An automatic intelligent feeding device and feeding method for chemical fiber POY yarn ingots

Abstract

The present invention provides a fully automatic intelligent feeding device and a feeding method for chemical fiber POY yarn ingots. The feeding device includes a moving device, a collaborative robot, a unwinding disc loading and unloading mechanism, a POY yarn ingot carrier and a paper tube tray. The moving device has an omnidirectional movement function on the ground. The collaborative robot is installed on the moving device. By controlling the movement of the moving device and the movement of the collaborative robot, the end effector installed at the end of the collaborative robot can move to the position of the target raw yarn frame. By controlling the opening or closing of the end effector, the inner wall of the target POY yarn ingot paper tube can be clamped or released. The unwinding disc loading and unloading mechanism is fixed on the moving device, and the loading and unloading of the unwinding disc on the end face of the POY yarn ingot paper tube is carried out by controlling the opening and closing of the end effector. The POY yarn ingot carrier and the paper tube tray are installed on the moving device, and the automatic collection of POY empty paper tubes and the feeding of full-wound yarn ingots are automatically completed by controlling the coordinated work among the various components of the feeding device. The present invention realizes the automation and intelligence of the POY raw yarn ingot transfer and feeding process in the chemical fiber DTY production process, improves the quality and efficiency of yarn production in the chemical fiber industry, and reduces the labor cost at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of chemical fiber intelligent equipment, and in particular, to a fully automatic intelligent feeding device and a feeding method for chemical fiber POY silk ingots. Background Art

[0002] The textile industry in our country is still a labor-intensive industry. Although with the continuous development and progress of technology, the application of automated equipment in the textile industry is becoming more and more extensive, a large number of people are still needed in this industry, which indirectly affects the product quality and production efficiency of enterprises. And for our country's huge chemical fiber industry, its annual output reaches more than 70% of the world's total. Facing such a large-scale production volume every year, on the premise that the labor and employment costs have increased significantly recently, it is imperative to realize the automated and intelligent production of chemical fiber DTY, and at the same time, it has a positive promoting effect on the development of the entire industry towards intelligence and informatization.

[0003] Processes such as the packaging, transportation, and feeding of chemical fiber silk ingots are important factors that plague the automation and intelligence of chemical fiber production. The production capacity of chemical fiber DTY yarn ingots in our country is large, resulting in a large demand for chemical fiber POY silk ingots. The mass of a single POY silk ingot reaches 10 - 20 kg. Manual transportation and feeding of it are likely to cause improper handling and contamination of the chemical fiber silk ingot, thus affecting the quality of DTY products. At the same time, the labor intensity is high and it is difficult to recruit workers, which increases the labor cost. At present, the feeding process of chemical fiber POY silk ingots at home and abroad is still mainly manual, and there is little research and development on the automated and intelligent control line for chemical fiber production. There is little investment in this kind of labor-intensive enterprises in the domestic textile industry, resulting in a relatively low overall level of automation and intelligence in the industry. Summary of the Invention

[0004] The main object of the present invention is to provide a fully automatic intelligent feeding device and a feeding method for chemical fiber POY silk ingots to solve the problem of relatively low automation and intelligence level in the prior art.

[0005] To achieve the above object, according to one aspect of the present invention, there is provided a fully automatic intelligent feeding device for chemical fiber POY silk ingots, which includes: a mobile device, a collaborative robot, a bobbin loading and unloading mechanism, a POY silk ingot carrier, and a paper tube tray; wherein, the mobile device contacts the horizontal ground through the wheels on its chassis; the collaborative robot is connected to the robot mounting seat on the mobile device; the bobbin loading and unloading mechanism is connected to the upper surface of the mobile device; the POY silk ingot carrier is connected to the POY silk ingot carrier mounting seat on the mobile device; the paper tube tray is installed on the upper surface of the mobile device; the collaborative robot is located between the bobbin loading and unloading mechanism and the POY silk ingot carrier.

[0006] Further, the mobile device includes a mobile device chassis, a slewing drive speed reducer, a slewing drive, a POY yarn bobbin carrier mounting seat, and a collaborative robot mounting seat; among them, the slewing drive and the collaborative robot mounting seat are fixed on the upper surface of the mobile device chassis; the slewing drive speed reducer is mounted on the end face flange of the slewing drive; the POY yarn bobbin carrier mounting seat is connected to the slewing drive.

[0007] Further, the collaborative robot includes a robotic arm and an end effector; the end effector is mounted at the end of the robotic arm.

[0008] Further, the end effector includes a base, a driven disk, a wear-resistant ring, fingers, finger slide rails, a connecting mounting plate, a first jaw, a first pneumatic finger, a camera mounting seat, a camera, a laser mounting seat, a positioning laser, and a cylinder; among them, the finger slide rails are connected to the base; the driven disk and the wear-resistant ring are mounted in the base groove through the finger slide rails; the connecting mounting plate is connected to the back of the base; the first pneumatic finger and the camera mounting seat are connected to the connecting mounting plate; the first jaw is mounted on the first pneumatic finger; the camera and the laser mounting seat are mounted on the camera mounting seat; the positioning laser is connected to the laser mounting seat; both ends of the cylinder are respectively connected to the base and the driven disk.

[0009] Further, the driven disk includes a disk body and spiral groove holes; among them, the disk body is mounted on the base, and the spiral groove holes are provided on the disk body.

[0010] Further, the finger includes a base and a guide cylinder; among them, the base is mounted in the finger slide rail, and the guide cylinder is mounted in the spiral groove hole of the driven disk.

[0011] Further, the unwinding disk loading and unloading mechanism includes a loading and unloading mechanism base, a second pneumatic finger, and a second jaw; among them, the second pneumatic finger is connected to the loading and unloading mechanism base; the second jaw is mounted on the second pneumatic finger.

[0012] Further, the POY yarn bobbin carrier includes a carrier chassis, carrier struts, and POY yarn bobbin hanging ears; among them, the carrier struts are connected to the carrier chassis; the POY yarn bobbin hanging ears are mounted on the carrier struts.

[0013] According to another aspect of the present invention, a feeding method for a fully automatic intelligent feeding device for chemical fiber POY yarn bobbins is provided. The steps of the method are as follows:

[0014] S1. Under the control of the central control system, the fully automatic intelligent feeding device for chemical fiber POY yarn bobbins loads the POY yarn bobbins and travels to the side of the target fixed raw yarn rack;

[0015] S2. Control the positioning laser on the end effector to emit a cross laser beam. The camera captures the pose image of the paper tube unwinding disc assembly. Perform pose positioning on the paper tube unwinding disc assembly based on the cross laser and machine vision technology. Then control the fingers on the end effector to clamp the paper tube unwinding disc assembly on the target fixed raw wire holder.

[0016] S3. Under the action of the collaborative robot, the end effector places the paper tube unwinding disc assembly on the upper surface of the unwinding disc loading and unloading mechanism. Then control the cylinder to extend to make the fingers contract. The collaborative robot drives the end effector to withdraw from the inner hole of the paper tube unwinding disc assembly. Control the second pneumatic finger on the unwinding disc loading and unloading mechanism to expand outwards to drive the second jaw to clamp the inner hole wall of the paper tube unwinding disc assembly, so that the paper tube unwinding disc assembly is completely fixed on the upper surface of the unwinding disc loading and unloading mechanism. The paper tube unwinding disc assembly is composed of a paper tube and an unwinding disc, and the unwinding disc is arranged inside the paper tube.

[0017] S4. The first pneumatic finger on the end effector enters the inner hole of the unwinding disc by rotating a certain angle under the action of the collaborative robot. Control the first pneumatic finger to expand outwards to drive the first jaw to clamp the inner hole wall of the unwinding disc. Then the first jaw drives the unwinding disc to withdraw from the inner hole of the paper tube under the action of the collaborative robot, that is, the separation of the unwinding disc and the paper tube is completed.

[0018] S5. Control the movement of the collaborative robot to make the fingers on the end effector clamp the paper tube. First, control the second pneumatic finger on the unwinding disc loading and unloading mechanism to contract to drive the second jaw to loosen the clamping of the inner hole wall of the paper tube. Secondly, control the cylinder on the end effector to contract, so that the fingers expand outwards under the action of the rotation of the driven disc to clamp the inner hole wall of the paper tube. Then the collaborative robot places the paper tube on the paper tube tray for collection.

[0019] S6. The rotary drive reducer drives the rotary drive to rotate. The POY yarn ingot carrier rotates the POY yarn ingot to a certain angular position under the action of the rotary drive. The fingers on the end effector clamp the POY yarn ingot placed on the POY yarn ingot hanging ear under the action of the collaborative robot.

[0020] S7. Control the movement of the collaborative robot to place the POY yarn ingot on the end effector on the upper surface of the unwinding disc loading and unloading mechanism.

[0021] S8. Control the cylinder on the end effector to extend to make the fingers contract. Then control the second pneumatic finger on the unwinding disc loading and unloading mechanism to expand outwards to drive the second jaw to clamp the inner hole wall of the POY yarn ingot to make it completely fixed. Control the movement of the collaborative robot to install the unwinding disc on the first jaw on the end face of the POY yarn ingot.

[0022] S9. Control the first pneumatic finger and the first jaw on the end effector to contract, and withdraw from the inner hole of the unwinding disc under the action of the collaborative robot's movement. Then, control the second pneumatic finger on the unwinding disc loading and unloading mechanism to contract, driving the second jaw to release the fixation of the POY yarn bobbin. By controlling the movement of the collaborative robot, make the fingers on the end effector clamp the POY yarn bobbin unwinding disc assembly and hang it on the target fixed raw yarn rack, thus completing the automatic feeding task of a group of POY yarn bobbins.

[0023] S10. Repeat S1, S2, S3, S4, S5, S6, S7, S8, S9 to complete the automatic feeding tasks of multiple groups of POY yarn bobbins.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] Aiming at the problems in the current transportation and feeding processes of chemical fiber POY yarn bobbins, such as low automation degree, large demand for manual labor, difficult guarantee of product quality, and low efficiency caused by the high labor intensity in the feeding process, the technical solution of the present invention clamps and moves from the inside of the POY yarn bobbin during the feeding process of the POY yarn bobbin, avoiding problems such as poor guarantee of product quality caused by factors such as conventional manual operation polluting the yarn bobbin. At the same time, it realizes the full automation and intelligence of the POY raw yarn feeding process in the chemical fiber DTY production line, solves the problems of difficult employment and low efficiency in actual production, and has broad application prospects in the packaging and transportation of chemical fiber production lines and their supporting logistics systems for products. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The specification drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0027] Figure 1 It is a schematic structural diagram of the feeding device of this invention patent for the invention;

[0028] Figure 2 It is a schematic structural diagram of the moving device of this invention patent for the invention;

[0029] Figure 3 It is a schematic structural diagram of the end effector of this invention patent for the invention;

[0030] Figure 4 It is a schematic structural diagram of the driven disc of this invention patent for the invention;

[0031] Figure 5 It is a schematic structural diagram of the finger of this invention patent for the invention;

[0032] Figure 6 It is a schematic structural diagram of the unwinding disc loading and unloading mechanism of this invention patent for the invention;

[0033] Figure 7 Structural schematic diagram of the POY yarn bobbin carrier for this invention patent

[0034] Figure 8 Schematic diagram of step S1 of the loading method for this invention patent

[0035] Figure 9 Schematic diagram of step S2 of the loading method for this invention patent

[0036] Figure 10 Schematic diagram of step S3 of the loading method for this invention patent

[0037] Figure 11 Schematic diagram of step S4 of the loading method for this invention patent

[0038] Figure 12 Schematic diagram of step S5 of the loading method for this invention patent

[0039] Figure 13 Schematic diagram of step S6 of the loading method for this invention patent

[0040] Figure 14 Schematic diagram of step S7 of the loading method for this invention patent

[0041] Figure 15 Schematic diagram of step S8 of the loading method for this invention patent

[0042] Figure 16 Schematic diagram of step S9 of the loading method for this invention patent

[0043] Among them, the above-mentioned reference numerals:

[0044] 1. Moving device; 2. Collaborative robot; 21. Manipulator; 22. End effector; 3. Unwinding disc loading and unloading mechanism; 4. POY yarn bobbin carrier; 5. Paper tube tray; 6. POY yarn bobbin; 7. Paper tube unwinding disc assembly; 8. Paper tube; 9. Unwinding disc; 10. POY yarn bobbin unwinding disc assembly

[0045] 101. Moving device chassis; 102. Rotary drive reduction gear; 103. Rotary drive; 104. POY yarn bobbin carrier mounting seat; 105. Collaborative robot mounting seat

[0046] 2201. Base; 2202. Driven disk; 22021. Disk body; 22022. Spiral slot hole; 2203. Wear-resistant ring; 2204. Finger; 22041. Base; 22042. Guide cylinder; 2205. Finger slide rail; 2206. Connecting mounting plate; 2207. First jaw; 2208. First pneumatic finger; 2209. Camera mounting seat; 2210. Camera; 2211. Laser mounting seat; 2212. Positioning laser; 2213. Cylinder

[0047] 301. Loading and unloading mechanism base; 302. Second pneumatic finger; 303. Second jaw

[0048] 401. Carrier chassis; 402. Carrier pillar; 403. POY yarn ingot hanging ear Specific implementation mode

[0049] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments

[0050] It should be pointed out that the following detailed description is exemplary and is intended to provide further illustration of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs

[0051] It should be noted that the terms used herein are only for describing specific implementation modes and are not intended to limit the exemplary implementation modes according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "comprise" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations

[0052] The present invention provides a fully automatic intelligent feeding device for chemical fiber POY yarn ingots. Please refer to Figures 1 to 7 This fully automatic intelligent feeding device for chemical fiber POY yarn ingots includes

[0053] A moving device 1, a collaborative robot 2, a winding disk loading and unloading mechanism 3, a POY yarn ingot carrier 4 and a paper tube tray 5. Among them, the moving device 1 contacts the horizontal ground through the wheels of the moving device chassis 101; the collaborative robot 2 is connected to the robot mounting seat 105 on the moving device 1; the winding disk loading and unloading mechanism 3 is connected to the upper surface of the moving device 1; the POY yarn ingot carrier 4 is connected to the POY yarn ingot carrier mounting seat 104 on the moving device 1; the paper tube tray 5 is installed on the upper surface of the moving device 1; the collaborative robot 2 is located between the winding disk loading and unloading mechanism 3 and the POY yarn ingot carrier 4

[0054] The mobile device 1 includes a mobile device chassis 101, a slewing drive speed reducer 102, a slewing drive 103, a POY spindle carrier mounting seat 104, and a collaborative robot mounting seat 105. Among them, the slewing drive 103 and the collaborative robot mounting seat 105 are fixed on the upper surface of the mobile device chassis 101; the slewing drive speed reducer 102 is installed on the end face flange of the slewing drive 103; the POY spindle carrier mounting seat 104 is connected to the slewing drive 103.

[0055] The collaborative robot 2 includes a robotic arm 21 and an end effector 22, and the end effector 22 is installed at the end of the robotic arm 21.

[0056] The end effector 22 includes a base 2201, a driven disk 2202, a wear-resistant ring 2203, fingers 2204, finger slide rails 2205, a connection mounting plate 2206, a first jaw 2207, a first pneumatic finger 2208, a camera mounting seat 2209, a camera 2210, a laser mounting seat 2211, a positioning laser 2212, and a cylinder 2213. Among them, the finger slide rails 2205 are connected to the base 2201; the driven disk 2202 and the wear-resistant ring 2203 are installed in the groove of the base 2201 through the finger slide rails 2205; the connection mounting plate 2206 is connected to the back of the base 2201; the first pneumatic finger 2208 and the camera mounting seat 2209 are connected to the connection mounting plate 2206; the first jaw 2207 is installed on the first pneumatic finger 2208; the camera 2210 and the laser mounting seat 2211 are installed on the camera mounting seat 2209; the positioning laser 2212 is connected to the laser mounting seat 2211; both ends of the cylinder 2213 are respectively connected to the base 2201 and the driven disk 2202.

[0057] The driven disk 2202 includes a disk body 22021 and a spiral slot hole 22022. Among them, the disk body 22021 is installed on the base 2201, and the spiral slot hole 22022 is provided on the disk body 22021.

[0058] The finger 2204 includes a base 22041 and a guide cylinder 22042. Among them, the base 22041 is installed in the finger slide rail 2205, and the guide cylinder 22042 is installed in the spiral slot hole of the driven disk 2202.

[0059] The unwinding disk loading and unloading mechanism 3 includes a loading and unloading mechanism base 301, a second pneumatic finger 302, and a second jaw 303. Among them, the second pneumatic finger 302 is connected to the loading and unloading mechanism base 301; the second jaw 303 is installed on the second pneumatic finger 302.

[0060] The POY silk ingot carrier 4 includes a carrier chassis 401, carrier struts 402, and POY silk ingot hanging ears 403. Among them, the carrier struts 402 are connected to the carrier chassis 401; the POY silk ingot hanging ears 403 are installed on the carrier struts 402.

[0061] The present invention provides a feeding method for a fully automatic intelligent feeding device for chemical fiber POY silk ingots. Please refer to Figures 8 to 16 , and the steps of this method are as follows:

[0062] S1. Under the control of the central control system, the fully automatic intelligent feeding device for chemical fiber POY silk ingots loads the POY silk ingot 6 and travels to the side of the target fixed raw silk frame;

[0063] S2. Control the positioning laser 2212 on the end effector 22 to emit a cross laser beam, and the camera 2210 collects the pose image of the paper tube unwinding disk assembly 7. Based on the cross laser and machine vision technology, perform pose positioning on the paper tube unwinding disk assembly 7, and then control the finger 2204 on the end effector 22 to clamp the paper tube unwinding disk assembly 7 on the target fixed raw silk frame;

[0064] S3. The end effector 22 places the paper tube unwinding disk assembly 7 on the upper surface of the unwinding disk loading and unloading mechanism 3 under the action of the collaborative robot 2. Then control the cylinder 2213 to extend to make the finger 2204 contract, and the collaborative robot 2 drives the end effector 22 to withdraw from the inner hole of the paper tube unwinding disk assembly 7. Control the second pneumatic finger 302 on the unwinding disk loading and unloading mechanism 3 to expand outward to drive the second jaw 303 to clamp the inner hole wall of the paper tube unwinding disk assembly 7, so that the paper tube unwinding disk assembly 7 is completely fixed on the upper surface of the unwinding disk loading and unloading mechanism 3. The paper tube unwinding disk assembly 7 is composed of a paper tube 8 and an unwinding disk 9, and the unwinding disk 9 is arranged inside the paper tube 8;

[0065] S4. The first pneumatic finger 2208 on the end effector 22 enters the inner hole of the unwinding disk 9 by rotating a certain angle under the action of the collaborative robot 2. Control the first pneumatic finger 2208 to expand outward to drive the first jaw 2207 to clamp the inner hole wall of the unwinding disk 9. Then the first jaw 2207 withdraws the unwinding disk 9 from the inner hole of the paper tube 8 under the action of the collaborative robot 2, that is, the separation of the unwinding disk 9 from the paper tube 8 is completed;

[0066] S5. Control the collaborative robot 2 to move so that the finger 2204 on the end effector 22 clamps the paper tube 8. First, control the second pneumatic finger 302 on the unwinding disk loading and unloading mechanism 3 to contract to drive the second jaw 303 to loosen the clamping of the inner hole wall of the paper tube 8. Secondly, control the cylinder 2213 on the end effector 22 to contract, so that the finger 2204 expands outward under the rotation of the driven disk 2202 to clamp the inner hole wall of the paper tube 8. Then the collaborative robot 2 places the paper tube 8 on the paper tube tray 5 for collection;

[0067] S6. The slewing drive reducer 102 drives the slewing drive 103 to rotate. Under the action of the slewing drive 103, the POY yarn bobbin carrier 4 rotates the POY yarn bobbin 6 to a certain angular position. The fingers 2204 on the end effector 22 clamp the POY yarn bobbin 6 placed on the POY yarn bobbin hanger 403 under the action of the collaborative robot 2;

[0068] S7. Control the collaborative robot 2 to move and place the POY yarn bobbin 6 on the end effector 22 on the upper surface of the unwinding disk loading and unloading mechanism 3;

[0069] S8. Control the cylinder 2213 on the end effector 22 to extend to make the fingers 2204 contract. Then control the second pneumatic finger 302 on the unwinding disk loading and unloading mechanism 3 to expand outwards to drive the second jaw 303 to clamp the inner hole wall of the POY yarn bobbin 6 to fix it completely. Control the collaborative robot 2 to move and install the unwinding disk 9 on the first jaw 2207 on the end face of the POY yarn bobbin 6;

[0070] S9. Control the first pneumatic finger 2208 and the first jaw 2207 on the end effector 22 to contract, and withdraw from the inner hole of the unwinding disk 9 under the action of the movement of the collaborative robot 2. Then control the second pneumatic finger 302 on the unwinding disk loading and unloading mechanism 3 to contract to drive the second jaw 303 to release the fixation of the POY yarn bobbin 6. By controlling the movement of the collaborative robot 2, make the fingers 2204 on the end effector 22 clamp the POY yarn bobbin unwinding disk assembly 10 and hang it on the target fixed raw yarn frame, that is, complete the automatic loading task of a group of POY yarn bobbins 6;

[0071] S10. Repeat S1, S2, S3, S4, S5, S6, S7, S8, S9 to complete the automatic loading task of multiple groups of POY yarn bobbins 6.

[0072] In the actual automatic loading work of chemical fiber POY yarn bobbins, it is necessary to remove the paper tube unwinding disk assembly 7 of the used raw yarn on the fixed raw yarn frame, collect the empty paper tubes 8 on the paper tube tray 5, and then hang the full - wound POY yarn bobbins 6 on the POY yarn bobbin carrier 4 on the corresponding fixed raw yarn frame. At the same time, the unwinding disk 9 must be installed on the paper tube end face of the POY yarn bobbin 6 to reduce the wear of the raw silk thread during the texturing process. The above is the loading work for a group of POY yarn bobbins 6. The following specifically describes its working principle.

[0073] Working principle: During operation, the fully automatic intelligent loading equipment for chemical fiber POY spindles loads the POY spindle 6 and travels to the side of the target fixed raw silk frame. Based on the cross laser and machine vision technologies, the paper tube unwinding disc assembly 7 is positioned and oriented through the positioning laser 2212 and the camera 2210. Then, the finger 2204 on the end effector 22 installed at the end of the collaborative robot 2 is controlled to move into the inner hole of the paper tube unwinding disc assembly 7 on the target fixed raw silk frame. The air cylinder 2213 is controlled to contract, causing the driven disc 2202 to rotate, thereby driving the finger 2204 to linearly expand outward along the finger slide rail 2205 to clamp the inner hole wall of the paper tube unwinding disc assembly 7. Under the movement of the collaborative robot 2, the finger 2204 places the paper tube unwinding disc assembly 7 on the upper surface of the unwinding disc loading and unloading mechanism 3 and then withdraws from the inner hole of the paper tube unwinding disc assembly 7. The second pneumatic finger 302 on the unwinding disc loading and unloading mechanism 3 is controlled to expand outward to drive the second jaw 303 to clamp the inner hole wall of the paper tube unwinding disc assembly 7, so that the paper tube unwinding disc assembly 7 is completely fixed on the upper surface of the unwinding disc loading and unloading mechanism 3. The first pneumatic finger 2208 enters the inner hole of the unwinding disc 9 under the movement of the collaborative robot 2. The first pneumatic finger 2208 is controlled to expand outward to drive the first jaw 2207 to clamp the inner hole wall of the unwinding disc 9. Then, the first jaw 2207 withdraws from the inner hole of the paper tube 8 under the movement of the collaborative robot 2, completing the separation of the unwinding disc 9 and the paper tube 8. The second pneumatic finger 302 is controlled to contract to drive the second jaw 303 to release the clamping of the inner hole wall of the paper tube 8. Secondly, the air cylinder 2213 is controlled to contract, causing the driven disc 2202 to rotate, thereby driving the finger 2204 to expand outward along the finger slide rail 2205 to clamp the inner hole wall of the paper tube 8. Then, the collaborative robot 2 places the paper tube 8 on the paper tube tray 5 for collection. The rotary drive reduction gear 102 drives the rotary drive 103 to rotate. The POY spindle carrier 4 rotates the POY spindle 6 to a certain angular position under the action of the rotary drive 103. The finger 2204 on the end effector 22 picks up the POY spindle 6 placed on the POY spindle hanging ear 403 under the movement of the collaborative robot 2 and places it on the upper surface of the unwinding disc loading and unloading mechanism 3. The air cylinder 2213 is controlled to extend to make the finger 2204 contract inward along the finger slide rail 2205. Then, the second pneumatic finger 302 on the unwinding disc loading and unloading mechanism 3 is controlled to expand outward to drive the second jaw 303 to clamp the inner hole wall of the POY spindle 6 to completely fix it. The collaborative robot 2 installs the unwinding disc 9 on the first jaw 2207 on the end face of the POY spindle 6 by rotating a certain angle. The first pneumatic finger 2208 is controlled to drive the first jaw 2207 to contract and withdraw from the inner hole of the unwinding disc 9 under the movement of the collaborative robot 2. Then, the second pneumatic finger 302 on the unwinding disc loading and unloading mechanism 3 is controlled to contract to drive the second jaw 303 to release the fixation of the POY spindle 6. The collaborative robot 2 rotates a certain angle to make the finger 2204 on the end effector 22 pick up the POY spindle unwinding disc assembly 10 and place it on the target fixed raw silk frame.That is, the automatic feeding task of a group of POY yarn ingots 6 is completed.

[0074] It should be noted that the terms "first", "second", etc. in the specification, claims and above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0075] For the sake of convenience of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. can be used here to describe the spatial position relationship between a device or feature shown in the figure and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the figure of the device. For example, if the device in the figure is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding explanations are made for the spatial relative descriptions used here.

[0076] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. Feeding method of a fully automatic intelligent feeding device for chemical fiber POY yarn ingots, characterized in that The fully automatic intelligent feeding device for chemical fiber POY yarn ingots includes a collaborative robot (2) and a bobbin loading and unloading mechanism (3); The collaborative robot (2) includes a robotic arm (21) and an end effector (22); The end effector (22) includes a base (2201), a driven disk (2202), a wear-resistant ring (2203), fingers (2204), finger slides (2205), a connecting mounting plate (2206), a first gripper (2207), a first pneumatic finger (2208), a camera mounting base (2209), a camera (2210), a laser mounting base (2211), a positioning laser (2212), and a cylinder (2213); among them, the finger slides (2205) are connected to the base (2201); the driven disk (2202) and the wear-resistant ring (2203) are installed in the groove of the base (2201) through the finger slides (2205); the connecting mounting plate (2206) is connected to the back of the base (2201); the first pneumatic finger (2208) and the camera mounting base (2209) are connected to the connecting mounting plate (2206); the first gripper (2207) is installed on the first pneumatic finger (2208); the camera (2210) and the laser mounting base (2211) are installed on the camera mounting base (2209); the positioning laser (2212) is connected to the laser mounting base (2211); both ends of the cylinder (2213) are respectively connected to the base (2201) and the driven disk (2202); The steps of this method are as follows: S1. Under the control of the central control system, the fully automatic intelligent feeding device for chemical fiber POY yarn ingots loads the POY yarn ingot (6) and travels to the side of the target fixed raw yarn frame; S2. Control the positioning laser (2212) on the end effector (22) to emit a cross laser beam, and the camera (2210) collects the pose image of the paper tube bobbin assembly (7). Based on the cross laser and machine vision technology, perform pose positioning on the paper tube bobbin assembly (7), and then control the fingers (2204) on the end effector (22) to clamp the paper tube bobbin assembly (7) on the target fixed raw yarn frame; S3. The end effector (22) places the paper tube bobbin assembly (7) on the upper surface of the bobbin loading and unloading mechanism (3) under the action of the collaborative robot (2). Then control the cylinder (2213) to extend to make the fingers (2204) contract. The collaborative robot (2) drives the end effector (22) to withdraw from the inner hole of the paper tube bobbin assembly (7). Control the second pneumatic finger (302) on the bobbin loading and unloading mechanism (3) to expand outwards to drive the second gripper (303) to clamp the inner hole wall of the paper tube bobbin assembly (7), so that the paper tube bobbin assembly (7) is completely fixed on the upper surface of the bobbin loading and unloading mechanism (3). The paper tube bobbin assembly (7) is composed of a paper tube (8) and a bobbin (9), and the bobbin (9) is arranged inside the paper tube (8); S4. The first pneumatic finger (2208) on the end effector (22) enters the inner hole of the unwinding disc (9) under the action of the collaborative robot (2) by rotating a certain angle. Control the first pneumatic finger (2208) to expand outwards to drive the first jaw (2207) to clamp the inner hole wall of the unwinding disc (9). Then, the first jaw (2207) withdraws the unwinding disc (9) from the inner hole of the paper tube (8) under the action of the collaborative robot (2), thus completing the separation of the unwinding disc (9) from the paper tube (8). S5. Control the movement of the collaborative robot (2) to make the finger (2204) on the end effector (22) pick up the paper tube (8). First, control the second pneumatic finger (302) on the unwinding disc loading and unloading mechanism (3) to contract, driving the second jaw (303) to release the clamping of the inner hole wall of the paper tube (8). Second, control the cylinder (2213) on the end effector (22) to contract, so that the finger (2204) expands outwards under the rotation of the driven disc (2202) to clamp the inner hole wall of the paper tube (8). Then, the collaborative robot (2) places the paper tube (8) on the paper tube tray (5) for collection. S6. The rotary drive reducer (102) drives the rotary drive (103) to rotate. The POY yarn bobbin carrier (4) rotates the POY yarn bobbin (6) to a certain angular position under the action of the rotary drive (103). The finger (2204) on the end effector (22) picks up the POY yarn bobbin (6) placed on the POY yarn bobbin hanging ear (403) under the action of the collaborative robot (2). S7. Control the movement of the collaborative robot (2) to place the POY yarn bobbin (6) on the end effector (22) on the upper surface of the unwinding disc loading and unloading mechanism (3). S8. Control the cylinder (2213) on the end effector (22) to extend to make the finger (2204) contract. Then, control the second pneumatic finger (302) on the unwinding disc loading and unloading mechanism (3) to expand outwards to drive the second jaw (303) to clamp the inner hole wall of the POY yarn bobbin (6) to fix it completely. Control the movement of the collaborative robot (2) to install the unwinding disc (9) on the first jaw (2207) on the end face of the POY yarn bobbin (6). S9. Control the first pneumatic finger (2208) and the first jaw (2207) on the end effector (22) to contract, and withdraw from the inner hole of the unwinding disc (9) under the movement of the collaborative robot (2). Then, control the second pneumatic finger (302) on the unwinding disc loading and unloading mechanism (3) to contract, driving the second jaw (303) to release the fixation of the POY yarn bobbin (6). By controlling the movement of the collaborative robot (2), make the finger (2204) on the end effector (22) pick up the POY yarn bobbin unwinding disc assembly (10) and hang it on the target fixed raw yarn frame, thus completing the automatic feeding task of a group of POY yarn bobbins (6). S10. Repeat S1, S2, S3, S4, S5, S6, S7, S8, S9 to complete the automatic feeding task of multiple groups of POY yarn bobbins (6).

2. The feeding method of a fully automatic intelligent feeding device for chemical fiber POY yarn bobbins according to claim 1, characterized in that The described fully automatic intelligent feeding device for chemical fiber POY yarn bobbins further includes a moving device (1), a POY yarn bobbin carrier (4) and a paper tube tray (5); Among them, the moving device (1) contacts the horizontal ground through the wheels of the moving device chassis (101); the collaborative robot (2) is connected to the robot mounting seat (105) on the moving device (1); the unwinding disc loading and unloading mechanism (3) is connected to the upper surface of the moving device (1); the POY yarn bobbin carrier (4) is connected to the POY yarn bobbin carrier mounting seat (104) on the moving device (1); the paper tube tray (5) is installed on the upper surface of the moving device (1); the collaborative robot (2) is located between the unwinding disc loading and unloading mechanism (3) and the POY yarn bobbin carrier (4).

3. The feeding method of the fully automatic intelligent feeding device for chemical fiber POY yarn bobbins according to claim 1, characterized in that The driven disc (2202) includes a disc body (22021) and a spiral groove hole (22022); among them, the disc body (22021) is installed on the base (2201), and the spiral groove hole (22022) is arranged on the disc body (22021).

4. The feeding method of the fully automatic intelligent feeding device for chemical fiber POY yarn bobbins according to claim 1, characterized in that The finger (2204) includes a base (22041) and a guiding cylinder (22042); among them, the base (22041) is installed in the finger slide rail (2205), and the guiding cylinder (22042) is installed in the spiral groove hole of the driven disc (2202).

5. The feeding method of the fully automatic intelligent feeding device for chemical fiber POY yarn bobbins according to claim 1, characterized in that The unwinding disc loading and unloading mechanism (3) includes a loading and unloading mechanism base (301), a second pneumatic finger (302), and a second jaw (303); among them, the second pneumatic finger (302) is connected to the loading and unloading mechanism base (301); the second jaw (303) is installed on the second pneumatic finger (302).

6. The feeding method of the fully automatic intelligent feeding device for chemical fiber POY yarn bobbins according to claim 2, characterized in that The moving device (1) includes a moving device chassis (101), a rotary drive reduction gear (102), a rotary drive (103), a POY yarn bobbin carrier mounting seat (104), and a collaborative robot mounting seat (105); among them, the rotary drive (103) and the collaborative robot mounting seat (105) are fixed on the upper surface of the moving device chassis (101); the rotary drive reduction gear (102) is installed on the end face flange of the rotary drive (103); the POY yarn bobbin carrier mounting seat (104) is connected to the rotary drive (103).

7. The feeding method of the fully automatic intelligent feeding device for chemical fiber POY yarn bobbins according to claim 2, characterized in that The described POY yarn bobbin carrier (4) includes a carrier chassis (401), carrier struts (402), and POY yarn bobbin hanging lugs (403); among them, the carrier struts (402) are connected to the carrier chassis (401); and the POY yarn bobbin hanging lugs (403) are installed on the carrier struts (402).

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