A method and apparatus for in situ piecing of a robot joint for a spinning ring frame

Abstract

The application relates to a broken-end in-situ head-forming type joint device and method of a ring spinning machine robot, which is used for automatic joint of a ring spinning machine, and the device comprises an industrial robot, a multi-station end execution mechanism, a yarn feeding and flexible traction device, a broken-end device, a standby yarn unwinding device, a ring air flow winding positioning device, a jacking cylinder and an air source; the joint method steps are as follows: the robot is automatically navigated to a broken-end spindle, standby yarn is pre-headed, the standby yarn is wound on a high-speed rotating broken-end bobbin, the ring air flow winding positioning device is extended into the spindle position, a positioning traveller is positioned and the standby yarn is threaded through the traveller, the yarn is pulled through the traveller ring and a guide hook, a feed roller, and the standby yarn is cut to complete the joint action. The application provides an in-situ head-forming type joint method and device, and solves the problems of complicated existing yarn leading joint technical devices, tedious steps, unstable winding, and low success rate.

Description

TECHNICAL FIELD

[0001] The application relates to a broken-end in-situ starting-up type joint method for a ring spinning machine robot and a device adopting the method, and belongs to the technical field of automatic joint of a spinning ring spinning machine. BACKGROUND

[0002] The spinning process is an important link in the spinning process, and the problem of broken end (the phenomenon that the continuous spinning sliver from the front roller to the bobbin is broken) directly leads to the interruption of the spinning process. In view of the problem of broken end, the current joint is mainly completed manually, which is high in labor intensity and low in production efficiency, and cannot adapt to modern production, so it is of great practical demand and significance to realize the automatic joint of the spinning ring spinning machine.

[0003] The existing automatic joint methods at home and abroad are mainly divided into two types: finding yarn joint and leading yarn joint. Among them, the finding yarn joint finds the broken end on the original broken end bobbin to complete the joint action, such as the "ring spinning machine automatic joint robot and method" designed in Chinese patent CN108842239A, the leading yarn joint saves the action of finding the broken end on the original bobbin, and uses a section of standby yarn to wind on the broken end bobbin to complete the joint, which is the main method of the current automatic joint, such as the "ring spinning machine automatic joint method" designed in Chinese patent CN112111817A, the "ring spinning broken end automatic intelligent joint method and device" designed in Chinese patent CN105019077A, and the "fine yarn automatic detection broken end and automatic joint method and device" designed in Chinese patent CN102560770A. The existing leading yarn joint method and device have the following problems in the standby yarn winding:

[0004] (1) The existing leading yarn joint method and device use rigid mechanisms to hold and pull the yarn, which is prone to unstable holding and broken yarn during pulling in actual operation;

[0005] (2) The existing leading yarn joint device has a complex structure and is difficult to complete the entire joint action in the narrow space around the bobbin;

[0006] (3) The existing leading yarn joint method and device cannot complete the joint at different spindles with the same set of joint actions due to the poor positioning accuracy of the moving device;

[0007] (4) The existing leading yarn joint method and device are unstable in standby yarn winding operation and do not consider the yarn force control problem, which is prone to yarn floating, sticking, breaking and other problems in actual joint process, and it is difficult to successfully wind the standby yarn on the broken end bobbin, resulting in low joint success rate. SUMMARY

[0008] The technical problem solved by the present application is that the existing yarn transfer joint method is complicated and difficult to achieve stable yarn transfer joint at the original spindle position.

[0009] To solve the above technical problems, one aspect of the present application provides a method for robot joint in-situ starting of a ring spinning frame, characterized in that it comprises the following steps:

[0010] Step 1: After receiving the broken yarn spindle signal, the industrial robot drives to the front of the corresponding broken yarn spindle;

[0011] Step 2: The multi-station end effector on the industrial robot is located at the robot pre-starting position, at this time, the yarn feeding and flexible traction device on the industrial robot blows the standby yarn provided by the standby yarn unwinding device with the airflow from the air source, and then releases a certain length of yarn head in front of the multi-station end effector, so that the yarn head of the standby yarn extends out of the multi-station end effector, and the pre-starting is completed.

[0012] Step 3: The multi-station end effector switches to the yarn feeding and flexible traction station, at this time, the yarn head extending out of the multi-station end effector approaches the high-speed rotating broken yarn tube located on the broken yarn spindle, and the yarn head is adsorbed by the eddy current generated by the rotation of the broken yarn tube, so that the standby yarn is wound on the broken yarn tube.

[0013] Step 4: When the industrial robot senses that the yarn head has been adsorbed on the broken yarn tube, the yarn tube brake device is used to stop the broken yarn tube, and the rotation winding of the standby yarn is terminated.

[0014] Step 5: The ring airflow winding positioning device on the industrial robot generates a ring airflow on the surface of the ring with the airflow from the air source, and cooperates with the multi-station end effector to blow the steel ring with the ring airflow to hook the standby yarn, and the steel ring threading action of the standby yarn is completed.

[0015] Step 6: The yarn feeding and flexible traction device pulls the standby yarn to perform the action of threading the air ring and the guide hook.

[0016] Step 7: The yarn feeding and flexible traction device pulls the standby yarn to the position of the feed roller, drives the yarn tube brake device to release the broken yarn tube, so that the broken yarn tube resumes operation, at the same time, the yarn is fed into the feed roller, and the joint is completed by cutting the yarn with the broken yarn device on the industrial robot.

[0017] Another aspect of the present application provides a device for robot joint in-situ starting of a ring spinning frame, characterized in that it is used to implement the above-mentioned in-situ starting method, and comprises an industrial robot, a multi-station end effector, a yarn feeding and flexible traction device, a standby yarn unwinding device, an air source and a yarn tube brake device on the industrial robot, wherein:

[0018] The yarn feeding and flexible traction device and the spare yarn unwinding device are located on both sides of the industrial robot; the spare yarn unwinding device is used to provide the spare yarn required by the automatic joint;

[0019] The yarn feeding and flexible traction device is provided with a yarn breaking device and a ring airflow yarn winding positioning device;

[0020] The air source is used to provide airflow to the yarn feeding and flexible traction device and the ring airflow yarn winding positioning device thereon;

[0021] The multi-station end effector is arranged at the end of the industrial robot, and the multi-station end effector can be switched between the pre-threading station and the yarn feeding and flexible traction station: when the multi-station end effector is located at the pre-threading station, it cooperates with the yarn feeding and flexible traction device to complete the pre-threading of the spare yarn; when the multi-station end effector is located at the yarn feeding and flexible traction station, it is used for winding the spare yarn on the broken yarn bobbin, and is also used to cooperate with the ring airflow yarn winding positioning device to complete the steel ring threading action of the spare yarn;

[0022] The yarn breaking device is used to clamp and cut the spare yarn;

[0023] The bobbin brake device is used to lift the brake device of the broken yarn spindle in the ring spinning frame, brake the broken yarn spindle, and stop the rotation of the broken yarn bobbin.

[0024] Preferably, the multi-station end effector comprises a hollow tubular structure, and the yarn can slide forward and backward in the hollow tubular structure.

[0025] Preferably, the ring airflow yarn winding positioning device comprises a steel ring positioning device and a steel ring threading device, wherein the air source provides air pressure to the ring airflow nozzle of the steel ring positioning device, so that the ring airflow nozzle of the steel ring positioning device generates a ring airflow, the steel ring rotates around the ring under the action of the ring airflow, and is adsorbed on the front end of the ring after the electromagnet of the steel ring positioning device is energized, thereby completing the positioning of the steel ring; the steel ring threading device is provided with a yarn hanging steering engine and a thread supporting claw, and the yarn between the broken yarn bobbin and the multi-station end effector is hung and threaded into the positioned steel ring by using the yarn hanging steering engine and the thread supporting claw.

[0026] Preferably, when the multi-station end effector is switched to the pre-threading station, the air source supplies air to the multi-station end effector on the yarn feeding and flexible traction station, the spare yarn provided by the spare yarn unwinding device is threaded through the reverse nozzle on the yarn feeding and flexible traction station and the yarn breaking device under the action of the multi-station end effector, and is sent out to the multi-station end effector, the yarn end is exposed at the end of the multi-station end effector, and the yarn is clamped by the yarn breaking device to prevent the yarn from retracting to realize the pre-threading operation of the spare yarn;

[0027] When the multi-station end effector switches to the yarn feeding and flexible traction station, the air source supplies air to the multi-station end effector, and after the spare yarn is wound on the broken yarn bobbin by the vortex generated by the rotation of the broken yarn bobbin, the air source supplies air to the reverse nozzle of the yarn feeding and flexible traction device to apply tension to the yarn to realize the winding of the spare yarn on the broken yarn bobbin, and after the completion of the steel ring threading, the industrial robot drives the yarn feeding and traction device to the designated position, and the traction yarn sequentially completes the steel ring threading, the guide hook threading and the feed roller action, and after the yarn passing through the steel ring is fed into the roller, the spare yarn feeding out of the multi-station end effector is quickly cut off by the broken yarn device to end the entire joint process.

[0028] Preferably, the broken yarn device comprises an electromagnet, a yarn clamping knife and a yarn cutting knife, the electromagnet is arranged on the yarn feeding and flexible traction device, and the yarn clamping knife and the yarn cutting knife are arranged on the electromagnet.

[0029] Preferably, the spare yarn unwinding device comprises an unwinding spindle, the spare yarn is unwound by the unwinding spindle to control the extension length of the spare yarn during the joint process.

[0030] The present application utilizes the vortex generated by the high-speed rotation of the bobbin to drive the yarn head to follow the yarn rotation, winds the yarn on the bobbin to complete the starting, and realizes the robot starting, steel ring threading, air ring and guide hook threading, and feed roller action according to the "one starting, two threading and one feeding" method. Compared with the prior art, the present application has the following beneficial effects:

[0031] (1) The end effector designed in the present application can complete most of the automatic joint work by only one industrial robot, greatly simplifying the automatic joint device and reducing the cost;

[0032] (2) The yarn joint device designed in the present application has simple structure and can complete the entire joint action in the narrow space near the original spindle position of the broken yarn bobbin;

[0033] (3) The hollow tubular mechanism of the end effector on the yarn feeding and flexible traction device designed in the present application can ensure that the torsional blocking phenomenon caused by the twist of the device itself is avoided during the starting process, effectively improving the stability and success rate of the starting of the spare yarn;

[0034] (4) The air-electricity cooperative control based on yarn tension feedback on the yarn feeding and flexible traction device designed in the present application ensures the flexible holding and traction of the yarn by the end effector, avoids the phenomena such as yarn floating, sticking and breaking during the winding process, increases the stability of the joint process, and improves the joint success rate. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1is a structure schematic view of the in-situ piecing device of the ring spinning machine robot joint in the embodiment of the present application;

[0036] Figure 2 is a structure schematic view of the three-axis actuator device in the embodiment of the present application;

[0037] Figure 3 is a structure schematic view of the ring device in the embodiment of the present application;

[0038] Figure 4 is a structure schematic view of the bobbin brake device in the embodiment of the present application. DETAILED DESCRIPTION

[0039] The present application will be further described below in connection with specific embodiments. It should be understood that these embodiments are only used to illustrate the present application and not used to limit the scope of the present application. Furthermore, it should be understood that after reading the content taught by the present application, those skilled in the art can make various modifications or changes to the present application, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

[0040] As shown in Figure 1 , one aspect of the embodiment of the present application is to disclose an in-situ piecing device of a ring spinning machine robot joint, comprising: a three-axis actuator 1, a ring device 2, a bobbin brake device 3, a vision device 4.

[0041] As shown in Figure 2 , the three-axis actuator 1 comprises an air feeding nozzle 5, an end effector 6, a double-axis air cylinder 8, a stepper motor one 9, a ball screw one 10, a stepper motor two 11, a ball screw two 12. The double-axis air cylinder 8 drives the yarn pulling device 7 to control the yarn feeding action, realizing the pre-piecing of a fixed length yarn head before the joint and feeding the yarn during piecing. The stepper motor one 9 drives the end effector 6 to complete the up-and-down movement along the z-axis direction via the ball screw one 10. The stepper motor two 11 drives the end effector 6 to complete the forward-and-backward movement along the y-axis direction via the ball screw two 12. Through the up-and-down and forward-and-backward movement of the end effector 6, the pre-pieced yarn head is attached to the rotating bobbin, the yarn is pulled through the traveller and around the guide hook and the feed roller, and the joint task is completed.

[0042] As shown in Figure 3 , the ring device 2 comprises: a ring air flow nozzle 13, a ball screw three 15, a ball screw four 16. After the yarn is pieced, the end effector 6 straightens the yarn, and the ball screw three 15 and the ball screw four 16 drive the ring device 2 to advance and press the ring. The ring air flow nozzle 13 blows high-pressure air to form a ring air flow field around the ring, blows up the traveller to wrap around the ring, and under the simultaneous action of the electromagnet of the ring spinning machine, hangs the spun yarn to realize the effect of passing the traveller.

[0043] As shown in Figure 4As shown, the brake device 3 includes: brake clamping jaw 17, stepper motor three 18, ball screw three 19, stepper motor four, ball screw four 21. The stepper motor three 18 drives the brake clamping jaw 17 to complete the up and down movement along the z-axis direction through the ball screw three 19, realize the follow-up movement of the steel ring up and down. The stepper motor four drives the brake clamping jaw 17 to complete the front and back movement along the y-axis direction through the ball screw four 21: after the starting yarn is successfully wound on the bobbin, the brake is clamped and lifted by advancing; after the end effector 6 feeds the yarn into the skin roller twisting through the guide hook, the brake is lowered to make the bobbin rotate again, and the whole connection action is completed.

[0044] One aspect of the embodiment of the application is to disclose an in-situ starting method of a ring spinning machine robot joint, based on the above device, comprising the following steps:

[0045] After reaching the broken yarn position, first locate the bobbin position through the vision device 4 to determine the correct position of the robot. The three-axis actuator 1 first completes the pre-starting action, the air pump blows the traction yarn through the blow nozzle 5, and the double-axis air cylinder 8 drives the yarn traction device 7 to move forward to send the yarn, and a certain length of standby yarn head is released in front of the end effector 6 to prepare for the subsequent starting action. After completing the pre-starting, the robot extends the bobbin brake device 3 to the lower side of the ring spinning machine brake pad, and the end effector 6 and the yarn head are close to the high-speed rotating bobbin, the air is sent to blow the yarn, and the vortex generated by the rotation of the bobbin is used to adsorb the yarn head, and the standby yarn in the end effector 6 is wound on the bobbin. When the tension controller senses that the yarn head has been adsorbed on the bobbin, the bobbin brake device 3 is extended, the ring spinning machine brake is lifted, and the rotation winding of the standby yarn is terminated. After the bobbin stops, the end effector 6 retreats, and the ring device 2 moves forward. The ring device 2 blows air through the air outlet to generate a surrounding air flow on the surface of the ring, blows the wire hook to hook the yarn, and realizes the effect of the yarn passing through the wire hook. Then, the ring device 2 retreats, the three-axis actuator 1 end effector 6 traction yarn executes the action of passing through the air ring and winding the guide hook. The three-axis actuator 1 end effector 6 traction yarn reaches the feeding roller position, the bobbin brake device 3 releases the bobbin brake, makes the bobbin rotate again, at the same time, the double-axis air cylinder 8 drives the end effector 6 to feed the yarn into the skin roller, and cuts the yarn to complete the joint.

Claims

1. A method of in-situ piecing of a robot joint of a ring spinning frame machine, characterized in that, The method comprises the following steps: Step 1: After receiving the broken spindle signal, the industrial robot travels to the corresponding broken spindle; Step 2: The multi-station end effector on the industrial robot is located at the robot pre-drawing position, at this time, the yarn feeding and flexible traction device on the industrial robot blows the standby yarn provided by the standby yarn unwinding device with the airflow provided by the air source, and then releases a fixed length of yarn head in front of the multi-station end effector, so that the yarn head of the standby yarn extends out of the multi-station end effector, and the pre-drawing is completed; Step 3: The multi-station end effector switches to the yarn feeding and flexible traction position, at this time, the yarn head extending out of the multi-station end effector approaches the high-speed rotating broken yarn tube on the broken spindle, and the yarn head is adsorbed by the vortex generated by the rotation of the broken yarn tube, so that the standby yarn is wound on the broken yarn tube; Step 4: When the industrial robot senses that the yarn head has been adsorbed on the broken yarn tube, the yarn tube brake device is used to stop the broken yarn tube, and the rotation winding of the standby yarn is terminated; Step 5: The annular airflow winding positioning device on the industrial robot generates annular airflow on the surface of the ring with the airflow provided by the air source, and cooperates with the multi-station end effector to blow the ring with the annular airflow to hook the standby yarn, and the action of threading the ring with the standby yarn is completed; Step 6: The yarn feeding and flexible traction device pulls the standby yarn to perform the action of threading the air ring and winding the guide hook; Step 7: The yarn feeding and flexible traction device pulls the standby yarn to the position of the feed roller, drives the yarn tube brake device to release the broken yarn tube, so that the broken yarn tube resumes rotation, simultaneously feeds the yarn into the feed roller, and cuts the yarn with the broken yarn device on the industrial robot to complete the joint.

2. A device for in situ piecing of a robot joint of a ring spinning frame machine, characterized in that The in-situ head forming method comprises an industrial robot, a multi-station end effector, a yarn feeding and flexible traction device, a standby yarn unwinding device, an air source, and a yarn tube brake device, wherein: The yarn feeding and flexible traction device and the standby yarn unwinding device are located on both sides of the industrial robot; the standby yarn unwinding device is used to provide standby yarn required for automatic joint; The yarn feeding and flexible traction device is provided with a broken yarn device and an annular airflow winding positioning device; The air source is used to provide airflow to the yarn feeding and flexible traction device and the annular airflow winding positioning device thereon; The multi-station end effector is arranged at the end of the industrial robot, and can be switched between a pre-drawing position and a yarn feeding and flexible traction position; when the multi-station end effector is located at the pre-drawing position, it cooperates with the yarn feeding and flexible traction device to complete the pre-drawing of the standby yarn; when the multi-station end effector is located at the yarn feeding and flexible traction position, it is used for winding the standby yarn on the broken yarn tube, and is also used to cooperate with the annular airflow winding positioning device to complete the action of threading the ring with the standby yarn; The broken yarn device is used to clamp and cut the standby yarn; The yarn tube brake device is used to lift the brake device of the broken spindle position of the ring spinning frame, brake the broken spindle, and stop the rotation of the broken yarn tube.

3. A head-in-place device for a robot joint of a ring spinning frame machine according to claim 2, characterized in that The multi-station end effector comprises a hollow tubular structure, and the yarn can slide forward and backward in the hollow tubular structure.

4. A head-in-place device for a robot joint of a ring spinning frame machine according to claim 2, characterized in that, The ring air flow around the yarn positioning device includes a traveller positioning device and a traveller threading device, wherein the air source provides air pressure for the ring air flow nozzle of the traveller positioning device, so that the ring air flow nozzle of the traveller positioning device generates a ring air flow, and the traveller rotates around the ring under the action of the ring air flow, and is adsorbed on the front end of the ring after the electromagnet of the traveller positioning device is electrified, thereby completing the positioning of the traveller; the traveller threading device is provided with a yarn hanging rudder and a thread supporting claw, and the yarn hanging rudder and the thread supporting claw are used to hang and thread the yarn between the broken yarn bobbin and the multi-station end executing mechanism into the completed traveller.

5. A head-in-place device for a robot joint of a ring spinning frame machine according to claim 2, characterized in that, When the multi-station end executing mechanism switches to the pre-spun head station, the air source supplies air to the multi-station end executing mechanism on the yarn feeding and flexible traction station, the standby yarn provided by the standby yarn unwinding device is threaded through the reverse nozzle on the yarn feeding and flexible traction station and the broken yarn device under the action of the multi-station end executing mechanism, and is fed to the multi-station end executing mechanism, the yarn end is exposed at the end of the multi-station end executing mechanism, and the yarn is clamped by the broken yarn device to prevent the yarn from retracting to realize the pre-spun head operation of the standby yarn; When the multi-station end executing mechanism switches to the yarn feeding and flexible traction station, the air source supplies air to the multi-station end executing mechanism, and after the standby yarn is wound on the broken yarn bobbin by using the eddy current generated by the rotation of the broken yarn bobbin, the air source supplies air to the reverse nozzle of the yarn feeding and flexible traction device to apply tension to the yarn to realize the winding of the standby yarn on the broken yarn bobbin, and after the traveller threading is completed, the industrial robot drives the yarn feeding and traction device to the designated position, and the traction yarn sequentially completes the actions of threading the ring and the guide hook and the feeding roller, and after the yarn threaded through the traveller is fed into the roller, the broken yarn device rapidly cuts the standby yarn fed out of the multi-station end executing mechanism to end the entire joint process.

6. A head-in-place device for a robot joint of a ring spinning frame machine according to claim 2, characterized in that, The broken yarn device includes an electromagnet, a yarn clamping knife and a broken yarn knife, the electromagnet is arranged on the yarn feeding and flexible traction device, and the yarn clamping knife and the broken yarn knife are arranged on the electromagnet.

7. A head-in-place device for a robot joint of a ring spinning frame machine according to claim 2, characterized in that, The standby yarn unwinding device includes an unwinding spindle, the standby yarn is unwound by the unwinding spindle, and the extension length of the standby yarn during the joint process is controlled.

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