Intelligent wire-feeding robot and its wire-feeding method

Abstract

The present invention provides an intelligent yarn feeding robot, which is characterized in that: it includes an AGV main body device, on which a linear sliding device is provided. The linear sliding device is provided with a sliding frame that can slide up and down. A multi-axis robot with a fixture device is arranged on the sliding frame. On one side of the linear sliding device on the AGV main body device, there is a yarn rack. On both sides of the yarn rack, there are multiple raw yarn support rods. Each single raw yarn support rod is arranged substantially horizontally and is used for placing raw yarn reels. The fixture device is axially provided with multiple expandable jaws, and a camera is arranged at the front end of the fixture device. This composite robot can automatically carry out the transfer and yarn feeding processes of raw filaments according to the production situation, so as to achieve the purpose of reducing the working intensity and improving the working efficiency.

Description

Technical Field

[0001] The present invention relates to the field of yarn feeding for twisting machines, and particularly to an intelligent yarn feeding robot and a yarn feeding method thereof. Background Art

[0002] With the continuous development of contemporary production and science and technology, automation has entered more and more fields. The higher the level of industrial automation, the more obvious the effect of improving production efficiency, reducing production costs, strengthening safety in production, and increasing market competitiveness for enterprises.

[0003] For the twisting process in the textile industry, the yarn feeding process is a typical heavy-load repetitive labor process. Therefore, automating the yarn feeding process for twisting equipment can not only greatly reduce the labor intensity of operators but also reduce the production costs of enterprises. Automating the yarn feeding process is inevitably a trend chosen by textile enterprises.

[0004] Currently, the yarn feeding process mainly uses manual yarn feeding, and its disadvantages are as follows:

[0005] Currently, the entire yarn feeding process of the twisting machine, from raw yarn unstacking to raw yarn transfer and then to raw yarn feeding, is all manually operated. To improve production efficiency and increase revenue, the twisting equipment needs to work continuously. Therefore, manual yarn feeding needs to match the equipment work and work continuously. For the yarn feeding operator, the weight of a single yarn roll reaches 15 kg, and a single operator needs to complete the yarn feeding process of thousands of yarn rolls in a single shift. The workload of this process is large, and the work content has a high degree of repetition.

[0006] Another is the traditional automated auxiliary yarn feeding. Generally, a three-orthogonal vertical-axis transfer mechanism is used, and a fixture is used to transfer the raw yarn. However, due to the need to take into account the feeding of raw yarn to the yarn rack and the feeding of the yarn rack to the twisting machine, two sets of mechanisms are required to achieve this, resulting in a complex structure. Moreover, if the specifications of the yarn rack change, along with the changes in the position and quantity of the raw yarn, the original mechanism will lose its function and need to be modified.

[0007] For the prior art, refer to the structure described in CN 113086669 A, an automated yarn hanging robot. This patent is mainly used for feeding yarn to the yarn rack, and it is rather troublesome when feeding yarn from the yarn rack to the twisting machine.

[0008] CN106945048A describes a yarn feeding device. The movement of the yarn rack is not easy to follow the AGV cart, and it is difficult to achieve automated operation. CN213596492U describes a double-body composite robot and a yarn feeding and doffing production line for a twisting machine. The structure of this solution is relatively complex, the practical cost is high, and its self-weight is relatively heavy, with insufficient endurance. CN213703429U describes a composite robot and a yarn feeding and doffing production line for a twisting machine. In this solution, the yarn rack is limited by the arm reach of the manipulator, and the number of yarn cones carried at one time is limited, affecting the efficiency of the production line. Moreover, affected by the arm reach of the robotic arm, when the manipulator grabs the yarn cone at the bottom of the yarn rack, the movement is relatively complex, affecting the control rhythm.

[0009] In addition, when the fixture clamps the raw yarn, it needs to align the position. Due to the manufacturing accuracy of the yarn rack, the scattered placement position of the raw yarn, etc., there is no guidance for traditional clamping, and it is very easy to clamp off-center. Therefore, a vision system is required to guide the picking and placing of the raw yarn. Summary of the Invention

[0010] The present invention provides an intelligent wire feeding robot and its wire feeding method. This composite robot can automatically carry out the transfer and wire feeding process of the raw wire according to the production situation, so as to achieve the purpose of reducing the working intensity and improving the working efficiency.

[0011] To solve the above technical problems, the technical solution adopted by the present invention is: an intelligent wire feeding robot, characterized in that it includes an AGV main body device. A linear sliding device is provided on the AGV main body device. The linear sliding device is provided with a sliding frame that can slide up and down. A multi-axis robot with a fixture device is provided on the sliding frame. A yarn rack is provided on one side of the linear sliding device on the AGV main body device. A plurality of raw yarn support rods are provided on both sides of the yarn rack. Each single raw yarn support rod is arranged substantially horizontally. The raw yarn support rods are used to place raw yarn reels. The fixture device is axially provided with a plurality of expandable jaws, and a camera is provided at the front end of the fixture device.

[0012] In a preferred solution, a horizontally rotatable consignment platform is provided on the AGV main body device. The bottom of the yarn rack is connected to the consignment platform, and the consignment platform drives the yarn rack to rotate along a vertical axis;

[0013] The connection position between the sliding frame and the multi-axis robot faces the side of the AGV main body device.

[0014] In a preferred solution, the AGV main body device includes an AGV cart. A first reduction motor and a connection flange are provided at the upper end of the AGV cart. The shaft end of the first reduction motor is sleeved with the connection flange, and the connection flange is connected to the lower end of the consignment platform;

[0015] The AGV main body device is also provided with an obstacle avoidance radar or a laser navigation device, and the obstacle avoidance radar or the laser navigation device is provided outside the AGV cart.

[0016] In a preferred embodiment, the connection position between the sliding carriage and the multi-axis robot faces the direction of the yarn rack, and the yarn rack is fixedly connected to the AGV main device;

[0017] The AGV main device is also provided with an obstacle avoidance radar or a laser navigation device, and the obstacle avoidance radar is arranged outside the AGV cart.

[0018] In a preferred embodiment, the linear sliding device further includes a vertical frame, on which a guide rail slider device is arranged. The sliding carriage is slidably connected to the vertical frame through the guide rail slider device. A rack is also arranged on the vertical frame, and a second reduction motor is arranged on the sliding carriage. A gear is arranged at the end of the second reduction motor shaft, and the gear meshes with the rack.

[0019] In a preferred embodiment, a rotatable support shaft is further arranged at the upper end of the vertical frame, and a counterweight block and a counterweight connecting piece are also provided. One end of the counterweight connecting piece is connected to the counterweight block, and the other end of the counterweight connecting piece bypasses the support shaft and is connected to the sliding carriage.

[0020] In a preferred embodiment, the clamping device further includes a first fixing body and a second fixing body. A connecting rod is arranged between the first fixing body and the second fixing body. A sliding body is also included. The sliding body is slidably sleeved on the second fixing body. A plurality of rotatable hinge rods are arranged at the end of the sliding body. The end of each clamping jaw is hinged to the first fixing body, and each hinge rod is hinged to the middle of each clamping jaw. A pull rod is also provided. One end of the pull rod is connected to the sliding body, and the other end of the pull rod passes through the first fixing body.

[0021] In a preferred embodiment, a support cylinder is also provided. A positioning connection block is arranged at one end of the support cylinder, and the positioning connection block is connected to the multi-axis robot. A cylinder is arranged inside the positioning connection block, and the end of the cylinder shaft is connected to the pull rod.

[0022] In a preferred embodiment, a guide sheath is arranged at the end of the second fixing body, and the camera is arranged inside the guide sheath.

[0023] In a preferred embodiment, a light source is arranged outside the camera, and the light source is connected to the guide sheath.

[0024] It also includes a wire threading method:

[0025] S1. According to the consumption situation of the raw wire, send a wire threading requirement to the composite robot;

[0026] S2. The stack management system updates the stack information in real time and feeds the information back to the scheduling system;

[0027] S3. The scheduling system plans the running path of the AGV main device according to the wire threading requirement and the stack information, generates a work task, and issues it to the AGV main device;

[0028] S4. The AGV main device executes the tasks one by one in chronological order according to the issued tasks to complete the work of picking up the wire rack cart, transporting the wire rack cart, and transporting it to the designated twisting machine;

[0029] After the AGV main device completes the positioning of the first wire threading position, the robot system is activated through the communication between the AGV main device and the robot;

[0030] S6. The vision of the robot identifies the position of the yarn rack. After determining the relative deviation of the yarn rack, the deviation is fed back to the robot;

[0031] S7. The robot takes the raw yarn from the wire rack cart, corrects the placement position of the robot according to the deviation fed back by the vision, and places the raw yarn on the yarn rack;

[0032] S8. After the manipulator completes the wire threading of multiple yarn racks, the AGV main device is activated to perform the positioning of the next position, and the process of S6 - S7 is repeated until all the raw yarn on one side of the wire rack cart is used up;

[0033] S9. The AGV main device rotates the transportation platform by 180°. The robot takes the raw yarn on the other side and repeats the process of S6 - S8 until all the raw yarn on the wire rack cart is used up;

[0034] S10. According to the task issued by the dispatching system, the AGV main device returns to the storage position of the wire rack cart, puts back the empty wire rack cart, takes away the full wire rack cart, and repeats the process of S4 - S9 until the wire threading of the twisting machine is completed.

[0035] The beneficial effects of the present invention are as follows: The robot as a whole has one degree of freedom in the vertical direction, which can increase the wire threading range of the robot, making the composite robot applicable to twisting machines of different specifications; The robot is guided by vision to pick up, with high picking accuracy, and the picking and placing positions are not affected by the modification of the yarn rack; Through the organic combination of each part, the wire threading of the yarn rack of the twisting machine can be carried out accurately and efficiently; Through automatic wire threading, it not only reduces the labor intensity and workload of the operator, but also improves the wire threading efficiency, saves various redundant labors brought by manual work, saves costs for the enterprise, and increases benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below with reference to the drawings and embodiments.

[0037] Figure 1 is a schematic diagram of the present invention.

[0038] Figure 2 is a top view of the present invention.

[0039] Figure 3 is an internal structure diagram of the linear sliding device of the present invention.

[0040] Figure 4 is a side view of the linear sliding device of the present invention.

[0041] Figure 5It is a schematic diagram of the consignment platform of the present invention.

[0042] Figure 6 It is an exploded schematic diagram of the AGV main body device of the present invention.

[0043] Figure 7 It is a schematic diagram of the fixture device of the present invention.

[0044] Figure 8 It is a cross-sectional view of the fixture device of the present invention.

[0045] Figure 9 It is an exploded view of the fixture device of the present invention.

[0046] Figure 10 It is a schematic diagram of the process flow of the present invention.

[0047] Figure 11 It is a schematic diagram of the fixed type of the yarn rack of the present invention.

[0048] In the figure: AGV main body device 1; AGV trolley 101; first reduction motor 102; connecting flange 103; consignment platform 104; outer shell 105; obstacle avoidance radar 106; multi-axis robot 2; linear sliding device 3; vertical frame 301; sliding frame 302; guide rail slider device 303; gear 304; rack 305; support rotating shaft 306; counterweight 307; second reduction motor 308; counterweight connecting member 309; yarn rack 4; raw yarn support rod 401; raw yarn roll 5; fixture device 6; first fixed body 601; sliding body 602; second fixed body 603; jaw 604; hinge rod 605; connecting rod 606; support cylinder 607; guide sheath 608; positioning connection block 609; cylinder 610; pull rod 611; camera 7; light source 8. Specific embodiments

[0049] As Figures 1-10 shown in, an intelligent wire threading robot includes an AGV main body device 1, a linear sliding device 3 is provided on the AGV main body device 1, a slidable sliding frame 302 is provided on the linear sliding device 3, a multi-axis robot 2 with a fixture device 6 is provided on the sliding frame 302, a yarn rack 4 is provided on one side of the linear sliding device 3 on the AGV main body device 1, a plurality of raw yarn support rods 401 are provided on both sides of the yarn rack 4, and the raw yarn support rods 401 are used for placing raw yarn rolls 5. The fixture device 6 is axially provided with a plurality of expandable jaws 604, and a camera 7 is provided at the front end of the fixture device 6.

[0050] The connection position between the sliding frame 302 and the multi-axis robot 2 faces the direction of one side of the AGV main body device 1. One side of the AGV main body device 1 refers to the direction of the upper side and the lower side as shown in Figure 2 above, that is, the direction where the length side of the AGV main body device 1 is located. The connection position between the sliding frame 302 and the multi-axis robot 2 refers toFigure 4 The position where the middle sliding carriage 302 is located.

[0051] The gripper 604 can be opened outward to grip the middle tube of the raw yarn roll 5. The length of the middle tube is greater than the length of the raw yarn support rod 401, leaving a gripping space for the gripper 604. Each raw yarn support rod 401 is arranged substantially horizontally. Substantially horizontally means that the axis of the raw yarn support rod 401 is generally horizontal or slightly inclined upward, for example, having an inclination angle of 1 - 5° with the horizontal plane, to prevent the yarn tube from slipping during movement and prevent the raw yarn roll from falling out when the AGV moves; the gripper 604 can also be opened inward to grip the outside of the raw yarn roll 5.

[0052] The axial direction of the raw yarn support rods 401 faces both sides of the AGV cart. The AGV cart drives the multi-axis robot to move back and forth in the workshop according to instructions, realizing the feeding of the raw yarn roll 5 to the yarn rack 4 and the feeding of the raw yarn roll 5 on the yarn rack 4 to the twisting machine.

[0053] A camera 7 is used to take pictures to identify the empty positions on the yarn rack 4 or the twisting machine and perform feeding. Even if the yarn rack 4 or the twisting machine is refitted and the position for placing the raw yarn changes, it can still be identified, and the flexibility of the multi-axis robot 2 is combined to achieve intelligent flexible feeding.

[0054] In a preferred solution, such as Figure 1 , 6 In, a horizontally rotatable consignment platform 104 is provided on the AGV main body device 1. A positioning card slot is provided on the upper end surface of the consignment platform 104, and the bottom of the yarn rack 4 is installed in the positioning card slot. The consignment platform 104 drives the yarn rack to rotate along a vertical axis;

[0055] The connection position between the sliding carriage 302 and the multi-axis robot 2 faces the side of the AGV main body device 1.

[0056] The AGV main body device 1 includes an AGV cart 101. An outer housing 105 is sleeved outside the AGV cart 101. The outer housing 105 mainly functions as support, connection, and protection. A first reduction motor 102 and a connection flange 103 are provided on the upper end of the AGV cart 101. The shaft end of the first reduction motor 102 passes through the outer housing 105 and is sleeved with the connection flange 103. The connection flange 103 is connected to the lower end of the consignment platform 104.

[0057] The AGV main body device 1 is also provided with an obstacle avoidance radar 106 or a laser navigation device. The obstacle avoidance radar 106 is provided outside the AGV cart 101 and is installed outside the outer housing 105 for identifying road obstacles.

[0058] In a preferred solution, such as Figure 11, the connection position between the sliding carriage 302 and the multi-axis robot 2 faces the direction of the yarn rack 4. The yarn rack 4 is fixedly connected to the AGV main device 1, eliminating the need to set up a horizontally rotating shipping platform 104 and its driving device, thus saving costs.

[0059] In a preferred embodiment, the linear sliding device 3 further includes a vertical frame 301 ( Figure 3 Figure 4 hidden). A guide rail slider device 303 is provided on the vertical frame 301. The sliding carriage 302 is slidably connected to the vertical frame 301 through the guide rail slider device 303. A rack 305 is also provided on the vertical frame 301. A second reduction motor 308 is provided on the sliding carriage 302. A gear 304 is provided at the shaft end of the second reduction motor 308. The gear 304 meshes with the rack 305. The second reduction motor 308 drives the sliding carriage 302 to move up and down.

[0060] The form of the linear sliding device 3 is not limited to the cooperation of a motor, gear, and rack. It can also be the cooperation of an electric cylinder and a lead screw, belt drive, etc.

[0061] In a preferred embodiment, a rotatable support shaft 306 is further provided at the upper end of the vertical frame 301. A pulley can be sleeved on the support shaft 306. A counterweight block 307 and a counterweight connecting member 309 are also provided. The counterweight connecting member 309 can be selected from steel cables, belts, chains, etc. One end of the counterweight connecting member 309 is connected to the counterweight block 307, and the other end of the counterweight connecting member 309 bypasses the pulley of the support shaft 306 and is connected to the sliding carriage 302. The counterweight block 307 is used to balance the self-weight of the moving mechanism and reduce the working load of the second reduction motor 308.

[0062] In a preferred embodiment, the fixture device 6 further includes a first fixing body 601 and a second fixing body 603. A connecting rod 606 is provided between the first fixing body 601 and the second fixing body 603. A sliding body 602 is also included. The sliding body 602 is slidably sleeved with the second fixing body 603. A plurality of rotatable hinge rods 605 are provided at the end of the sliding body 602. The end of each clamping jaw 604 is hinged to the first fixing body 601. The middle of each hinge rod 605 is hinged to each clamping jaw 604. A pull rod 611 is also provided. One end of the pull rod 611 is connected to the sliding body 602, and the other end of the pull rod 611 passes through the first fixing body 601.

[0063] Pull the pull rod 611, the sliding body 602 slides towards the first fixing body 601, and the clamping jaws 604 open outwards to clamp the middle tube of the raw yarn roll 5.

[0064] In a preferred embodiment, a support cylinder 607 is further provided. A positioning connection block 609 is provided at one end of the support cylinder 607. The positioning connection block 609 is connected to the multi-axis robot 2. A cylinder 610 is provided inside the positioning connection block 609. The shaft end of the cylinder 610 is connected to the pull rod 611.

[0065] In a preferred embodiment, a guiding sheath 608 is provided at the end of the second fixing body 603. A chamfer is provided at the front end of the guiding sheath 608. The outer diameter of the guiding sheath 608 is equivalent to the maximum outer contour diameter when the clamping jaws 604 are retracted. When entering the middle tube of the raw yarn roll 5, it centers and straightens the middle tube, facilitating the subsequent entry of the clamping jaws 604. The camera 7 is provided inside the guiding sheath 608 to prevent it from being damaged. An empty cavity is provided at one end of the sliding body 602 close to the camera 7 to avoid hitting the camera 7 during sliding.

[0066] In a preferred embodiment, a light source 8 is provided outside the camera 7. The light source 8 is also installed in the end groove of the guiding sheath 608 to provide light for the camera 7 when taking pictures.

[0067] Notches are provided on the second fixing body 603 and the guiding sheath 608. The pull rod 611 is a hollow rod with a cut groove on its side wall. The light source 8 and the camera 7 can pass through the notch, the hollow rod, and the cut groove in sequence for wiring, avoiding external winding of the cable on the fixture.

[0068] The method of threading the yarn is as follows:

[0069] It includes a stack management system, a scheduling system, an AGV, vision, and a robot. Data transmission can be carried out between the stack management system and the scheduling system, and data transmission is carried out between the scheduling system and the AGV and the robot. Vision serves as the recognition input signal source for the robot.

[0070] When the twisting machine equipment issues a threading demand, after receiving the threading demand, the scheduling system generates corresponding work tasks through processing and hands over the work tasks to the AGV. The AGV performs the transfer work of the raw yarn in the order of the tasks and transfers the raw yarn to the designated twisting machine. After completing the handling and positioning of the yarn rack cart, the yarn rack is positioned through vision, and finally the robot threads the yarn.

[0071] In the above-mentioned embodiment, the stack management system can set the variety information of the storage positions of the yarn rack carts according to the PDA. At the same time, it can monitor the empty / full state of the on-site yarn rack carts in real time. The stack management system sends the picking position to the scheduling system through internal processing according to the threading demand.

[0072] In the above-mentioned embodiment, the scheduling system can process the threading signal, form corresponding work tasks according to the picking position information, and issue them to the AGV in sequence.

[0073] In the above-mentioned embodiment, the AGV is the carrier of the composite robot and can automatically move and avoid obstacles through navigation according to the on-site situation. The AGV determines its running path and completes obstacle avoidance through laser navigation and the surrounding obstacle avoidance radars. (The navigation method is not limited to laser navigation and can also use magnetic navigation, vision navigation, etc.).

[0074] In the described solution, the carrying platform of the AGV can rotate, facilitating the robot to pick up raw yarn from the creel car. The rotation of the platform is driven by a reduction motor and completed through the cooperation of planetary gears.

[0075] In the described solution, vision is used by the composite robot to position the yarn creel. According to the position identified by vision, the accuracy of the robot feeding the yarn is improved.

[0076] In the described solution, the robot is the direct execution element in the yarn feeding process. The whole robot has one degree of freedom in the vertical direction, which can increase the yarn feeding range of the robot, enabling the composite robot to be applicable to different specifications of twisting machines. The seventh axis of the robot is driven by a reduction motor, passes through gears and racks, and is converted into linear motion to drive the robot to move in the vertical direction. (The form of the seventh axis is not limited to the cooperation of the motor, gears and racks, and can also be the cooperation of an electric cylinder and a lead screw, belt drive, etc.)

[0077] S1. Send a yarn feeding requirement to the composite robot according to the consumption of raw yarn;

[0078] S2. The stack management system updates the stack information in real time and feeds back the information to the scheduling system;

[0079] S3. The scheduling system plans the running path of the AGV main device according to the yarn feeding requirement and stack information, generates a work task, and issues it to the AGV main device;

[0080] S4. The AGV main device executes the tasks one by one in chronological order to complete the work of picking up the creel car, transporting the creel car, and transporting it to the designated twisting machine;

[0081] S5. After the AGV main device completes the positioning of the first yarn feeding position, the robot system is activated through the communication between the AGV main device and the robot;

[0082] S6. The vision of the robot identifies the position of the yarn creel. After determining the relative deviation of the yarn creel, the deviation is fed back to the robot;

[0083] S7. The robot picks up the raw yarn from the creel car, corrects the placement position of the robot according to the deviation fed back by vision, and places the raw yarn on the yarn creel;

[0084] S8. After the manipulator completes the yarn feeding of multiple yarn creels, the AGV main device is activated to perform the positioning of the next position, and the process of S6 - S7 is repeated until all the raw yarn on one side of the creel car is used up;

[0085] S9. The carrying platform of the AGV main device rotates 180°. The robot takes the raw yarn on the other side, and the process of S6 - S8 is repeated until all the raw yarn on the creel car is used up;

[0086] S10. According to the task issued by the scheduling system, the AGV main body device returns to the storage position of the wire rack car, puts back the empty wire rack car, takes away the full wire rack car, and repeats the process of S4 - S9 until the wire feeding of the twisting machine is completed.

[0087] The above - mentioned embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations on the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, the equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An intelligent wire threading robot, characterized in that: It includes an AGV main body device (1). A linear sliding device (3) is provided on the AGV main body device (1). The linear sliding device (3) is provided with a sliding frame (302) that can slide up and down. A multi-axis robot (2) with a clamping device (6) is provided on the sliding frame (302). On one side of the linear sliding device (3) on the AGV main body device (1), there is a yarn rack (4). There are multiple raw yarn support rods (401) on both sides of the yarn rack (4). Each single raw yarn support rod (401) is arranged substantially horizontally. The raw yarn support rod (401) is used to place the raw yarn roll (5). The clamping device (6) is provided with multiple expandable jaws (604) along the axial direction. A camera (7) is provided at the front end of the clamping device (6). A horizontally rotatable consignment platform (104) is provided on the AGV main body device (1). The bottom of the yarn rack (4) is connected to the consignment platform (104). The consignment platform (104) drives the yarn rack (4) to rotate along a vertical axis. The connection position between the sliding frame (302) and the multi-axis robot (2) faces the side of the AGV main body device (1); so that the multi-axis robot (2) and the multiple raw yarn support rods (401) on one side of the yarn rack (4) are on the same side. The AGV main body device (1) includes an AGV trolley (101). A first reduction motor (102) and a connecting flange (103) are provided at the upper end of the AGV trolley (101). The shaft end of the first reduction motor (102) is sleeved with the connecting flange (103). The connecting flange (103) is connected to the lower end of the consignment platform (104). The AGV main body device (1) is also provided with an obstacle avoidance radar (106) or a laser navigation device. The obstacle avoidance radar (106) or the laser navigation device is provided outside the AGV trolley (101). The clamping device (6) also includes a first fixing body (601) and a second fixing body (603). A connecting rod (606) is provided between the first fixing body (601) and the second fixing body (603). It also includes a sliding body (602). The sliding body (602) is slidably sleeved with the second fixing body (603). Multiple rotatable hinge rods (605) are provided at the end of the sliding body (602). The end of each jaw (604) is hinged to the first fixing body (601). The middle of each hinge rod (605) is hinged to each jaw (604). A pull rod (611) is also provided. One end of the pull rod (611) is connected to the sliding body (602), and the other end of the pull rod (611) passes through the first fixing body (601). A support cylinder (607) is also provided. One end of the support cylinder (607) is provided with a positioning connection block (609). The positioning connection block (609) is connected to the multi-axis robot (2). A cylinder (610) is provided inside the positioning connection block (609). The shaft end of the cylinder (610) is connected to the pull rod (611). A guide sheath (608) is provided at the end of the second fixing body (603). The camera (7) is provided inside the guide sheath (608). A light source (8) is provided outside the camera (7). The light source (8) is connected to the guide sheath (608). The linear sliding device (3) further includes a vertical frame (301). A guide rail slider device (303) is provided on the vertical frame (301). The sliding frame (302) is slidably connected to the vertical frame (301) through the guide rail slider device (303). A rack (305) is further provided on the vertical frame (301). A second reduction motor (308) is provided on the sliding frame (302). A gear (304) is provided at the shaft end of the second reduction motor (308). The gear (304) meshes with the rack (305). A rotatable support rotating shaft (306) is further provided at the upper end of the vertical frame (301). A counterweight block (307) and a counterweight connecting member (309) are further provided. One end of the counterweight connecting member (309) is connected to the counterweight block (307). The other end of the counterweight connecting member (309) bypasses the support rotating shaft (306) and is connected to the sliding frame (302).

2. The wire feeding method of the intelligent wire feeding robot according to claim 1, characterized in that: S1. According to the consumption of the raw wire, send a wire feeding requirement to the composite robot; S2. The stack management system updates the stack information in real time and feeds back the information to the scheduling system; S3. The scheduling system plans the running path of the AGV main device according to the wire feeding requirement and the stack information, generates a work task, and issues it to the AGV main device; S4. The AGV main device executes one by one according to the issued task in chronological order to complete the work of picking up the wire rack car, transporting the wire rack car, and transporting it to the designated twisting machine; S5. After the AGV main device completes the positioning of the first wire feeding position, activate the robot system through the communication between the AGV main device and the robot; S6. The vision of the robot identifies the position of the yarn rack. After determining the relative deviation of the yarn rack, feedback the deviation to the robot; S7. The robot takes the raw wire from the wire rack car, corrects the placement position of the robot according to the deviation fed back by the vision, and places the raw wire on the yarn rack; S8. After the manipulator completes the wire feeding of multiple yarn racks, activate the AGV main device to perform the positioning of the next position, and repeat the process of S6 - S7 until all the raw wire on one side of the wire rack car is used up; S9. The AGV main device rotates the carrying platform by 180°. The robot takes the raw wire on the other side and repeats the process of 6 - 8 until all the raw wire on the wire rack car is used up; S10. The AGV main device returns to the storage position of the wire rack car according to the task issued by the scheduling system, puts back the empty wire rack car, takes away the full wire rack car, and repeats the process of S4 - S9 until the wire feeding of the twisting machine is completed.

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