A piecing robot for a piecing machine of a ring spinning frame and a piecing method thereof

Abstract

A kind of head forming method ring spinning frame automatic joint robot and its joint method belong to the field of textile machinery automation, the present application is to solve the problems such as complex structure of existing automatic joint device.The robot includes moving frame, six degrees of freedom mechanical arm is installed on moving frame, shell is connected with the end of six degrees of freedom mechanical arm, one side of shell is equipped with industrial camera, brake steering gear is installed on moving frame, and the installation height of brake steering gear is compatible with the height of brake device of broken yarn spindle, the output shaft of brake steering gear is equipped with dial piece, auxiliary yarn supply device includes servo motor and spare spindle, servo motor is installed on moving frame, spare spindle is connected with the output shaft of servo motor, the present application provides a complete set of fully automatic ring spinning frame automatic joint equipment and automatic joint scheme, can improve the production efficiency of ring spinning, while reducing cost.

Description

Technical Field

[0001] This invention belongs to the field of textile machinery automation, and particularly relates to an automatic splicing robot for a ring spinning machine using the starting head method and its splicing method. Background Technology

[0002] Ring spinning accounts for over 80% of the nation's total yarn production, holding a vital position in the textile industry. However, yarn breakage remains a persistent problem in ring spinning production, severely impacting efficiency. While automated detection of yarn breaks on spinning machines has been achieved through various methods, manual splicing remains the primary method in spinning mills. Manual splicing suffers from low efficiency, inconsistent quality, high cost, and high labor intensity. Automated splicing robots can effectively solve these problems, thereby improving both the efficiency and quality of ring spinning.

[0003] Currently, automatic splicing methods both domestically and internationally include two types: splicing at the original spindle position and splicing at the spare spindle. Splicing at the original spindle position includes the "starting-end" method and the "finding-end" method. The starting-end method has the advantages of a simple splicing process, short time, high efficiency, and high success rate. For example, Chinese invention patent CN112111817A, which discloses "An Automatic Splicing Method for Ring Spinning Machines," and Chinese invention patent CN102560770A, which discloses "An Automatic Detection Method and Device for Yarn Breakage and Automatic Splicing," are both examples of splicing using the starting-end method.

[0004] However, existing automatic coupling methods and devices have the following problems:

[0005] (1) Existing automatic splicing devices have complex structures and low integration, making it difficult to complete actions such as head breakage and head generation and wire loop insertion in a small space of a single spindle of a spinning machine with high quality.

[0006] (2) The control of yarn force was not considered. In the actual process of yarn generation, problems such as yarn bending, adhesion and breakage are likely to occur, resulting in a low success rate of auxiliary yarn wrapping and directly affecting the success rate of yarn generation. Summary of the Invention

[0007] The purpose of this invention is to provide an automatic splicing robot and its splicing method for ring spinning machines using the "starting head" method, thereby solving the problems existing in current automatic splicing methods and devices. The technical solution adopted by this invention is as follows:

[0008] An automatic splicing robot for a ring spinning machine using the yarn splicing method includes a six-degree-of-freedom robotic arm, a moving frame, an automatic splicing mechanism, a yarn cutting mechanism, a braking mechanism, and an auxiliary yarn feeding device;

[0009] The automatic splicing mechanism includes a housing, a yarn outlet tube, a yarn tensioning tube, a clamping cylinder, a blow-ring air pipe, and a cycloidal servo motor. The blow-ring air pipe is located on the left side of the housing, with its front end bent upwards. The yarn outlet tube and the yarn tensioning tube are located on the right side of the housing. Both the yarn outlet tube and the yarn tensioning tube are Venturi tube structures. The diffuser section of the yarn outlet tube faces forward, and the diffuser section of the yarn tensioning tube faces backward. The contraction sections of the yarn outlet tube and the yarn tensioning tube are coaxially aligned. A first air inlet is provided on one side of the outlet tube's girder, and a first air valve is provided on the first air inlet. A second air inlet is provided on one side of the yarn tensioning tube's girder, and a second air valve is provided on the second air inlet. The rear part of the blow-ring air pipe is connected to the third air valve. The first air valve, the second air valve, and the third air valve are respectively connected to the air pump. A fixing clip is provided on one side of the outer shell between the yarn outlet tube and the yarn tensioning tube. A clamping cylinder is provided on the other side of the outer shell between the yarn outlet tube and the yarn tensioning tube. A soft pad is provided on the piston rod of the clamping cylinder. The extension and retraction of the piston rod of the clamping cylinder controls the soft pad to clamp or separate from the fixing clip. The cycloidal servo is connected to the outer shell. One end of the swing arm is connected to the output shaft of the cycloidal servo. The other end of the swing arm is connected to the upper end of the shift fork. The lower end of the shift fork is lower than the yarn outlet tube. When the swing arm swings horizontally, the shift fork moves in an arc between the right side of the yarn outlet tube and the left side of the blow-ring air pipe.

[0010] The auxiliary yarn feeding device includes a servo motor and a spare spindle. The servo motor is mounted on a mobile frame, and the spare spindle is connected to the output shaft of the servo motor. The spare yarn is wound on the spare spindle, and one end of the spare yarn passes through the diffuser section of the yarn tension tube and exits through the diffuser section of the yarn outlet tube.

[0011] The braking mechanism includes a brake servo motor, which is mounted on a movable frame. The mounting height of the brake servo motor is adapted to the height of the braking device of the broken yarn spindle. A paddle is provided on the output shaft of the brake servo motor.

[0012] The thread cutting mechanism includes a thread cutting servo motor, a fixed cutting blade, and a movable cutting blade. The fixed cutting blade is located on the right side of the yarn outlet tube. The thread cutting servo motor is connected to the housing. The movable cutting blade is connected to the output shaft of the thread cutting servo motor. The movable cutting blade and the fixed cutting blade can engage or disengage during cutting.

[0013] The six-degree-of-freedom robotic arm is mounted on a mobile frame, with the outer shell connected to the end of the six-degree-of-freedom robotic arm. An industrial camera is mounted on one side of the outer shell.

[0014] Furthermore, the six-degree-of-freedom robotic arm has a light source at its end.

[0015] Furthermore, the spare spindle is connected to the output shaft of the servo motor via a diaphragm coupling.

[0016] This invention also provides a method for generating yarn heads using an automatic splicing robot on a ring spinning machine with a head-generating method, which is based on the aforementioned automatic splicing robot for a ring spinning machine with a head-generating method, and includes the following steps:

[0017] Step 1: The robot moves to the broken yarn spindle, and the industrial camera identifies the position information of the broken yarn spindle, the ring rail, the front roller, and the air ring.

[0018] Step 2: The six-degree-of-freedom robotic arm drives the automatic splicing mechanism to approach the broken yarn spindle, so that the yarn outlet tube is tangent to the left side of the broken yarn spindle. The servo motor is started to rotate the spare yarn spindle to feed yarn. The first air valve is opened, and the air pump blows air into the yarn outlet tube through the first air inlet. The spare yarn moves forward under the action of the airflow, and the spare yarn passing through the yarn outlet tube keeps in the same direction as the airflow, forming a suspended straight line of a certain length.

[0019] Step 3: Place the spare yarn close to the rotating broken yarn spindle, so that the spare yarn is wound around the broken yarn spindle from the rotating side of the broken yarn spindle. Open the second air valve, and the air pump blows air into the yarn tensioning tube through the second air inlet. The spare yarn gains tension and is pulled straight back under the action of the airflow.

[0020] Step 4: The spare yarn is securely wound around the broken yarn spindle to complete the new yarn. First, start the brake servo motor. The brake servo motor uses a paddle to activate the braking device of the broken yarn spindle to stop the broken yarn spindle and stop the winding of the spare yarn. Then, close the second air valve to stop blowing air into the yarn tension tube. At the same time, the clamping cylinder clamps the spare yarn between the fixing clip and the soft pad.

[0021] Step 5: The cycloidal servo motor operates, driving the swing arm to swing, which in turn moves the shift fork from the right end of the arc motion path to the left end. During the movement, the shift fork pushes the spare yarn to the left, and the spare yarn forms a loop yarn segment between the shift fork and the yarn outlet tube.

[0022] Step 6: The six-degree-of-freedom robotic arm drives the automatic splicing mechanism to move to the right and controls the front end of the automatic splicing mechanism to tilt downward, so that the blowing tube faces the upper left side of the steel ring and the threading yarn segment is attached to the front of the outer periphery of the steel ring.

[0023] Step 7: The airflow blown out by the air tube acts on the steel ring and forms a circulation. Under the action of the circulation, the steel wire ring slides along the steel ring and stops at the front of the steel ring.

[0024] Step 8: The six-degree-of-freedom robotic arm drives the automatic splicing mechanism to move upward, so that the threading yarn segment slides upward against the outer periphery of the steel ring and passes through the opening of the steel wire ring;

[0025] Step 9: The clamping cylinder releases the spare yarn. The six-degree-of-freedom robotic arm drives the automatic splicing mechanism to move backward, so that the spare yarn is pulled out to a certain extent. The industrial camera judges whether the spare yarn has been successfully threaded into the wire loop by the shape of the spare yarn.

[0026] Step 10: If it is determined that the spare yarn has been successfully threaded into the steel wire loop, the six-degree-of-freedom robotic arm drives the automatic splicing mechanism to move upward, so that the spare yarn passes through the air ring and the yarn guide hook in sequence. During the upward movement of the automatic splicing mechanism, the spare yarn automatically disengages from the fork and is only pulled by the yarn outlet tube.

[0027] Step 11: The six-degree-of-freedom robotic arm drives the automatic splicing mechanism to continue moving upward, bringing the spare yarn into the front roller and splicing it with the broken yarn;

[0028] Step 12: The six-degree-of-freedom robotic arm drives the automatic splicing mechanism to move backward. The wire-cutting servo drives the movable shearing blade to rotate. The movable and fixed shearing blades work together to cut the spare yarn, and the splicing is completed by the new yarn splicing method. The brake servo drives the paddle to rotate and release the braking device of the broken yarn spindle.

[0029] Step 13: The six-DOF robotic arm enters the pre-joint posture, and the clamping cylinder, swing arm, and movable shear plate are reset to prepare for the next joint.

[0030] Furthermore, the angle between the loop yarn segment and the horizontal plane is -5° to 5°.

[0031] Furthermore, the air supply pressure of the clamping cylinder and the yarn tensioning tube is greater than or equal to 4 bar, and the air supply pressure of the yarn outlet tube is less than or equal to 3 bar.

[0032] Furthermore, in step six, the six-degree-of-freedom robotic arm drives the front end of the automatic joint mechanism to tilt downwards by 25°.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] This invention provides a complete set of fully automated ring spinning machine splicing equipment and solutions, which can improve the production efficiency of ring spinning while reducing costs. First, the three-dimensional coordinates of each working position relative to the automated splicing robot are obtained using an industrial camera, and then subsequent actions are performed, resulting in higher efficiency. By winding spare yarn around the original broken yarn spindle, there is no need to replace the spindle, the operation is simple, and the wound spare yarn is more secure. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of the robot of the present invention;

[0036] Figure 2 This is a schematic diagram showing the connection between the automatic connector mechanism, the industrial camera, and the motion base;

[0037] Figure 3 This is a schematic diagram of the yarn winding state in the method steps of the present invention;

[0038] Figure 4 This is a schematic diagram of the wire loop threading state in the method steps of the present invention;

[0039] Figure 5 This is a schematic diagram comparing the yarn condition before and after the yarn tube is ventilated;

[0040] Figure 6 This is a schematic diagram comparing the state of the yarn before and after the yarn tensioner is ventilated;

[0041] Figure 7 This is a schematic diagram of the positioning wire ring state in the method steps of the present invention;

[0042] Figure 8 This is a schematic diagram of the auxiliary yarn feeding device;

[0043] Figure 9 This is a schematic diagram of the braking mechanism;

[0044] Figure 10 This is a flowchart of the method of the present invention.

[0045] In the diagram, 1. mobile frame, 2. six-DOF robotic arm, 3. light source, 4. industrial camera, 5. automatic splicing mechanism, 51. housing, 52. swing arm, 53. second air valve, 54. clamping cylinder, 55. first air valve, 56. shift fork, 57. yarn outlet tube, 58. blow ring air pipe, 6. brake mechanism, 61. brake servo motor, 62. shift plate, 7. auxiliary yarn supply device, 71. spare spindle, 72. diaphragm coupling, 73. servo motor, 81. steel wire ring, 82. steel ring, 83. broken yarn spindle, 84. air ring, 91. fixed shear plate, 92. movable shear plate. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0047] The connections mentioned in this invention are divided into fixed connections and detachable connections. Fixed connections, also known as non-detachable connections, include but are not limited to conventional fixed connection methods such as folded connections, riveted connections, adhesive connections, and welded connections. Detachable connections include but are not limited to conventional disassembly methods such as bolted connections, snap-fit ​​connections, pin connections, and hinged connections. When a specific connection method is not explicitly defined, it is assumed that at least one existing connection method can be found to achieve this function, and those skilled in the art can choose according to their needs. For example, a welded connection can be chosen for fixed connections, and a bolted connection can be chosen for detachable connections.

[0048] The present invention will be further described in detail below with reference to the accompanying drawings. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0049] Example 1: As Figures 1-9 As shown, an automatic splicing robot for a ring spinning machine using the starting head method is disclosed. The ring spinning machine includes a back roller, middle roller, front roller, yarn guide hook, air ring 84, ring rail 82, traveler 81, and a broken yarn spindle 83. The roving is sequentially drafted through the back roller, middle roller, and front roller, and drawn to a specified linear density. The roving then passes through the yarn guide hook, air ring 84, and traveler 81 located on the ring rail 82, and finally winds onto the broken yarn spindle 83. The roving is drawn to its finest point at the front roller, where breakage is also common. When a yarn breakage occurs, the broken yarn is sucked away by the suction tube 20. The specific structure and operation of the ring spinning machine are existing technologies and will not be described in detail here.

[0050] The automatic yarn-generating robot includes a six-degree-of-freedom robotic arm 2, a mobile frame 1, an automatic splicing mechanism 5, a thread-cutting mechanism, a braking mechanism 6, and an auxiliary yarn-feeding device 7;

[0051] The automatic splicing mechanism 5 includes a housing 51, a yarn outlet tube 57, a yarn tensioning tube, a clamping cylinder 54, a blow-ring air pipe 58, and a cycloidal servo motor. The blow-ring air pipe 58 is located on the left side of the housing 51, with its front part bent upwards. The yarn outlet tube 57 and the yarn tensioning tube are located on the right side of the housing 51. Both the yarn outlet tube 57 and the yarn tensioning tube are Venturi tube structures. The diffuser section of the yarn outlet tube 57 faces forward, and the diffuser section of the yarn tensioning tube faces backward. The contraction section of the yarn outlet tube 57 and the contraction section of the yarn tensioning tube are coaxially opposite each other. A first air inlet is provided on one side of the outlet tube 57, and a first air valve 55 is provided on the first air inlet. A second air inlet is provided on one side of the yarn tensioning tube, and a second air valve 53 is provided on the second air inlet. The rear of 8 is connected to the third air valve. The first air valve 55, the second air valve 53 and the third air valve are respectively connected to the air pump. A fixing clip is provided on one side of the outer shell 51 between the yarn outlet tube 57 and the yarn tension tube. A clamping cylinder 54 is provided on the other side of the outer shell 51 between the yarn outlet tube 57 and the yarn tension tube. A soft pad is provided on the piston rod of the clamping cylinder 54. The extension and retraction of the piston rod of the clamping cylinder 54 controls the soft pad to clamp or separate from the fixing clip. The cycloidal servo is connected to the outer shell 51. One end of the swing arm 52 is connected to the output shaft of the cycloidal servo. The other end of the swing arm 52 is connected to the upper end of the shift fork 56. The lower end of the shift fork 56 is lower than the yarn outlet tube 57. When the swing arm 52 swings horizontally, the shift fork 56 moves in an arc between the right side of the yarn outlet tube 57 and the left side of the blow ring air pipe 58.

[0052] The auxiliary yarn feeding device 7 includes a servo motor 73 and a spare yarn spindle 71. The servo motor 73 is mounted on the mobile frame 1. The spare yarn spindle 71 is connected to the output shaft of the servo motor 73. The spare yarn is wound on the spare yarn spindle 71. One end of the spare yarn passes through the diffuser section of the yarn tension tube and exits through the diffuser section of the yarn outlet tube 57.

[0053] The braking mechanism 6 includes a brake servo motor 61, which is mounted on the movable frame 1. The mounting height of the brake servo motor 61 is adapted to the braking device height of the broken yarn spindle 83. A paddle 62 is provided on the output shaft of the brake servo motor 61.

[0054] The thread cutting mechanism includes a thread cutting servo motor, a fixed cutting blade 91, and a movable cutting blade 92. The fixed cutting blade 91 is connected to the outer casing 51 and is located on the right side of the yarn outlet tube 57. The thread cutting servo motor is connected to the outer casing 51, and the movable cutting blade 92 is connected to the output shaft of the thread cutting servo motor. The movable cutting blade 92 can engage or disengage with the fixed cutting blade 91 for shearing.

[0055] The six-degree-of-freedom robotic arm 2 is mounted on the mobile frame 1. The housing 51 is connected to the end of the six-degree-of-freedom robotic arm 2. An industrial camera 4 is provided on one side of the housing 51.

[0056] The six-degree-of-freedom robotic arm 2 is used to move the automatic splicing mechanism 5 and the industrial camera 4 between different working positions and postures; the automatic splicing mechanism 5 is used to complete the winding of the spare yarn on the broken yarn spindle 83 and the threading of the wire loop 81, as well as the feeding of the spare yarn into the front roller and the cutting of the spare yarn; the yarn outlet tube 57 is used to blow the spare yarn toward the broken yarn spindle 83; the swing arm 52 is used to laterally support the spare yarn after completing the winding and raising of the yarn head, so that the spare yarn is between the fork 56 and the yarn outlet tube 57. A loop-through yarn segment is formed between the yarns, and this segment is brought into contact with the front of the steel ring 82, completing the insertion of the spare yarn into the steel ring 81. The yarn tensioning tube is used to blow the spare yarn in the opposite direction, giving it a certain tension, which is beneficial for the spare yarn to wrap tightly around the broken yarn spindle 83 and for the tension of the loop-through yarn segment. The clamping cylinder 54 is used to clamp the spare yarn to prevent it from becoming loose and coming off. The blowing tube 58 is used to blow out a stable airflow, which forms a ring under the action of the yarn separators on both sides of the broken yarn spindle 83. The airflow around the steel collar 82 pushes the wire loop 81 to move on the steel collar 82 and keeps the wire loop 81 at the front of the steel collar 82; the thread cutting mechanism is used to cut the spare yarn at the reserved position after the new yarn splicing is completed; the braking mechanism 6 is used to activate the braking device of the broken yarn spindle 83 and stop the broken yarn spindle 83; the industrial camera 4 is integrated into the automatic splicing mechanism 5 to identify the position information of the broken yarn spindle 83, the collar plate, the yarn guide hook and the front roller, and to guide the six-degree-of-freedom robotic arm 2. The automatic splicing mechanism 5 reaches the working position of each action; the air pump provides stable air pressure for the yarn outlet tube 57, the yarn tensioning tube, the clamping cylinder 54 and the blow ring air tube 58; the moving frame 1 is used to load the six-degree-of-freedom robotic arm 2, the air pump, the automatic splicing mechanism 5 and the industrial camera 4, and moves between several ring spinning machines; the auxiliary yarn feeding device 7 sets the yarn feeding speed according to the current spindle speed of the ring spinning machine, and the yarn feeding speed is slightly higher than the spindle speed to ensure that the spare yarn will not be broken during the yarn feeding process.

[0057] The spare yarn is wound around the middle part of the broken yarn spindle 83. The outlet tube 57 of the automatic splicing mechanism 5 is directly facing the side of the rotation direction of the broken yarn spindle 83. When viewed from above, the broken yarn spindle 83 rotates clockwise, so the outlet tube 57 is tangent to the left side of the broken yarn spindle 83. The position of the wire loop 81 is on the ring band plate. The outlet tube 57 of the automatic splicing mechanism 5 and the shift fork 56 after the swing arm 52 swings horizontally are located on both sides of the ring band 82, ensuring that the threaded yarn segment can fit against the front of the ring band 82. The front of the automatic splicing mechanism 5 is inclined downward to avoid interference with the ring spinning machine.

[0058] The end of the six-degree-of-freedom robotic arm 2 is equipped with a light source 3.

[0059] The spare spindle 71 is connected to the output shaft of the servo motor 73 via a diaphragm coupling 72.

[0060] Example 2: Figures 1-10 As shown, a method for automatic splicing robot of ring spinning machine using the starting head method is implemented based on the automatic splicing robot of ring spinning machine using the starting head method described in Embodiment 1, and includes the following steps:

[0061] Step 1: The robot moves to the broken yarn spindle 83, and the industrial camera 4 identifies the position information of the broken yarn spindle 83, the ring rail, the front roller, and the air ring 84.

[0062] Step 2: The six-degree-of-freedom robotic arm 2 drives the automatic splicing mechanism 5 to approach the broken yarn spindle 83, so that the yarn outlet tube 57 is tangent to the left side of the broken yarn spindle 83. The servo motor 73 is started to make the spare yarn spindle 71 rotate to feed yarn. The first air valve 55 is opened, and the air pump blows air into the yarn outlet tube 57 through the first air inlet. The spare yarn moves forward under the action of the airflow, and the spare yarn passing through the yarn outlet tube 57 keeps in the same direction as the airflow, forming a suspended straight line of a certain length.

[0063] Step 3: The spare yarn is brought close to the rotating broken yarn spindle 83, so that the spare yarn is wound around the broken yarn spindle 83 from the rotating side of the broken yarn spindle 83. The second air valve 53 is opened, and the air pump blows air into the yarn tension tube through the second air inlet. The spare yarn gains tension and is pulled back straight under the action of the airflow, so that its winding on the broken yarn spindle 83 is more secure.

[0064] Step 4: The spare yarn is securely wound around the broken yarn spindle 83 to complete the new yarn. First, start the brake servo motor 61. The brake servo motor 61 uses the paddle 62 to activate the braking device of the broken yarn spindle 83 to stop the broken yarn spindle 83 and stop the winding of the spare yarn. Then, close the second air valve 53 to stop blowing air into the yarn tension tube. At the same time, the clamping cylinder 54 clamps the spare yarn between the fixing clip and the soft pad.

[0065] Step 5: The cycloidal servo motor operates, driving the swing arm 52 to swing, thereby moving the shift fork 56 from the right end of the arc motion path to the left end. During the movement, the shift fork 56 pushes the spare yarn to the left, and the spare yarn forms a loop yarn segment between the shift fork 56 and the yarn outlet tube 57.

[0066] Step 6: The six-degree-of-freedom robotic arm 2 drives the automatic splicing mechanism 5 to move to the right and controls the front end of the automatic splicing mechanism 5 to tilt downward, so that the blowing tube 58 faces the upper left side of the steel ring 82, and the threading yarn segment is attached to the front of the outer periphery of the steel ring 82.

[0067] Step 7: The airflow blown out by the air pipe 58 acts on the steel ring 82 and forms a circulation. Under the action of the circulation, the steel wire ring 81 slides along the steel ring 82, so that the steel wire ring 81 stays at the front of the steel ring 82.

[0068] Step 8: The six-degree-of-freedom robotic arm 2 drives the automatic splicing mechanism 5 to move upward, so that the threading yarn segment slides upward against the outer periphery of the steel ring 82 and passes through the opening of the steel wire ring 81.

[0069] Step 9: Clamping cylinder 54 releases the spare yarn. The six-degree-of-freedom robotic arm 2 drives the automatic splicing mechanism 5 to move backward, so that the spare yarn is pulled out a section. The industrial camera 4 judges whether the spare yarn has been successfully inserted into the wire loop 81 by the shape of the spare yarn.

[0070] Step 10: If it is determined that the spare yarn has successfully passed through the wire loop 81, the six-degree-of-freedom robotic arm 2 drives the automatic splicing mechanism 5 to move upward, so that the spare yarn passes through the air ring 84 and the yarn guide hook in sequence. During the upward movement of the automatic splicing mechanism 5, the spare yarn automatically disengages from the fork 56, and the spare yarn is only pulled by the yarn outlet tube 57.

[0071] Step 11: The six-degree-of-freedom robotic arm 2 drives the automatic splicing mechanism 5 to continue moving upward, bringing the spare yarn into the front roller and splicing it with the broken yarn;

[0072] Step 12: The six-degree-of-freedom robotic arm 2 drives the automatic splicing mechanism 5 to move backward. The cutting servo drives the movable cutting blade 92 to rotate. The movable cutting blade 92 and the fixed cutting blade 91 cooperate to cut the spare yarn, and the splicing is completed by the new yarn splicing method. The brake servo 61 drives the paddle 62 to rotate and release the braking device of the broken yarn spindle 83.

[0073] Step 13: The six-DOF robotic arm 2 enters the pre-joint posture, and the clamping cylinder 54, swing arm 52 and movable shear 92 are reset to prepare for the next joint.

[0074] The angle between the looped yarn segment and the horizontal plane is -5° to 5°.

[0075] The air supply pressure of the clamping cylinder 54 and the yarn tensioning tube is greater than or equal to 4 bar, and the air supply pressure of the yarn outlet tube 57 is less than or equal to 3 bar.

[0076] In step six, the six-degree-of-freedom robotic arm 2 drives the front end of the automatic joint mechanism 5 to tilt downwards by 25°.

[0077] This invention provides a complete set of fully automated ring spinning machine splicing equipment and solutions, which can improve the production efficiency of ring spinning while reducing costs. In this example, the three-dimensional coordinates of each working position relative to the automated splicing robot are first obtained using an industrial camera 4, and then subsequent actions are performed, resulting in higher efficiency. By winding spare yarn onto the original broken yarn spindle 83, there is no need to replace the new spindle, the operation steps are simple, and the wound spare yarn is more secure.

[0078] The purpose of this invention is to provide an automatic splicing robot and splicing method for a ring spinning machine using the starting head method, which uses a robot equipped with an automatic splicing mechanism to replace manual splicing and realize the automation of splicing.

[0079] Figure 3 The automatic splicing mechanism 5 is shown to be in relative position to the broken yarn spindle 83 when the yarn is wound and generated. The yarn outlet tube 57 is close to the broken yarn spindle 83 and rotates to one side, blowing out the spare yarn.

[0080] Figure 4 The diagram shows the relative position of the automatic splicing mechanism 5 and the broken yarn spindle 83 when the steel wire loop 81 is being threaded. The swing arm 52 swings horizontally, and the shift fork 56 supports the spare yarn to the left, forming a threaded yarn segment. Then, the six-degree-of-freedom robotic arm 2 drives the front end of the automatic splicing mechanism 5 to tilt downwards, and moves the blower pipe 58 to the left side of the upper end face of the steel ring 82 to avoid interference. The blower pipe 58 blows air, causing the steel wire loop 81 to move around the steel ring 82, and realizing the threading of the spare yarn through the steel wire loop 81.

[0081] like Figure 5 As shown, the yarn outlet tube 57 adopts the form of an upright Venturi tube. When a new yarn is needed, high-pressure air is supplied to make the spare yarn spray out a distance from one end of the diffuser section. After being clamped by the clamping cylinder 54, the part of the spare yarn blown out will naturally form a horizontal straight line. The movement of the six-degree-of-freedom robotic arm 2 makes the horizontal yarn close to the rotating side of the continuously high-speed spinning broken yarn spindle 83, and the spare yarn can automatically wrap around the broken yarn spindle 83.

[0082] like Figure 6 As shown, the yarn tensioning tube adopts the form of an inverted Venturi tube. When the spare yarn needs to be tensioned, high-pressure air is supplied to make the spare yarn move towards the end of the robot arm, that is, move backward. Through the reverse movement of the spare yarn, the spare yarn is tensioned, ensuring that the spare yarn is continuously tensioned during the winding and yarn-forming stage, and is wound tightly enough on the broken yarn spindle 83.

[0083] like Figure 7 As shown, the air blower pipe 58 is tangent to the steel ring 82. When the steel wire ring 81 needs to be positioned, the air blower pipe 58 blows air to position the steel wire ring 81 on the right side of the air blower pipe 58, facilitating the subsequent threading of the steel wire ring 81. Due to the influence of airflow and circulation, the air blown out by the air blower pipe 58 is cut by the steel ring 82, generating airflow to the left and right. When the blowing pressure does not exceed 3 bar, the steel wire ring 81 will automatically stop on the right side of the air blower pipe 58.

[0084] like Figure 8 As shown, the spare spindle 71 and the servo motor 73 are connected by a diaphragm coupling 72. When feeding yarn, the servo motor 73 drives the broken yarn spindle 83 to rotate and feed yarn, so that the output end of the yarn tube 57 has enough yarn.

[0085] The above embodiments are merely illustrative examples of the present invention and do not limit its scope of protection. Those skilled in the art can make partial changes to them, as long as they do not exceed the spirit and essence of the present invention, they are all within the scope of protection of the present invention.

Claims

1. An automatic splicing robot for a ring spinning machine using the yarn splicing method, comprising a six-degree-of-freedom robotic arm (2), a mobile frame (1), an automatic splicing mechanism (5), a yarn cutting mechanism, a braking mechanism (6), and an auxiliary yarn supply device (7). The automatic splicing mechanism (5) includes a housing (51), a yarn outlet tube (57), a yarn tensioning tube, a clamping cylinder (54), a blow-ring air pipe (58), and a cycloidal servo motor. The blow-ring air pipe (58) is located on the left side of the housing (51), with its front end bent upwards. The yarn outlet tube (57) and the yarn tensioning tube are located on the right side of the housing (51). Both the yarn outlet tube (57) and the yarn tensioning tube are Venturi tube structures. The diffuser section of (57) faces forward, and the diffuser section of the yarn tensioning tube faces backward. The contraction section of the yarn outlet tube (57) and the contraction section of the yarn tensioning tube are coaxially opposite each other. A first air inlet is provided on one side of the grate of the yarn outlet tube (57), and a first air valve (55) is provided on the first air inlet. A second air inlet is provided on one side of the grate of the yarn tensioning tube, and a second air valve (53) is provided on the second air inlet. The rear part of the blow ring air pipe (58) is connected to a third air valve. The first air valve (55), the second air valve (53) and the third air valve are respectively connected to an air pump. A fixing clip is provided on one side of the outer shell (51) between the yarn outlet tube (57) and the yarn tensioning tube. A clamping cylinder (54) is provided on the other side of the outer shell (51) between the yarn outlet tube (57) and the yarn tensioning tube. A soft pad is provided on the piston rod of the clamping cylinder (54). The piston rod of the clamping cylinder (54) controls the extension and retraction of the piston rod. The soft pad is clamped or separated from the fixed clip. The cycloidal servo is connected to the outer shell (51). One end of the swing arm (52) is connected to the output shaft of the cycloidal servo. The other end of the swing arm (52) is connected to the upper end of the shift fork (56). The lower end of the shift fork (56) is lower than the yarn outlet tube (57). When the swing arm (52) swings horizontally, the shift fork (56) moves in an arc between the right side of the yarn outlet tube (57) and the left side of the blow ring air pipe (58). The auxiliary yarn feeding device (7) includes a servo motor (73) and a spare yarn spindle (71). The servo motor (73) is mounted on the mobile frame (1). The spare yarn spindle (71) is connected to the output shaft of the servo motor (73). The spare yarn is wound on the spare yarn spindle (71). One end of the spare yarn is inserted through the diffuser section of the yarn tension tube and exited through the diffuser section of the yarn outlet tube (57). The braking mechanism (6) includes a brake servo (61), which is mounted on the mobile frame (1). The mounting height of the brake servo (61) is adapted to the braking device height of the broken yarn spindle (83). A paddle (62) is provided on the output shaft of the brake servo (61). The wire cutting mechanism includes a wire cutting servo, a fixed cutting blade (91) and a movable cutting blade (92). The fixed cutting blade (91) is located on the right side of the yarn outlet tube (57). The wire cutting servo is connected to the outer casing (51). The movable cutting blade (92) is connected to the output shaft of the wire cutting servo. The movable cutting blade (92) and the fixed cutting blade (91) are engaged or disengaged in a cutting action. A six-degree-of-freedom robotic arm (2) is mounted on a mobile frame (1), and a housing (51) is connected to the end of the six-degree-of-freedom robotic arm (2). An industrial camera (4) is provided on one side of the housing (51). Its features are, Includes the following steps: Step 1: The robot moves to the broken yarn spindle (83), and the industrial camera (4) identifies the position information of the broken yarn spindle (83), the ring rail, the front roller and the air ring (84); Step 2: The six-degree-of-freedom robotic arm (2) drives the automatic splicing mechanism (5) to approach the broken yarn spindle (83), so that the yarn outlet tube (57) is tangent to the left side of the broken yarn spindle (83). The servo motor (73) is started, so that the spare yarn spindle (71) rotates to feed yarn. The first air valve (55) is opened, and the air pump blows air into the yarn outlet tube (57) through the first air inlet. The spare yarn moves forward under the action of the airflow, and the spare yarn passing through the yarn outlet tube (57) keeps in the same direction as the airflow, forming a suspended straight line of a certain length. Step 3: The spare yarn is brought close to the rotating broken yarn spindle (83) so that the spare yarn is wound around the broken yarn spindle (83) from the rotating side of the broken yarn spindle (83). The second air valve (53) is opened and the air pump blows air into the yarn tensioning tube through the second air inlet. The spare yarn is stretched backward under the action of the airflow. Step 4: The spare yarn is securely wound around the broken yarn spindle (83) to complete the start-up. First, start the brake servo motor (61). The brake servo motor (61) uses the paddle (62) to activate the brake device of the broken yarn spindle (83) to stop the broken yarn spindle (83) and stop the winding of the spare yarn. Then, close the second air valve (53) to stop blowing air into the yarn tension tube. At the same time, the clamping cylinder (54) clamps the spare yarn between the fixed clamp and the soft pad. Step 5: The cycloidal servo motor operates, and the cycloidal servo motor drives the swing arm (52) to swing, thereby driving the shift fork (56) to move from the right end of the arc motion path to the left end. During the movement, the shift fork (56) pushes the spare yarn to the left and the spare yarn forms a loop yarn segment between the shift fork (56) and the yarn tube (57). Step 6: The six-degree-of-freedom robotic arm (2) drives the automatic splicing mechanism (5) to move to the right and controls the front end of the automatic splicing mechanism (5) to tilt downward, so that the blowing tube (58) faces the upper left side of the steel collar (82) and the threading yarn segment is attached to the front of the outer periphery of the steel collar (82). Step 7: The airflow blown out by the air pipe (58) acts on the steel ring (82) and forms a circulation. The steel wire ring (81) slides along the steel ring (82) under the action of the circulation, so that the steel wire ring (81) stays at the front of the steel ring (82). Step 8: The six-degree-of-freedom robotic arm (2) drives the automatic splicing mechanism (5) to move upward, so that the threading yarn segment slides upward against the outer periphery of the steel ring (82) and passes through the opening of the steel wire ring (81). Step 9: The clamping cylinder (54) releases the spare yarn, and the six-degree-of-freedom robotic arm (2) drives the automatic splicing mechanism (5) to move backward, so that the spare yarn is pulled out a section. The industrial camera (4) judges whether the spare yarn has been successfully inserted into the wire loop (81) by the shape of the spare yarn. Step 10: If it is determined that the spare yarn has successfully passed through the wire loop (81), the six-degree-of-freedom robotic arm (2) drives the automatic splicing mechanism (5) to move upward, so that the spare yarn passes through the air ring (84) and the yarn guide hook in sequence. During the upward movement of the automatic splicing mechanism (5), the spare yarn automatically disengages from the fork (56), and the spare yarn is only pulled by the yarn outlet tube (57). Step 11: The six-degree-of-freedom robotic arm (2) drives the automatic splicing mechanism (5) to continue moving upward, bringing the spare yarn into the front roller and splicing it with the broken yarn; Step 12: The six-degree-of-freedom robotic arm (2) drives the automatic splicing mechanism (5) to move backward. The wire cutting servo drives the movable shearing blade (92) to rotate. The movable shearing blade (92) and the fixed shearing blade (91) work together to cut the spare yarn. The splicing is completed by the new yarn splicing method. The brake servo (61) drives the paddle (62) to rotate and release the braking device of the broken yarn spindle (83). Step 13: The six-degree-of-freedom robotic arm (2) enters the pre-joint posture, and the clamping cylinder (54), swing arm (52) and movable shear (92) are reset to prepare for the next joint.

2. The automatic splicing robot for a ring spinning machine using the head-forming method according to claim 1, characterized in that: The end of the six-degree-of-freedom robotic arm (2) is equipped with a light source (3).

3. The automatic splicing robot for a ring spinning machine using the head-forming method according to claim 2, characterized in that: The spare spindle (71) is connected to the output shaft of the servo motor (73) via a diaphragm coupling (72).

4. The automatic splicing robot for a ring spinning machine using the head-forming method according to claim 1, characterized in that: The angle between the looped yarn segment and the horizontal plane is -5° to 5°.

5. The automatic splicing robot for a ring spinning machine using the head-forming method according to claim 1, characterized in that: The air supply pressure of the clamping cylinder (54) and the yarn tensioning tube is greater than or equal to 4 bar, and the air supply pressure of the yarn outlet tube (57) is less than or equal to 3 bar.

6. The automatic splicing robot for a ring spinning machine using the head-forming method according to claim 1, characterized in that: In step six, the six-degree-of-freedom robotic arm (2) drives the front end of the automatic joint mechanism (5) to tilt downwards by 25°.

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