Spool management system, lap winding machine, spool management method, and related devices

Abstract

The present disclosure provides a silk spool management system, a winding drum vehicle, a silk spool management method and related devices, and relates to the technical field of computers. The specific implementation scheme is as follows: a texturing machine is used to stretch and deform POY raw silk by adopting a texturing process to obtain target DTY silk spools; and the target DTY silk spools are placed in a DTY silk spool temporary storage area of the texturing machine; an AGV winding drum vehicle is used to move to a DTY silk spool temporary storage area corresponding to the target DTY silk spool in response to a winding drum signal; and the target DTY silk spool is loaded onto the AGV winding drum vehicle through a gripper wrapped with an air bag. The embodiment of the present disclosure proposes a gripper wrapped with an air bag at a clamping end, which realizes clamping of the target DTY silk spool through a gas filling mode and can protect the inner wall of the paper tube from being damaged.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of computer, and particularly relates to a yarn package management in a texturing process. BACKGROUND

[0002] In the related art, the yarns involved in the texturing workshop include POY (Pre Oriented Yarn) and DTY (Draw Textured Yarn).

[0003] The DTY yarn package is obtained by processing the POY yarn package by the texturing machine. Since the texturing machine processes multiple POY yarn packages at the same time, and the number of positions for storing the DTY yarn packages is large, the space of each buffer position is limited. Therefore, the DTY yarn package produced needs to be timely transferred from the texturing machine to facilitate the normal operation of the texturing machine. SUMMARY

[0004] The present disclosure provides a yarn package management system, a creeling vehicle, a yarn package management method and related devices in a texturing process.

[0005] According to an aspect of the present disclosure, a DTY yarn package management system in a texturing process is provided, comprising:

[0006] a texturing machine, configured to perform draw texturing on a POY yarn package by using a texturing process to obtain a target DTY yarn package, and place the target DTY yarn package in a DTY yarn package temporary storage area of the texturing machine;

[0007] an AGV (Automated Guided Vehicle) creeling vehicle, configured to move to the DTY yarn package temporary storage area corresponding to the target DTY yarn package in response to a creeling signal, and load the target DTY yarn package on the AGV creeling vehicle by using a gripper with an air bag.

[0008] According to another aspect of the present disclosure, a creeling vehicle is provided, comprising:

[0009] a base of the AGV creeling vehicle;

[0010] at least one layer of supports mounted on the base;

[0011] each layer of supports has at least one gripper with an air bag, and the gripper is configured to clamp the target DTY yarn package produced by the texturing machine to transfer the target DTY yarn package from the texturing machine to the AGV creeling vehicle.

[0012] According to another aspect of the present disclosure, a DTY yarn package management method is provided, comprising:

[0013] receiving a creeling signal sent by a texturing machine;

[0014] In response to the winding-off signal, the AGV winding-off vehicle is controlled to move to the DTY spindle temporary storage area corresponding to the target DTY spindle.

[0015] The target DTY spindle is loaded onto the AGV winding-off vehicle by the gripper with the air bag on the AGV winding-off vehicle.

[0016] According to another aspect of the present disclosure, a DTY spindle management device is provided, comprising:

[0017] The receiving module is configured to receive a winding-off signal sent by the texturing machine.

[0018] The response module is configured to, in response to the winding-off signal, control the AGV winding-off vehicle to move to the DTY spindle temporary storage area corresponding to the target DTY spindle.

[0019] The gripping module is configured to load the target DTY spindle onto the AGV winding-off vehicle by the gripper with the air bag on the AGV winding-off vehicle.

[0020] According to another aspect of the present disclosure, an electronic device is provided, comprising:

[0021] at least one processor; and

[0022] a memory communicatively connected to the at least one processor; wherein

[0023] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any of the embodiments of the present disclosure.

[0024] According to another aspect of the present disclosure, a non-transitory computer readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to perform the method according to any of the embodiments of the present disclosure.

[0025] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method according to any of the embodiments of the present disclosure.

[0026] The embodiments of the present disclosure propose a gripper wrapped with an air bag at the gripping end for the target DTY spindle in the DTY spindle temporary storage area. The target DTY spindle is gripped by the air-filled gripper, which simplifies the process of gripping the target DTY spindle and protects the inner wall of the paper tube from being damaged.

[0027] It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings are included to provide a further understanding of the present application, and are incorporated in and constitute a part of this specification. Among the drawings:

[0029] Figure 1a is a structural schematic diagram of a yarn spindle management system in a texturing process according to an embodiment of the present application;

[0030] Figure 1b is another structural schematic diagram of a yarn spindle management system in a texturing process according to an embodiment of the present application;

[0031] Figure 2 is a structural schematic diagram of an AGV bobbin car according to an embodiment of the present application;

[0032] Figure 3 is a structural schematic diagram of a gripper according to an embodiment of the present application;

[0033] Figure 4 is a schematic diagram of the inflation state of a gas bag at the clamping end of a gripper according to an embodiment of the present application;

[0034] Figure 5 is a schematic diagram of the interaction between a classification device and a server according to an embodiment of the present application;

[0035] Figure 6 is a flowchart of a yarn spindle management method according to an embodiment of the present application;

[0036] Figure 7 is a structural schematic diagram of a yarn spindle management device according to an embodiment of the present application;

[0037] Figure 8 is a block diagram of an electronic device for implementing the yarn spindle management method according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] Exemplary embodiments of the present application are described herein with reference to the accompanying drawings, which are included to provide a further understanding of the present application, and are incorporated in and constitute a part of this specification. It will be appreciated that various embodiments of the present application that can be set forth in the description and the drawings are not all that can be contemplated to fall within the scope of the present application. It will be appreciated that the specific structural and functional details disclosed herein are merely representative in terms of their

[0039] In addition, it should be noted that the terms "first", "second", and the like in the description and claims of the present application and the above-described accompanying drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application, as detailed in the appended claims.

[0040] POY filaments produced by spinning are generally not directly used for weaving and must be processed after processing. The processing procedure is generally completed by a texturing machine. The texturing machine is based on a texturing process, using POY as raw material, through stretching and deformation processing, so that the POY is converted into DTY filaments with relatively stable physical properties, which can be directly used for weaving. The processed DTY is wound on a paper tube to form a new DTY spool.

[0041] The texturing machine generally has at least one row (generally four or five rows) of areas for storing DTY spools, which are referred to as DTY spool temporary storage areas in the embodiments of the present disclosure.

[0042] The number of DTY spools that can be stored in the DTY spool temporary storage area is limited, and the space is limited. The DTY spools generated by processing need to be timely transferred out of the texturing machine for winding and transportation, so that the texturing machine can work normally.

[0043] Therefore, the embodiments of the present disclosure provide a spool management system, as shown in Figure 1a The spool management system comprises:

[0044] The texturing machine 101 is used to stretch and deform the POY filaments by a texturing process to obtain a target DTY spool, and place the target DTY spool in a DTY spool temporary storage area (not shown) of the texturing machine 101. Figure 1a

[0045] The AGV winding vehicle 102 is used to move to the DTY spool temporary storage area corresponding to the target DTY spool in response to the winding signal, and load the target DTY spool onto the AGV winding vehicle 102 through the gripper 1022 with the air bag.

[0046] In the embodiments of the present disclosure, the texturing machine 101 can send a winding signal to notify the related equipment to transport the target DTY spool out, and can use the AGV winding vehicle 102 to transport the target DTY spool to other production and transportation procedures.

[0047] ​In the embodiment of the present disclosure, after the new DTY spool (i.e. target DTY spool) is stored in the DTY spool temporary storage area, the AGV creeling vehicle 102 can be triggered to transfer the target DTY spool out. The gripper 1022 on the AGV creeling vehicle 102 is provided with an air bag, which can quickly grasp the target DTY spool without damaging the DTY spool. The whole transfer process can be automated, which can improve the production efficiency.

[0048] The yarn produced after the POY original yarn of the POY original yarn spool is processed by the elasticizer 101 will be wound on the bobbin to form the target DTY spool. However, due to the process, the paper tube may not be fully wound during the processing of the elasticizer 101, resulting in a broken yarn, which may result in a full DTY spool or a non-full DTY spool.

[0049] Therefore, in the whole process, the target DTY spool needs to be classified and managed. As shown in Figure 1b , the embodiment of the present disclosure can also include a mechanical arm 103 for moving the target DTY spool to the corresponding target creel according to the category of the target DTY spool. Therefore, through the classification and management of the target DTY spool, data support is provided for subsequent production and transportation.

[0050] In order to better understand the DTY spool management system in the elasticizing process, the AGV creeling vehicle 102 will be described as follows, as shown in Figure 2 .

[0051] The AGV creeling vehicle 102 has at least one layer of support 1021. As shown in Figure 2 , the AGV creeling vehicle 102 is generally composed of an AGV base 1020 and a DTY spool support 1021 for storing DTY spools. In Figure 2 , the solid cube represents the DTY spool support 1021 for storing the target DTY spool, and two layers of DTY spool supports 1021 are shown in the figure. The number of layers of DTY spool supports 1021 can be increased or decreased according to actual needs during implementation.

[0052] Each layer of DTY spool support 1021 is provided with a gripper 1022 that can move left and right and up and down.

[0053] As shown in Figure 2 , the end of the gripper 1022 away from the DTY spool support 1021 is the clamping end 10221.

[0054] The clamping end 10221 of the gripper 1022 is wrapped with an air bag (not shown in Figure 2 ). In the embodiment of the present disclosure, in order to be able to support the air bag, the clamping end 10221 is made of rigid material, such as metal, ceramic, etc.

[0055] The AGV bobbin car 102 is used to control the clamping end 10221 to enter the inner wall of the paper tube of the target DTY spindle in the state that the gas content of the air bag is lower than the preset threshold value; in the case of clamping the target DTY spindle, the air bag is inflated to fill the inner wall of the paper tube of the target DTY spindle; after the inflation is completed, the target DTY spindle is loaded onto the AGV bobbin car 102 based on the acting force between the air bag and the inner wall of the paper tube.

[0056] That is, by controlling the gas content to be the first preset threshold value, there is no gas or a small amount of gas in the air bag, at this time, the volume of the air bag is small, and the volume of the clamping end 10221 is also small, thereby facilitating the delivery of the clamping end 10221 into the inner wall of the paper tube. Since the size of the clamping end 10221 is much smaller than the inner wall of the paper tube, it is not necessary to accurately control the position, and the clamping end 10221 can be delivered to the inner wall of the cavity of the paper tube.

[0057] Figure 3 A structural schematic diagram of the clamping jaw 1022 is shown. As shown in Figure 3 , the air bag is in a deflated state, in implementation, the clamping section is controlled to enter the inner wall of the paper tube, the air bag is inflated to fill the inner wall of the paper tube, as shown in Figure 4 .

[0058] Therefore, in the structure design of the AGV bobbin car 102 in the embodiment of the present disclosure, the air bag that can be inflated and deflated is provided, by delivering the deflated (i.e., not filled with gas or a small amount of gas remaining) air bag into the inner wall of the paper tube, since the volume of the air bag is small at this time, it is only necessary to be able to extend into the inner wall of the paper tube, so the position accuracy requirement of the clamping end 10221 relative to the inner wall of the paper tube can be appropriately lowered. Then, by inflation, the clamping end 10221 generates interaction force with the inner wall of the paper tube through the air bag, and under the action of the force, the target DTY spindle can be transferred to the AGV bobbin car 102. It can be seen that through the air bag that can be inflated and deflated, the clamping operation of the DTY spindle can be simplified, thereby improving the grabbing efficiency.

[0059] As shown in Figure 2 , the clamping jaw 1022 has a metal arm 10223, one end of the metal arm 10223 is connected to the clamping end 10221, and the side of the metal arm 10223 away from the clamping end 10221 is installed on a sliding block 10222. The sliding block 10222 is installed on the AGV bobbin car 102, and the sliding block 10222 can slide in the direction perpendicular to the ground under the drive of the sliding block 10222 motor, so that the clamping end 10221 moves in the direction perpendicular to the ground;

[0060] The metal arm 10223 is a hollow structure, and the metal arm 10223 has a hose in the cavity, and the hose is connected with an electromagnetic valve 10225 located outside the clamping jaw 1022.

[0061] The electromagnetic valve 10225 is connected to the air pump 10224, which controls the air entering or leaving the air bag through the electromagnetic valve 10225.

[0062] As shown in the figure, the slider 10222 can be fixed on the DTY spindle support 1021 of the AGV doffer car 102. Figure 2 The slider 10222 is fixed on the frame of the DTY spindle support 1021, and can move up and down along the frame of the DTY spindle support 1021 under the drive of the drive motor (not shown in the figure). Figure 2 The metal arm 10223 of the gripper 1022 can be hinged on the slider 10222, and can be adjusted in position up, down, left and right based on the drive of the motor. Figure 2 As shown in the figure, the metal arm 10223 is a hollow structure, and the inner soft tube of the metal arm 10223 is connected to the air port of the air bag, and the outer soft tube is connected to the electromagnetic valve 10225.

[0063] Figure 3 The electromagnetic valve 10225 is connected to the air pump 10224, which controls the air entering or leaving the air bag through the electromagnetic valve 10225.

[0064] The electromagnetic valve 10225 is connected to the air pump 10224, which controls the air entering or leaving the air bag through the electromagnetic valve 10225.

[0065] As shown in the figure, the electromagnetic valve 10225 has clockwise rotation state and counterclockwise rotation state, the clockwise rotation state is for air bag inflation, and the counterclockwise rotation state is for air bag deflation. Figure 3 In the embodiment of the present disclosure, a gripper 1022 structure is provided, which is installed on the DTY spindle support 1021 of the AGV doffer car 102. The gripper 1022 can slide in the direction perpendicular to the ground based on the slider 10222 on the DTY spindle support 1021 of the AGV doffer car 102. The inflation and deflation of the air bag are realized by the electromagnetic valve 10225, so as to realize the grasping of the target DTY spindle.

[0066] In another embodiment of the present disclosure, the air bag includes a plurality of independent sub-air bags, each of which supports independent inflation and deflation, and the total length of the air bag is greater than the length of the inner wall of the paper tube.

[0067]

[0068] A schematic diagram of an air bag structure is shown. The air bag includes three independent sub-air bags, each of which can be inflated and deflated independently by a corresponding control valve. Figure 4 Figure 4 ​​As shown, each sub-air bag has a corresponding air inlet and outlet pipeline at the clamping end 10221, and an independent electromagnetic valve 10225 is arranged at the air inlet and outlet pipeline or outside. For each sub-air bag, the corresponding electromagnetic valve 10225 can be used to control the inflation or deflation of the sub-air bag. The electromagnetic valve 10225 of each sub-air bag corresponds to a respective air pump 10224. The air pump 10224 is arranged outside the clamping jaw 1022 and can be mounted on the base of the AGV creeling vehicle 102.

[0069] In the embodiment of the present disclosure, the total length of the air bag is greater than the length of the paper tube inner wall. For example, if the length of the paper tube inner wall is 15 cm, the middle part of the air bag needs to be greater than this length.

[0070] In the embodiment of the present disclosure, the total length of the air bag is greater than the length of the paper tube inner wall. For example, if the length of the paper tube inner wall is 15 cm, the middle part of the air bag needs to be greater than this length.

[0071] Figure 4 A dumbbell-shaped structure schematic diagram of an air bag is shown. Figure 4 The middle sub-air bag of the air bag has filled the paper tube inner wall, and the sub-air bags on both sides clamp the two ends of the paper tube. In this way, in the process of moving the target DTY spool from the DTY spool temporary storage area to the AGV creeling vehicle 102, the target DTY spool can be fixed by clamping, further ensuring that the air bag has a certain gripping force on the target DTY spool, and further improving the safety and precision of the target DTY spool transfer.

[0072] Correspondingly, in order to smoothly place the target DTY spool on the creel of the AGV creeling vehicle 102, the present disclosure provides a corresponding scheme.

[0073] Specifically, in the case of loading the target DTY spool onto the AGV creeling vehicle 102, the AGV creeling vehicle 102 is used to deflate the multiple sub-air bags in sequence, wherein the sub-air bags on the side of the paper tube inner wall close to the creel of the AGV creeling vehicle 102 are preferentially deflated, and the sub-air bags on the side of the paper tube inner wall away from the creel of the AGV creeling vehicle 102 are lastly deflated, so that the target DTY spool sequentially slides onto the creel of the AGV creeling vehicle 102.

[0074] After the clamping jaw 1022 loads the target DTY spool onto the AGV creeling vehicle 102, the AGV creeling vehicle 102 continues to Figure 4For example, the right sub-airbag of the airbag will be preferentially deflated by the electromagnetic valve 10225, and the deflation process of each sub-airbag can be slow, so as to gradually reduce the force between the airbag and the target DTY spindle, and release the cavity of the inner wall of the paper tube filled by the sub-airbag, so as to hang the target DTY spindle on the creel. In implementation, as shown in Figure 4 the right sub-airbag is first slowly released, then the middle sub-airbag, and finally the left sub-airbag, so that the target DTY spindle slides onto the creel of the AGV bobbin car 102.

[0075] In the embodiments of the present disclosure, a specified airbag with two sub-airbags is provided, and the specified shape of the two sub-airbags is used to complete the clamping of the paper tube of the target DTY spindle, so as to protect the paper tube of the target DTY spindle from being damaged. Then, the target DTY spindle slides onto the AGV bobbin car 102 by sequentially deflating the airbags from one side, thereby improving the transfer efficiency.

[0076] In some embodiments, the clamping end 10221 can be realized as a telescopic rod. When inflated, the clamping end 10221 is automatically elongated to provide better support force for the airbag. When deflated, the clamping end 10221 can be retracted to release the cavity of the inner wall of the paper tube.

[0077] In some embodiments, in order to ensure the stability of the target DTY spindle on the clamping jaw 1022, the airbag is made of rubber material with a friction coefficient greater than a preset threshold, and the surface of the rubber material has particles of different sizes.

[0078] The surface of the rubber material is a visible irregular particle, and these particles of different shapes and sizes can increase the friction between the airbag and the inner wall of the paper tube.

[0079] In the embodiments of the present disclosure, a rubber material with a high friction coefficient is provided, and the surface of the rubber material has particles that enhance the friction coefficient, so that the clamping of the airbag and the inner wall of the paper tube is more accurate, thereby improving the clamping efficiency of the target DTY spindle.

[0080] In some embodiments, in order to accurately control the inflation and deflation, a gas pressure sensor 10226 can be provided for each sub-airbag at the clamping end 10221. As shown in Figure 4 for example, one of the gas pressure sensors 10226. For each gas pressure sensor 10226, the clamping end 10221 is provided with a groove, and the gas pressure sensor 10226 is arranged in the groove. In addition, the part of the clamping end 10221 at the opening of the groove is a hole structure, so that the gas in the sub-airbag can enter the groove to accurately measure the gas pressure. The side of the groove opposite to the sub-airbag is a closed metal shell, so as to prevent the gas in the sub-airbag from leaking out through the groove.

[0081] In the embodiment of the present disclosure, the texturing machine 101 can send a winding drum signal to inform the AGV winding drum vehicle 102 to transport the target DTY spool after the target DTY spool is generated. However, in actual use, the texturing machine 101 may mistakenly send the winding drum signal, resulting in resource waste. Therefore, in the embodiment of the present disclosure, an image acquisition device 1011 is installed on the texturing machine 101. After the winding drum signal is generated, the image acquisition device 1011 is used to acquire images of the DTY spool temporary storage area to obtain a first to-be-processed image, and the first to-be-processed image is sent to the server, so that the server identifies the DTY spool in the DTY spool temporary storage area based on the first to-be-processed image. The server sends the detection result of whether the DTY spool temporary storage area has a DTY spool to the texturing machine 101, so that the AGV winding drum vehicle 102 receives the winding drum signal sent in the case where it is determined that the DTY spool temporary storage area has a DTY spool.

[0082] In implementation, the texturing machine 101 can first send the winding drum signal to the server, and the server controls the image acquisition device 1011 on the texturing machine 101 to acquire images based on the winding drum signal, so that the server performs image analysis. After the analysis result shows that there is a DTY spool, the winding drum signal is sent to the AGV winding drum vehicle 102.

[0083] In the embodiment of the present disclosure, the image acquisition device 1011 on the texturing machine 101 sends the acquired images of the DTY spool temporary storage area to the server. When the server determines that there is a target DTY spool in the first to-be-processed image, the winding drum signal is sent to the AGV winding drum vehicle 102. Based on this, accurate scheduling of the AGV winding drum vehicle 102 is realized, and the AGV winding drum vehicle 102 is reasonably utilized.

[0084] The texturing machine 101 has a plurality of DTY spool temporary storage areas. If the texturing machine 101 simultaneously processes hundreds of POY original spools, it will correspond to hundreds of DTY spool temporary storage areas. Therefore, if an image acquisition device 1011 is arranged in each DTY spool temporary storage area, the cost will increase. Therefore, in another possible implementation, the image acquisition device 1011 can also be installed on the AGV winding drum vehicle 102. In the DTY spool management system in the texturing process, the AGV winding drum vehicle 102 is specifically used to acquire images of the target DTY spool temporary storage area in the case where it moves to the target DTY spool temporary storage area, to obtain a second to-be-processed image.

[0085] The AGV winding drum vehicle 102 is also used to send the second to-be-processed image to the server, so that the server identifies the DTY spool in the DTY spool temporary storage area based on the first to-be-processed image.

[0086] The AGV dropper 102 is also used to control the gripper 1022 to pick up the target DTY spindle when it is determined that there is a DTY spindle in the DTY spindle temporary storage area.

[0087] like Figure 5 As shown, the image acquisition device 1011 on the AGV unloading cart 102 acquires an image of the target DTY yarn spindle temporary storage area when the AGV unloading cart 102 moves to the target DTY yarn spindle temporary storage area, obtaining a first image to be processed. This image is then sent to the server via the AGV unloading cart 102. The server identifies the received second image to be processed based on the first image and feeds back the identification result to the AGV unloading cart 102. If the result indicates the presence of a DTY yarn spindle, the server controls the gripper 1022 on the AGV unloading cart 102 to pick up the target DTY yarn spindle. If the result indicates the absence of a DTY yarn spindle, the server controls the AGV unloading cart 102 to return to its initial position.

[0088] In this embodiment of the disclosure, by interacting with the image information of the server through the image acquisition device 1011 on the AGV unloading vehicle 102, it can be further determined whether there is a target DTY yarn spindle in the DTY yarn spindle temporary storage area. Based on this, a decision can be made on whether to control the gripper 1022 to pick up the target DTY yarn spindle, so as to improve the utilization efficiency of the AGV unloading vehicle 102.

[0089] As described above, the present disclosure embodiment can sort target DTY yarn spindles based on the robotic arm 103. Therefore, in the DTY yarn spindle management system in the texturing process, the present disclosure embodiment also provides a sorting device, which includes a vision sensor and / or a weight sensor; the sorting device can be installed on the AGV dropper 102 or the robotic arm 103;

[0090] The sorting device is used to identify the category of the target DTY yarn spindle, classifying it into a full roll or a non-full roll. This allows the robotic arm 103 to easily sort the target DTY yarn spindle based on its category.

[0091] like Figure 4 The diagram shows the location of a weight sensor. The weight sensor is installed on the side of the clamping end 10221 away from the slider 10222. Specifically, it can be installed inside the sub-airbag on the right side of the diagram. First, inflate... Figure 4 After the sub-airbag on the left side, when there is a target DTY yarn spindle on the clamping end 10221, the weight of the target DTY yarn spindle is determined by a weight sensor, and then the entire airbag is inflated. If the weight of the target DTY yarn spindle is greater than the preset weight, the target DTY yarn spindle is determined to be a fully wound DTY yarn spindle. If the weight of the target DTY yarn spindle is less than or equal to the preset weight, the target DTY yarn spindle is determined to be a partially wound DTY yarn spindle.

[0092] existFigure 4 In the embodiment, the weight sensor is arranged in the groove to weigh the target DTY spool.

[0093] In the embodiment, the visual sensor can be installed on the AGV doffer car 102, and the visual sensor can rotate through the holder to collect images of the target position (the visual sensor can be reused for the image collection device 1011 installed on the AGV doffer car 102 as described above). In the implementation, the visual sensor can be used to collect images of the target DTY spool to obtain a third to-be-processed image. The third to-be-processed image determines the cross-sectional radius of the target DTY spool. If the cross-sectional radius is greater than a preset radius, the target DTY spool is determined to be a full DTY spool. If the cross-sectional radius is less than or equal to the preset radius, the target DTY spool is determined to be a non-full DTY spool.

[0094] In the embodiment, a classification device based on the visual sensor and / or the weight sensor is provided. The classification device compares the collected data of the target DTY spool with preset data to determine the category of the target DTY spool, thereby improving the classification efficiency of the target DTY spool.

[0095] In order to accurately classify and manage the DTY spool in the production process, based on the above description, the AGV doffer car 102 is further used to:

[0096] Generate a classification two-dimensional code of the target DTY spool based on the classification device determining the category of the target DTY spool.

[0097] Print the classification two-dimensional code into a paper two-dimensional code and paste it on the target DTY spool; and

[0098] Send the two-dimensional code information of the target DTY spool to the server, so that the mechanical arm 103 identifies the category of the target DTY spool based on the two-dimensional code information stored in the server.

[0099] After the classification device identifies the category of the target DTY spool, the target DTY spool category and the corresponding number of the target DTY spool in the single-machine DTY spool temporary storage area are combined to generate two-dimensional code information. The two-dimensional code information is sent to the server to generate a paper two-dimensional code, and the paper two-dimensional code is pasted on the inner wall of the paper tube of the target DTY spool. Based on the two-dimensional code information, the mechanical arm 103 can place the target DTY spool on the full DTY spool car or the non-full DTY spool car.

[0100] In the embodiments of the present disclosure, the AGV bobbin car 102 generates a two-dimensional code information in the case of determining the target DTY spindle category, and controls the mechanical arm 103 to complete the classification of the target DTY spindle based on the two-dimensional code information. The two-dimensional code information of each target DTY spindle is used as the unique identifier of the target DTY spindle, thereby improving the classification efficiency of the target DTY spindle.

[0101] Based on the same technical concept, the present disclosure also provides a bobbin car device, comprising:

[0102] The base of the AGV bobbin car 102;

[0103] At least one layer of supports 1021 installed on the base;

[0104] Each layer of supports 1021 has at least one gripper 1022 with an air bag, which is used to pick up the target DTY spindle produced by the texturing machine 101, so as to transfer the target DTY spindle from the texturing machine 101 to the AGV bobbin car.

[0105] In the embodiments of the present disclosure, a bobbin car is provided. The target DTY spindle is picked up by the gripper 1022 on the bobbin car to the AGV bobbin car 102, realizing an automatic process and reducing the need for manual operation, thereby improving the production efficiency.

[0106] In some embodiments, the AGV bobbin car 102 is used to control the clamping end 10221 to enter the inner wall of the paper tube of the target DTY spindle when the gas content of the air bag is lower than a preset threshold value; in the case of clamping the target DTY spindle, the air bag is inflated so that the air bag fills the inner wall of the paper tube of the target DTY spindle; after the inflation is completed, the target DTY spindle is loaded onto the AGV bobbin car 102 based on the force between the air bag and the inner wall of the paper tube.

[0107] In the embodiments of the present disclosure, the bobbin car is provided with a gripper 1022 with an inflatable and deflatable air bag on the clamping end 10221. The use of this gripper 1022 can facilitate the picking up of the target DTY spindle without high positioning accuracy requirements.

[0108] In some embodiments, the gripper 1022 has a metal arm 10223, one end of the metal arm 10223 is connected to the clamping end 10221, the other end is installed on a sliding block 10222, the sliding block 10222 is installed on the AGV bobbin car 102, and the sliding block 10222 can slide in the direction perpendicular to the ground under the drive of the sliding block 10222 motor, so that the clamping end 10221 moves in the direction perpendicular to the ground.

[0109] The metal arm 10223 is a hollow structure, and the cavity of the metal arm 10223 has a hose connected with a solenoid valve 10225 located outside the clamping jaw 1022;

[0110] The solenoid valve 10225 is connected with a gas pump 10224, which controls the gas entering the air bag from the hose or the air bag deflating through the solenoid valve 10225.

[0111] In the embodiments of the present disclosure, the loading and unloading efficiency of the target DTY spool can be improved, thereby improving the production efficiency.

[0112] In some embodiments, the air bag includes a plurality of independent sub-air bags, each of which supports independent inflation and deflation, and the total length of the air bag is greater than the length of the inner wall of the paper tube;

[0113] After inflation, the sub-air bags on both sides of the inner wall of the paper tube assume a specified shape, so that the inner wall of the paper tube is clamped between the sub-air bags on both sides of the inner wall of the paper tube;

[0114] In the case of loading the target DTY spool onto the AGV creeling car 102, the AGV creeling car 102 is used to sequentially deflate the plurality of sub-air bags, wherein the sub-air bags on the side of the inner wall of the paper tube close to the creel of the AGV creeling car 102 are preferentially deflated, and the sub-air bags on the side of the inner wall of the paper tube away from the creel of the AGV creeling car 102 are last deflated, so that the target DTY spool sequentially slides onto the creel of the AGV creeling car 102.

[0115] In the embodiments of the present disclosure, the plurality of independent sub-air bags can independently inflate and deflate, and the sub-air bags on both sides of the inner wall of the paper tube assume a specified shape after inflation, which helps to load the target DTY spool. Secondly, the plurality of sub-air bags are sequentially deflated, so that the target DTY spool sequentially slides onto the creel of the AGV creeling car 102. The structural design of the creeling car can improve the loading and unloading efficiency of the target DTY spool, thereby improving the production efficiency.

[0116] In the foregoing creeling car, the air bag is made of rubber material with a friction coefficient greater than a preset threshold value, and the surface of the rubber material has particles of different sizes.

[0117] In the embodiments of the present disclosure, the air bag on the creeling car is made of rubber material with a friction coefficient greater than a preset threshold value and rubber material with particles of different sizes, which can significantly enhance the friction between the air bag and the DTY spool, ensuring that the DTY spool is not easily slipped during handling. In addition, the soft nature of the rubber material can also reduce the damage of the DTY spool when it is contacted.

[0118] The related specific structure of the AGV doffer car 102 is described above and will not be repeated here.

[0119] Based on the same inventive concept, the present embodiment provides a filament spindle management method, as shown in the following. Figure 6 The method comprises the following steps.

[0120] S601, receiving a doffing signal sent by the texturing machine 101;

[0121] S602, in response to the doffing signal, controlling the AGV doffer car 102 to move to the DTY filament spindle temporary storage area corresponding to the target DTY filament spindle;

[0122] S603, loading the target DTY filament spindle onto the AGV doffer car 102 by the gripper 1022 with an air bag on the AGV doffer car 102.

[0123] In the present embodiment, a control method of a doffer car is provided. The AGV doffer car 102 moves to the DTY filament spindle temporary storage area based on receiving the doffing signal, and the target DTY filament spindle is gripped by the gripper 1022 with an air bag on the AGV doffer car 102. Through this method, the loading efficiency of the DTY filament spindle can be improved.

[0124] In some embodiments, the AGV doffer car 102 has at least one layer of DTY filament spindle support 1021; each layer of DTY filament spindle support 1021 is installed with a left-right and up-down movable gripper 1022; the clamping end 10221 of the gripper 1022 is wrapped with an inflatable and deflatable air bag;

[0125] Loading the target DTY filament spindle onto the AGV doffer car 102 by the gripper 1022 with an air bag on the AGV doffer car 102 comprises:

[0126] In a state where the gas content of the air bag is lower than a preset threshold, the clamping end 10221 is controlled to enter the inner wall of the paper tube of the target DTY filament spindle;

[0127] In the case of clamping the target DTY filament spindle, the air bag is inflated so that the air bag fills the inner wall of the paper tube of the target DTY filament spindle;

[0128] After the inflation is completed, the target DTY filament spindle is loaded onto the AGV doffer car 102 based on the acting force between the air bag and the inner wall of the paper tube.

[0129] In the embodiments of the present disclosure, the main effect of the method is to adjust the clamping force on the target DTY spool through the inflation and deflation of the air bags on the clamping jaw 1022, thereby achieving the loading of the target DTY spool onto the AGV creeling vehicle 102. By reasonably controlling the inflation and deflation sequence of the air bags, the clamping jaw 1022 can better clamp the target DTY spool under the action of the inner wall of the paper tube, thereby improving the efficiency and safety of the loading process. At the same time, this method can also be adjusted according to the actual situation to adapt to different DTY spool types and the needs of the AGV creeling vehicle 102.

[0130] In the method described above, the air bag includes a plurality of independent sub-air bags, each of which supports independent inflation and deflation, and the total length of the air bag is greater than the length of the inner wall of the paper tube.

[0131] After inflation is completed, the sub-air bags on both sides of the inner wall of the paper tube assume a specified shape, so that the inner wall of the paper tube is clamped between the sub-air bags on both sides of the inner wall of the paper tube.

[0132] After inflation is completed, the target DTY spool is loaded onto the AGV creeling vehicle 102 based on the action force between the air bag and the inner wall of the paper tube, including:

[0133] The plurality of sub-air bags are sequentially deflated, wherein the sub-air bags on the side of the inner wall of the paper tube close to the creel of the AGV creeling vehicle 102 are preferentially deflated, and the sub-air bags on the side of the inner wall of the paper tube away from the creel of the AGV creeling vehicle 102 are last deflated, so that the target DTY spool sequentially slides onto the creel of the AGV creeling vehicle 102.

[0134] In the embodiments of the present disclosure, by specifying the shape of the sub-air bags on both sides of the air bag, the clamping of the target DTY spool on both ends of the paper tube is ensured, thereby achieving the loading of the target DTY spool onto the AGV creeling vehicle 102. By reasonably controlling the deflation sequence of the sub-air bags, the target DTY spool can sequentially slide onto the creel under the action of the inner wall of the paper tube, thereby improving the efficiency of loading the target DTY spool. In addition, this method can also be adjusted according to the actual situation to adapt to different DTY spool types and the needs of the AGV creeling vehicle 102.

[0135] In some embodiments, the category of the target DTY spool can also be identified; in the case where the AGV creeling vehicle 102 moves to the sorting area, the mechanical arm 103 is controlled to move the target DTY spool to the corresponding target creel.

[0136] The embodiments of the present disclosure can realize the classified management of the target DTY spool.

[0137] The specific management method can also refer to the description of the system part, which will not be repeated here.

[0138] To sum up, the DTY spindle management system in the elasticizing process provided by the embodiment of the present disclosure can ensure that the inner wall of the paper tube is not damaged when the target DTY spindle in the DTY spindle temporary storage area is clamped, and the classification of the target DTY spindle is realized. The embodiment of the present disclosure first proposes a clamp jaw structure with an air bag. Secondly, the classification of the target DTY spindle is realized based on the classification device.

[0139] The main design effects are summarized as follows:

[0140] 1. The paper tube protection problem of the target DTY spindle when the target DTY spindle in the DTY spindle temporary storage area is clamped can be realized. In the embodiment of the present disclosure, a clamp jaw structure with an inflatable and deflatable air bag is provided. By specifying the shape of the air bag, the clamping of the two ends of the paper tube can be realized, and the air bag made of rubber also avoids damaging the inner wall of the paper tube.

[0141] 2. Strong adaptability. The device and method provided in the embodiment of the present disclosure can be adjusted according to actual conditions to adapt to different types of target DTY spindles.

[0142] 3. High management efficiency. In the embodiment of the present disclosure, the corresponding DTY spindle information can be known through the generated two-dimensional code information.

[0143] Based on the same technical concept, the present disclosure also provides a spindle management device, as shown in Figure 7 , comprising:

[0144] The receiving module 701 is configured to receive the creeling signal sent by the elasticizer.

[0145] The response module 702 is configured to control the AGV creeling vehicle to move to the DTY spindle temporary storage area corresponding to the target DTY spindle in response to the creeling signal.

[0146] The clamping module 703 is configured to load the target DTY spindle onto the AGV creeling vehicle through the clamp jaw with an air bag on the AGV creeling vehicle.

[0147] In some embodiments, the AGV creeling vehicle has at least one layer of support, and each layer of support is provided with a clamp jaw that can move up and down and left and right. The clamping end of the clamp jaw is wrapped with an inflatable and deflatable air bag. The clamping module specifically comprises:

[0148] The first control unit is configured to control the clamping end to enter the inner wall of the paper tube of the target DTY spindle when the gas content of the air bag is lower than a preset threshold.

[0149] The inflation unit is configured to inflate the air bag to fill the inner wall of the paper tube of the target DTY spindle when the target DTY spindle is clamped.

[0150] a second control unit, configured to load the target DTY spool onto the AGV creeling vehicle based on the interaction force between the air bag and the inner wall of the paper tube after the inflation is completed.

[0151] In some embodiments, the air bag comprises a plurality of independent sub-air bags, each of which supports independent inflation and deflation, and the total length of the air bag is greater than the length of the inner wall of the paper tube, and the device is specifically used for:

[0152] After the inflation is completed, the sub-air bags located on both sides of the inner wall of the paper tube assume a specified shape, so that the inner wall of the paper tube is clamped between the sub-air bags on both sides of the inner wall of the paper tube;

[0153] The second control unit is specifically configured to:

[0154] After the inflation is completed, the target DTY spool is loaded onto the AGV creeling vehicle based on the interaction force between the air bag and the inner wall of the paper tube, including:

[0155] sequentially deflating the plurality of sub-air bags, wherein the sub-air bags on the side of the inner wall of the paper tube close to the creel of the AGV creeling vehicle are preferentially deflated, and the sub-air bags on the side of the inner wall of the paper tube away from the creel of the AGV creeling vehicle are last deflated, so that the target DTY spool sequentially slides onto the creel of the AGV creeling vehicle.

[0156] In some embodiments, the device further comprises:

[0157] a recognition module configured to recognize the category of the target DTY spool;

[0158] a classification module configured to, in the case that the AGV creeling vehicle moves to a sorting area, control the mechanical arm to move the target DTY spool to the corresponding target creel.

[0159] The specific functions and examples of each module, sub-module, and unit of the device according to the embodiments of the present disclosure are described above in the corresponding steps of the method embodiments, and will not be described here.

[0160] In the technical solutions of the present disclosure, the acquisition, storage, and application of user personal information comply with relevant laws and regulations and do not violate public order and good customs.

[0161] Figure 8 is a structural block diagram of an electronic device according to an embodiment of the present disclosure. As shown in Figure 8As shown, the electronic device includes a memory 810 and a processor 820, the memory 810 stores a computer program which can be run on the processor 820. The number of the memory 810 and the processor 820 can be one or more. The memory 810 can store one or more computer programs, when the one or more computer programs are executed by the electronic device, the electronic device performs the method provided by the above-mentioned method embodiments. The electronic device can also include a communication interface 830 for communicating with external devices and transmitting data.

[0162] If the memory 810, the processor 820 and the communication interface 830 are independently implemented, the memory 810, the processor 820 and the communication interface 830 can be connected to each other through a bus and complete communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the middle, but it does not mean that there is only one bus or one type of bus.

[0163] Optionally, in specific implementation, if the memory 810, the processor 820 and the communication interface 830 are integrated on a chip, the memory 810, the processor 820 and the communication interface 830 can complete communication between each other through an internal interface.

[0164] It should be understood that the above processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. It is worth noting that the processor can be an advanced RISC machine (ARM) architecture processor.

[0165] Further, the aforementioned memory can include a read-only memory and a random access memory, and can also include a non-volatile random access memory. The memory can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memory. The non-volatile memory can include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), or a flash memory. The volatile memory can include a random access memory (RAM) used as an external cache. By way of example, and not limitation, many forms of RAM can be used. For example, a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDR SDRAM), an enhanced SDRAM (ESDRAM), a Synchlink DRAM (SLDRAM), and a direct Rambus RAM (DR RAM) can be used.

[0166] In the above embodiments, all or part of the steps can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the steps can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present disclosure are generated. The computer can be a general purpose computer, a special purpose computer, a computer network or other programmable apparatus. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (for example: coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example: infrared, Bluetooth, microwave, etc.) mode. The computer readable storage medium can be any available medium accessible by a computer, or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (for example: floppy disk, hard disk, magnetic tape), an optical medium (for example: digital versatile disc (DVD)) or a semiconductor medium (for example: solid state disk (SSD)) etc. It is worth noting that the computer readable storage medium mentioned in the present disclosure can be a non-volatile storage medium, in other words, it can be a non-transitory storage medium.

[0167] A person of ordinary skill in the art can understand that all or part of the steps of the above embodiments can be completed by hardware, or the program can instruct the related hardware to complete, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk.

[0168] In the description of the embodiments of the present disclosure, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0169] In the description of the embodiments of the present disclosure, unless otherwise specified, " / " means or, for example, A / B can mean A or B. "And / or" in this document only describes the relationship between associated objects, which means that there can be three relationships, for example, A and / or B, which can mean: A exists alone, A and B exist together, and B exists alone.

[0170] In the description of the embodiments of the present disclosure, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, the meaning of "multiple" is two or more.

[0171] The above only describes exemplary embodiments of the present disclosure, and is not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A yarn management system in a texturing process, comprising: a texturing machine for texturing a pre-oriented yarn (POY) to obtain a target draw textured yarn (DTY) by a texturing process; a DTY yarn temporary storage area for storing the target DTY yarn; an AGV winder for moving to the DTY yarn temporary storage area corresponding to the target DTY yarn in response to a winding signal, and loading the target DTY yarn onto the AGV winder by a gripper with an air bag; wherein the AGV winder has at least one layer of supports; each layer of supports is provided with a gripper movable up and down and left and right; a clamping end of the gripper is wrapped with an air bag capable of being inflated and deflated; the AGV winder is configured to control the clamping end to enter an inner wall of a paper tube of the target DTY yarn when the air bag has a gas content lower than a preset threshold, and inflate the air bag to fill the inner wall of the paper tube of the target DTY yarn while clamping the target DTY yarn, and load the target DTY yarn onto the AGV winder based on a force between the air bag and the inner wall of the paper tube after the inflation is completed; wherein the air bag comprises a plurality of independent sub-air bags, each of which supports independent inflation and deflation, and the total length of the air bag is greater than the length of the inner wall of the paper tube; wherein, after the inflation is completed, the sub-air bags on both sides of the inner wall of the paper tube are in a specified shape, so that the inner wall of the paper tube is clamped between the sub-air bags on both sides of the inner wall of the paper tube; when the target DTY yarn is loaded onto the AGV winder, the AGV winder is configured to sequentially deflate the plurality of sub-air bags, wherein the sub-air bags on the side of the inner wall of the paper tube close to the cradle of the AGV winder are preferentially deflated, and the sub-air bags on the side of the inner wall of the paper tube away from the cradle of the AGV winder are lastly deflated, so that the target DTY yarn sequentially slides onto the cradle of the AGV winder.

2. The system of claim 1, wherein, the gripper has a metal arm, one end of the metal arm is connected to the clamping end, the other end of the metal arm is installed on a sliding block, the sliding block is installed on the AGV winder, and the sliding block is slidable in a direction perpendicular to the ground under the drive of a sliding block motor, so that the clamping end moves in a direction perpendicular to the ground; the metal arm is a hollow structure, and a hose is arranged in the cavity of the metal arm, the hose is connected to a solenoid valve arranged outside the gripper; the solenoid valve is connected to an air pump, the air pump controls the gas to enter the air bag from the hose or deflates the air bag through the solenoid valve.

3. The system of claim 1 or 2, wherein, the air bag is made of rubber material with a friction coefficient greater than a preset threshold, and the surface of the rubber material has particles of different sizes. 4.The system of claim 1, further comprising a sorting device: the sorting device comprises a visual sensor and / or a weight sensor, and the sorting device is installed on the AGV winder or a mechanical arm. The classification device is used for identifying the category of the target DTY spool, so as to divide the target DTY spool into a full DTY spool or a non-full DTY spool.

5. The system of claim 1, wherein the image acquisition device is installed on the texturing machine, and is used for acquiring an image of the DTY spool temporary storage area to obtain a first to-be-processed image, and sending the first to-be-processed image to the server, so that the server identifies the DTY spools in the DTY spool temporary storage area based on the first to-be-processed image. The AGV winder is used for receiving a winding signal sent in a case where it is determined that the DTY spool temporary storage area has DTY spools.

6. The system of claim 1, wherein the AGV winder is specifically used for acquiring an image of the DTY spool temporary storage area of the target DTY spool to obtain a second to-be-processed image in a case where the AGV winder moves to the DTY spool temporary storage area of the target DTY spool. The AGV winder is further used for sending the second to-be-processed image to the server, so that the server identifies the DTY spools in the DTY spool temporary storage area based on the second to-be-processed image. The AGV winder is further used for controlling the gripper to clamp the target DTY spool in a case where it is determined that the DTY spool temporary storage area has DTY spools.

7. The system of claim 4, wherein the AGV winder is further used for: generating a classification two-dimensional code of the target DTY spool in a case where the category of the target DTY spool is determined based on the classification device; printing the classification two-dimensional code into a paper two-dimensional code and pasting the paper two-dimensional code on the target DTY spool; and sending two-dimensional code information of the target DTY spool to the server, so that the mechanical arm identifies the category of the target DTY spool based on the two-dimensional code information stored in the server.

8. A winder, comprising: a base of an AGV winder; at least one layer of supports installed on the base; at least one gripper with an air bag on each layer of supports, the gripper being used for clamping a target DTY spool produced by a texturing machine, so as to transfer the target DTY spool from the texturing machine to the AGV winder; a clamping end of the gripper being wrapped with an air bag that can be inflated and deflated; the AGV winder being used for controlling the clamping end to enter an inner wall of a paper tube of the target DTY spool in a case where a gas content of the air bag is lower than a preset threshold, clamping the target DTY spool, inflating the air bag so that the air bag fills the inner wall of the paper tube of the target DTY spool, and loading the target DTY spool onto the AGV winder based on an acting force between the air bag and the inner wall of the paper tube after the inflation is completed; wherein the air bag comprises a plurality of independent sub-air bags, each of which supports independent inflation and deflation, and a total length of the air bag is greater than a length of the inner wall of the paper tube. Wherein, after the inflation ends, the sub-air bags on both sides of the inner wall of the paper tube present a designated shape, so that the inner wall of the paper tube is clamped between the sub-air bags on both sides of the inner wall of the paper tube; In the case of loading the target DTY spool onto the AGV doffer, the AGV doffer is used to deflate the plurality of sub-air bags in sequence, wherein the sub-air bag on the side of the inner wall of the paper tube close to the spool holder of the AGV doffer is preferentially deflated, and the sub-air bag on the side of the inner wall of the paper tube away from the spool holder of the AGV doffer is last deflated, so that the target DTY spool falls onto the spool holder of the AGV doffer in sequence.

9. The doffer of claim 8, the gripper has a metal arm, one end of the metal arm is connected to the clamping end, the other end is installed on a sliding block, the sliding block is installed on the AGV doffer, and the sliding block can slide in the direction perpendicular to the ground under the drive of a sliding block motor, so that the clamping end moves in the direction perpendicular to the ground; The metal arm is a hollow structure, and the cavity of the metal arm has a hose inside, the hose is connected with a solenoid valve located outside the gripper; The solenoid valve is connected with a gas pump, the gas pump controls the gas to enter the air bag from the hose through the solenoid valve, or controls the air bag to deflate through the solenoid valve.

10. The winding-up car according to claim 8 or 9, wherein The air bag is made of rubber material with a friction coefficient greater than a preset threshold value: and the surface of the rubber material has particles of different sizes.

11. A spool management method, comprising: receiving a doffing signal sent by a texturing machine; in response to the doffing signal, controlling an AGV doffer to move to a DTY spool temporary storage area corresponding to a target DTY spool; loading the target DTY spool onto the AGV doffer by a gripper with an air bag on the AGV doffer; The AGV doffer has at least one layer of support; each layer of support is installed with a gripper that can move left and right and up and down; the clamping end of the gripper is wrapped with an air bag that can be inflated and deflated; Wherein, the target DTY spool is loaded onto the AGV doffer by the gripper with the air bag on the AGV doffer, comprising: In the state that the gas content of the air bag is lower than a preset threshold value, control the clamping end to enter the inner wall of the paper tube of the target DTY spool; In the case of clamping the target DTY spool, inflate the air bag so that the air bag fills the inner wall of the paper tube of the target DTY spool; After the inflation ends, the target DTY spool is loaded onto the AGV doffer based on the force between the air bag and the inner wall of the paper tube; The air bag includes a plurality of independent sub-air bags, each of which supports independent inflation and deflation, and the total length of the air bag is greater than the length of the inner wall of the paper tube; Wherein, after the inflation ends, the sub-air bags on both sides of the inner wall of the paper tube present a designated shape, so that the inner wall of the paper tube is clamped between the sub-air bags on both sides of the inner wall of the paper tube; Wherein, after the inflation ends, the target DTY spool is loaded onto the AGV doffer based on the force between the air bag and the inner wall of the paper tube, comprising: sequentially deflating the plurality of sub-air bags, wherein the sub-air bags on the side of the paper tube inner wall close to the creel of the AGV creeling vehicle are preferentially deflated, and the sub-air bags on the side of the paper tube inner wall away from the creel of the AGV creeling vehicle are last deflated, so that the target DTY spool sequentially slides onto the creel of the AGV creeling vehicle. 12.The method of claim 11, further comprising: identifying a category of the target DTY spool; in a case where the AGV creeling vehicle moves to a sorting area, controlling a mechanical arm to migrate the target DTY spool to a corresponding target creel. 13.A DTY spool management device, comprising: a receiving module configured to receive a creeling signal sent by a texturing machine; a responding module configured to, in response to the creeling signal, control an AGV creeling vehicle to move to a DTY spool temporary storage area corresponding to a target DTY spool; a clamping module configured to load the target DTY spool onto the AGV creeling vehicle by a gripper with an air bag on the AGV creeling vehicle; the AGV creeling vehicle has at least one layer of supports, each layer of supports is provided with a gripper capable of moving up and down and left and right, and a clamping end of the gripper is wrapped with an air bag capable of being inflated and deflated, and the clamping module specifically comprises: a first control unit configured to, in a case where a gas content of the air bag is lower than a preset threshold, control the clamping end to enter an inner wall of a paper tube of the target DTY spool; an inflation unit configured to, in a case where the target DTY spool is clamped, inflate the air bag, so that the air bag fills the inner wall of the paper tube of the target DTY spool; a second control unit configured to, after the inflation is completed, load the target DTY spool onto the AGV creeling vehicle based on an acting force between the air bag and the inner wall of the paper tube; the air bag comprises a plurality of independent sub-air bags, each sub-air bag supports independent inflation and deflation, and a total length of the air bag is greater than a length of the inner wall of the paper tube, and after the inflation is completed, the sub-air bags on both sides of the inner wall of the paper tube present a specified shape, so that the inner wall of the paper tube is clamped between the sub-air bags on both sides of the inner wall of the paper tube; wherein the second control unit is specifically configured to: sequentially deflating the plurality of sub-air bags, wherein the sub-air bags on the side of the paper tube inner wall close to the creel of the AGV creeling vehicle are preferentially deflated, and the sub-air bags on the side of the paper tube inner wall away from the creel of the AGV creeling vehicle are last deflated, so that the target DTY spool sequentially slides onto the creel of the AGV creeling vehicle. 14.The device of claim 13, further comprising: an identifying module configured to identify a category of the target DTY spool; a sorting module configured to, in a case where the AGV creeling vehicle moves to a sorting area, control a mechanical arm to migrate the target DTY spool to a corresponding target creel. 15.An electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 11-12.

16. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are for causing a computer to perform the method according to any one of claims 11-12.

17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 11-12.

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