 3 move in rack 1, whole device Noise is small in operational process, wears small, long service life.

As depicted in figs. 1 and 2, a kind of ring throstle automatic joint machine people in some alternative embodiments, also Including automated guided vehicle 7；Rack 1 is fixedly connected on automated guided vehicle 7.

It is fixed on automated guided vehicle 7 specifically, rack 1 is bolted or rivets.

Using above-described embodiment the utility model has the advantages that by the way that rack 1 to be fixedly connected on automated guided vehicle 7, realize Ring throstle automatic joint machine people more flexible moving range in space, improves ring spindle yarn automatic yarn piecing machine Device people carries out the mobility of automatic joint work, it is made to have bigger flexibility ratio, improves the mechanical efficiency used, can be used Accurate positioning when the automatic joint machine people that machine vision auxiliary is mounted on automated guided vehicle 7 (AGV) realizes mobile.

As shown in figures 1 and 3, a kind of ring throstle automatic joint machine people in some alternative embodiments, also Including third guide rail 8；The sliding of rack 1 or rolling are connected on third guide rail 8.

Specifically, being provided with sliding slot in the bottom of rack 1, realized by the sliding between third guide rail 8 between the two Cooperation, additionally idler wheel can be set in rack 1, be realized and rolled on having reeded third guide rail 8 by multiple rows of idler wheel The mode of dynamic connection.

Using above-described embodiment the utility model has the advantages that by by rack 1 slide or roll be arranged on third guide rail 8 so that Ring throstle automatic joint machine people can move according to scheduled track, reduce it and lead because one-movement-freedom-degree is excessive The collision generated between other equipment and control complexity caused, cost is relatively low during mobile working, and stability is good, Accurate positioning when the automatic joint machine people on machine vision auxiliary installation guide rail 8 can be used to realize mobile.

As shown in Figure 1 and Figure 4, a kind of ring throstle automatic joint machine people in some alternative embodiments, it is right Arm component 2 includes: right arm pedestal 21, right arm large arm 22, right arm forearm 23；Right arm pedestal 21 is slidably connected at the first guide rail 11 On, one end of right arm large arm 22 and right arm pedestal 21 are rotatablely connected, the other end of right arm large arm 22 and one end of right arm forearm 23 Rotation connection, the other end of right arm forearm 23 are rotatably connected to yarn clipping device assembly 24.

Specifically, right arm large arm 22 is rotated around first rotating shaft 25 relative to right arm pedestal 21, right arm forearm 23 is around second turn Axis 26 is rotated relative to right arm large arm 22, and yarn clipping device assembly 24 is rotated around third shaft 27 relative to right arm forearm 23, right arm base It is provided with driving motor at seat 21, right arm large arm 22, right arm forearm 23 and the mutual rotation connection of yarn clipping device assembly 24, Driving motor is connected with control system, realizes the various movements of right arm component, and control method is in existing robot technology Joint servo motor control.

Using above-described embodiment the utility model has the advantages that by setting big comprising right arm pedestal 21 and right arm for right arm component 2 Rotation connection between arm 22 includes 24 He of rotation connection and yarn clipping device assembly between right arm forearm 23 and right arm large arm 22 Rotation connection between right arm forearm 23 improves the movable freedom degree in the horizontal plane of yarn clipping device assembly 24, improves right arm Component 2 can operant activity radius made right arm component 2 both by way of the combination arm of right arm large arm 22 and right arm forearm 23 It can be acted in narrow a small range, and the operation that can be stretched in larger range, it is mobile to improve yarn clipping device assembly 24 Flexibility；By being slidably connected between right arm pedestal 21 and the first guide rail 11, right arm component 2 is improved in vertical range The flexibility of movement.

As shown in Figure 4 and Figure 5, a kind of ring throstle automatic joint machine people in some alternative embodiments, folder Yarn device assembly 24 includes yarn gripper pipe 241 and yarn gripper head 242；One end of yarn gripper pipe 241 and right arm forearm 23 are rotatablely connected, The other end of yarn gripper pipe 241 slidably connects yarn gripper head 242；Yarn gripper pipe 241 is set in the periphery of yarn gripper head 242 Side, the free end of yarn gripper head 242 offer the groove for being clamped yarn 6.

Specifically, groove is provided on the lateral wall of yarn gripper head 242, the yarn gripper pipe in a kind of preferred embodiment 241 be round tube, and yarn gripper head 242 is compatible cylindrical body therewith, is opened on the external cylindrical surface of the free end of yarn gripper head 242 Equipped with the card slot passed through for yarn 6, card slot width is greater than the diameter of yarn 6.

Using above-described embodiment the utility model has the advantages that by setting yarn clipping device assembly 24 to comprising yarn gripper pipe 241 and folder The connection type of the socket of yarn device head 242 and sliding, simplifies the processing technology of yarn clipping device assembly 24, simplifies its structure, meanwhile, By the way that yarn gripper head 242 can be stretched in yarn gripper pipe 241, realize yarn gripper head 242 have in moving process compared with Good stability, while the groove on yarn gripper head 242 is passed through after stretching by yarn 6 by its flexible realizes, it will after retraction Yarn 6 is connected to yarn gripper head 242 and retracts on the position of yarn gripper pipe 241, reduces the expulsion rate of yarn 6.

As shown in Fig. 1, Fig. 6 and Fig. 7, a kind of ring throstle automatic joint machine in some alternative embodiments People, left arm component 3 include: left arm pedestal 31, left arm large arm 32, left arm forearm 33；Crawl positioning component include: lead hook 34, For the spool grabber 35 of picking and placing bobbin 59 from ring throstle and for the magnet 36 of positioning wire circle 53；Left arm pedestal 31 are slidably connected on the second guide rail 12, and one end of left arm large arm 32 and left arm pedestal 31 are rotatablely connected, left arm large arm 32 it is another One end and left arm forearm 33 are rotatablely connected, and the other end upper surface of left arm forearm 33 is rotatably connected to lead hook 34 and its lower surface It is fixedly connected with spool grabber 35, magnet 36 is provided in spool grabber 35.

Specifically, left arm large arm 32 can be rotated around the 4th shaft 37 relative to left arm pedestal 31, left arm forearm 33 can To rotate around the 5th shaft 38 relative to left arm large arm 32, lead hook 34 can be around the 6th shaft 39 relative to left arm forearm 33 rotate, and notch is offered on the position of 59 grabber 35 of spool downward, and notch is internally provided with magnet 36, and magnet 36 is logical It crosses magnetic or is fixed in 59 grabber 35 of spool by adhesive, the shape of lead hook 34 is J-shaped, one end position of bending In the distal end of the 6th shaft 39, left arm pedestal 31, left arm large arm 32, left arm forearm 33 and the mutual rotation of lead hook 34 connect The place of connecing is provided with driving motor, and driving motor is connected with control system, realizes the various movements of left arm component, and control method is Joint servo motor control in existing robot technology.

Using above-described embodiment the utility model has the advantages that by setting big comprising left arm pedestal 31 and left arm for left arm component 3 The rotation connection of arm 32, while including rotation connection and left arm forearm 33 and the lead hook of left arm large arm 32 and left arm forearm 33 Rotation connection between 34 improves the movable freedom degree in the horizontal plane of left arm component 3, improves grasping for left arm component 3 Make radius, by way of the combination arm of left arm large arm 32 and left arm forearm 33, so that left arm component 3 can either be narrow A small range movement, and the operation that can be stretched in larger range improves the flexibility of the rotation operation of lead hook 34, makes It is with biggish operating space, by the way that magnet 36 is arranged, can by the effect realization of magnetic force to the searching of wire loop 53 and The positioning of wire loop 53 reduces the time of search, improves operational efficiency.

As illustrated in figures 1 and 8, a kind of ring throstle automatic joint machine people in some alternative embodiments, seeks Loose thread component 4 includes negative pressure suction nozzle 41 for finding the broken end of yarn 6 by negative pressure and takes for placing from ring throstle The rotation clamp 42 of lower spool 59；Negative pressure suction nozzle 41 and rotation clamp 42 are arranged in rack 1, negative pressure suction nozzle 41 and rack 1 The perpendicular for being fixed with the first guide rail 11 and the second guide rail 12 is vertical, and rotation clamp 42 is arranged in 41 air-breathing of face negative pressure suction nozzle The side of mouth.

Specifically, negative pressure suction nozzle 41 carries out the supply of negative pressure by external negative pressure pump, and phase is realized by lead screw or sliding rail For moving horizontally for rack 1；Rotating clamp 42 is cylindrical body or circular tube shaped, axis and the first guide rail 11 or the second guide rail 12 Length direction it is parallel, rotation clamp 42 by bearing be rotatably connected on rack 1 stretching protrusion in, rotate clamp 42 can phase 7th shaft 43 is rotated.

Using above-described embodiment the utility model has the advantages that by suction function carry out yarn 6 searching adsorb, reduce to yarn 6 damage, while the whole device working efficiency with higher under the action of air-flow, by the way that negative pressure suction nozzle 41 to be vertically arranged It is fixed in rack 1 in the perpendicular of first guide rail 11 and the second guide rail 12, improves the sphere of action of negative pressure suction nozzle 41, Preferably the broken end of different location yarn 6 can be adsorbed, air pressure absorption is more accurate quickly；By the way that revotating card connector is set It sets in the side of the air entry of face negative pressure suction nozzle 41, is rotated on the position of 41 air entry of face negative pressure suction nozzle in spool 59 When, it can more accurately adsorb the yarn 6 of fracture.

As shown in figure 9, a kind of ring throstle automatic joint machine people in some alternative embodiments, ring spindle yarn Thermomechanical components 5 include set gradually from top to bottom drafting system 51, guide hook assembly 52, spool 59, wire loop 53, rings 54, Ring rail 55, spindle 58, brake ingot piece 57 and ring throstle machine frame 56；Idler wheel 511 is rotatably connected on drafting system 51, when disconnected Yarn 6 after head is pulled into 511 rear side of idler wheel and can be automatically performed the connection of yarn 6 after touching idler wheel 511；On guide hook assembly 52 It is provided with twizzle 521 and guide shank 522, twizzle 521 is rotatably connected on guide shank 522；Rings 54 is fixedly connected On ring rail 55, wire loop 53 is slidably connected on the track on rings 54；One end of spindle 58 is fixed on ring throstle In rack 56, the other end rotatably passes through ring rail 55 and rings 54 relative to ring throstle machine frame 56 and is arranged with spool 59；Brake ingot piece 57 is hinged in the fixing end of spindle 58, and when pulling brake ingot piece 57 upwards, spindle 58 is stopped by brake, pulls when downwards When dynamic brake ingot piece 57, spindle 58 restores rotation.

Specifically, idler wheel 511 can be rotated around its own axis eight revolution axis 512.

As shown in Figure 11 to Figure 17, the utility model second aspect provides a kind of ring throstle automatic joint method, A kind of ring throstle automatic joint machine people of embodiment is provided for the utility model first aspect, comprising the following steps:

Step 1: right arm component 2 drives the brake of yarn clipping device assembly 24 to stop spindle 58, and left arm component 3 drives crawl positioning component to pull out Lower spool 59 and placing it in is sought on loose thread component 4, and the broken end that loose thread component 4 finds yarn 6 is sought；

Step 2: the yarn clipping device assembly 24 clamps the broken end of the yarn 6, the right arm component 2 and the left arm component 6 lead of yarn is successively penetrated wire loop 53 and passes through twizzle 521 by 3 cooperations；

Step 3: right arm component 2 leads yarn 6 in drafting system 51, and yarn clipping device assembly 24 discharges yarn 6, and yarn 6 will It automatically accesses in drafting system 51.

As shown in Figure 11 to Figure 17, the utility model third aspect provides a kind of ring throstle automatic joint method, A kind of ring throstle automatic joint machine people of embodiment is provided for the utility model first aspect, comprising the following steps:

Step 1: as shown in figure 11, right arm component 2 is moved downward to the lower section of brake ingot piece 57, yarn gripper along the first guide rail 11 Component 24 lifts brake ingot piece 57 and stops the brake of spindle 58, and spool 59 stops operating；

Step 2: as shown in figure 12, left arm component 3 is moved along the second guide rail 12, and spool grabber 35 pulls up spool 59, folder Yarn device assembly 24 lifts twizzle 521, and spool 59 is placed at rotation clamp 42 by left arm component 3；

Step 3: as shown in figure 13, left arm component 3 is moved up and down according to the position of ring rail 55 along the second guide rail 12, is used Magnet 36 finds wire loop 53, and wire loop 53 is located in the closer position of negative pressure suction nozzle 41 apart from automatic joint machine people On, rotation clamp 42 drives spool 59 to rotate, and negative pressure suction nozzle 41 moves close to spool 59 in the horizontal direction, finds yarn using negative pressure In the broken end of line 6 and the negative suction suction nozzle 41 that will break end, then moves horizontally and leave spool 59, right arm component 2 uses yarn gripper Component 24 clamps the yarn 6 at negative pressure suction nozzle 41, prepares lead；

Step 4: as shown in figure 14, right arm component 2 draw yarn 6 through left arm component 3 lead hook 34 guide after, in The tangent line of rings 54, point of contact are located near wire loop 53, and right arm component 2 and left arm component 3 are according to the real-time of ring rail 55 Position adjusts respective positions, and right arm component 2 and left arm component 3, which cooperate, penetrates wire loop 53 for yarn 6；

Step 5: as shown in figure 15, right arm component 2 pushes twizzle 521 aside with yarn 6, and left arm component 3 is grabbed using spool 59 Device 35 is taken to be returned to spool 59 on spindle 58 from rotation clamp 42；

Step 6: as shown in figure 16, right arm component 2 unclamps twizzle 521, and yarn 6 is then passed through twizzle 521；

Step 7: as shown in figure 17, right arm component 2 is gone upward at drafting system 51 with yarn 6, and left arm component 3 comes downwards to brake At ingot piece 57, left arm component 3, which presses brake ingot piece 57, makes spindle 58 restore rotation, and right arm component 2 leads yarn 6 into drafting system 51 511 rear of idler wheel, yarn 6 is touched into idler wheel 511 and yarn 6 is discharged by yarn clipping device assembly 24, yarn 6 will automatically access and lead It stretches in device 51.

The beneficial effect of the utility model third aspect embodiment is: being placed on spool 59 by using left arm component 3 It rotates at clamp 42, realizes and pull up the method that spool 59 finds broken string the end of a thread from spindle 58, improve the reliability of change, from And improve the gross efficiency of connector；Wire loop 53 is found by using the magnetic action of magnet 36, improves the precision of searching, letter The mechanical structure of complexity needed for finding wire loop 53 is changed；The broken end of yarn 6 is found by using negative pressure, reduces mechanical find The damage to yarn 6 generated, is provided simultaneously with more efficiently searching efficiency；By aforesaid operations step, the robot used is only With two can flexible motion along the vertical direction mechanical arm, structure is simplified, convenient for carrying out in narrow connector space Joining operations improve the degree of automation of fracture 6 connector of yarn.

In the description of this specification, reference term " embodiment one ", " embodiment two ", " example ", " specific example " or The description of " some examples " etc. means that specific method, device or feature described in conjunction with this embodiment or example are contained in this reality With at least one novel embodiment or example.In the present specification, schematic expression of the above terms are necessarily directed to Be identical embodiment or example.Moreover, description specific features, method, apparatus or feature can any one or it is more It can be combined in any suitable manner in a embodiment or example.In addition, without conflicting with each other, those skilled in the art can The feature of different embodiments or examples described in this specification and different embodiments or examples to be combined.

The above is only the preferred embodiments of the utility model, are not intended to limit the utility model, all in the utility model Spirit and principle within, any modification, equivalent replacement, improvement and so on should be included in the protection model of the utility model Within enclosing.

Claims (8)

1. a kind of ring throstle automatic joint machine people characterized by comprising rack (1), right arm component (2), left arm group It part (3) and seeks loose thread component (4), is provided with yarn clipping device assembly (24) on the right arm component (2), on the left arm component (3) It is provided with crawl positioning component；The setting that the left arm component (3) and the right arm component (2) slide up and down respectively is in the machine On frame (1), the loose thread component (4) of seeking is connected on the rack (1) and is located at the right arm component (2) and the left arm group Between part (3).

2. a kind of ring throstle automatic joint machine people according to claim 1, which is characterized in that the yarn gripper group Part (24) includes yarn gripper pipe (241) and yarn gripper head (242)；The yarn gripper pipe (241) is rotatably connected on the right arm group On part (2), the yarn gripper head (242) is along the mobile setting of the axial reciprocating of the yarn gripper pipe (241) in the yarn gripper Manage in (241), the one end of the yarn gripper head (242) far from the right arm component stretch out out of described yarn gripper pipe (241) or It retracts and which is provided with the groove for being clamped yarn (6)；

Wherein, clamping and release to yarn (6) are realized in the yarn gripper pipe (241) and the yarn gripper head (242) cooperation.

3. a kind of ring throstle automatic joint machine people according to claim 1, which is characterized in that the crawl positioning Component includes: lead hook (34), spool grabber (35) and magnet (36)；The lead hook (34) is rotatably connected on the left arm The upper surface of component (3) free end, the spool grabber (35) are fixedly connected on the following table of left arm component (3) free end Face, the spool grabber (35) is interior to be provided with the magnet (36)；

Wherein, the spool grabber (35) be used for from ring throstle picking and placing bobbin (59), the lead hook (34) be used for It is guided when passing through wire loop (53) to yarn (6), the magnet is for finding wire loop (53) and determining wire loop (53) Position is sought on loose thread component (4) closer position in distance.

4. a kind of ring throstle automatic joint machine people according to claim 1, which is characterized in that described to seek loose thread group Part (4) includes negative pressure suction nozzle (41) and rotation clamp (42)；The negative pressure suction nozzle (41) and the rotation clamp (42) are respectively provided with On the rack (1), rotation clamp (42) is rotatably arranged on the side of negative pressure suction nozzle described in face (41) air entry；

Wherein, the negative pressure suction nozzle (41) is for finding Yarn break by negative pressure, and the rotation clamp (42) is for finding Spool (59) rotation is driven when Yarn break.

5. a kind of ring throstle automatic joint machine people according to claim 1, which is characterized in that further include leading automatically Draw transport vehicle (7)；The rack (1) is fixedly connected on the automated guided vehicle (7)；

Or, further including horizontally disposed third guide rail (8)；The rack (1) sliding or roll be connected on third guide rail (8) and It can be moved horizontally along the third guide rail (8).

6. a kind of ring throstle automatic joint machine people according to claim 1, which is characterized in that further include first leading Rail (11) and the second guide rail (12)；First guide rail (11) and second guide rail (12) are fixedly connected on along the vertical direction On the rack (1)；The right arm component (2) and first guide rail (11) are slidably connected, the left arm component (3) and described Second guide rail (12) is slidably connected；Described seek loose thread component (4) are between first guide rail (11) and the second guide rail (12).

7. a kind of ring throstle automatic joint machine people according to claim 6, which is characterized in that the right arm component (2) include: right arm pedestal (21) and as several connecting rods head and the tail it is hinged made of the first lever arm；The right arm pedestal (21) is sliding It is dynamic to be connected on first guide rail (11), one end of first lever arm and the right arm pedestal (21) rotation connection, institute The other end for stating the first lever arm is rotatably connected to the yarn clipping device assembly (24).

8. a kind of ring throstle automatic joint machine people according to claim 6, which is characterized in that the left arm component (3) include: left arm pedestal (31) and as several connecting rods head and the tail it is hinged made of the second lever arm；The left arm pedestal (31) is sliding Dynamic to be connected on second guide rail (12), second lever arm one end and the left arm pedestal (31) rotation connection are described The other end of second lever arm is provided with the crawl positioning component.