Ring spinning yarn automatic spinning-in robot positioning control system and spinning-in method

Abstract

The invention discloses an automatic spinning-in robot positioning control system for ring spinning and a spinning-in method, belongs to the field of automatic control of textile machinery, and aims to solve the problems that an existing automatic spinning-in device for a ring spinning frame is low in spinning-in success rate and low in efficiency. Comprising an AGV guiding vehicle, a remote monitoring PC and a decision-making upper computer, a tail end executing mechanism is connected with the AGV guiding vehicle through a six-degree-of-freedom mechanical arm, a vehicle-mounted industrial camera and a fixed industrial camera are arranged at the bottom and the top end of the AGV guiding vehicle, and an arm-mounted industrial camera is arranged at the tail end of the six-degree-of-freedom mechanical arm. The decision-making upper computer, the AGV guiding vehicle, the arm-mounted industrial camera, the fixed industrial camera, the vehicle-mounted industrial camera, the end execution mechanism, the six-degree-of-freedom mechanical arm and the PLC establish signal transmission through the switch, and the remote monitoring PC and the decision-making upper computer establish signal transmission. According to the automatic spinning-in robot, automatic spinning-in of different spindles of multiple machines in a complex factory environment can be achieved, the broken yarn processing efficiency is high, and the spinning-in success rate is high.

Description

Technical Field

[0001] The invention belongs to the field of automatic control of textile machinery, and in particular relates to a positioning control system and a spinning method of an automatic spinning robot for ring spinning. Background Art

[0002] In textile production, spinning, a key process in the spinning process, plays an important role. In the ring spinning process, the yarn may break, that is, the yarn is disconnected between the front roller and the spindle of the spinning machine. The yarn breakage will lead to problems such as reduced yarn quality and reduced production efficiency. Therefore, a large amount of manpower is required to inspect the broken ends between the spinning machines and reconnect the broken ends. Based on this, a highly automated yarn jointing device is of great significance to reducing the labor intensity and production costs of workers and improving production efficiency.

[0003] At present, many automatic piecing solutions have been proposed both at home and abroad, mainly divided into original spindle piecing and spare yarn piecing. However, there are problems such as low piecing success rate, low efficiency, complex structure, and inability to fully realize automation. Summary of the invention

[0004] The purpose of the present invention is to provide a positioning control system and a spinning method for an automatic spinning robot for ring spinning, so as to solve the problems of low spinning success rate and low efficiency of the existing automatic spinning device for ring spinning machines. The technical solution adopted by the present invention is as follows:

[0005] A ring spinning automatic spinning robot positioning control system, comprising:

[0006] AGV guide vehicle, the end actuator is connected to the AGV guide vehicle through a six-degree-of-freedom mechanical arm. The end actuator is used to execute the spinning of the spare yarn, the positioning of the wire ring, the threading of the spare yarn, and the splicing of the spare yarn and the broken yarn. The AGV guide vehicle is used to receive the planned walking path information and feedback position information, and drive close to the broken yarn spindle according to the walking path;

[0007] A perception system, wherein the perception system includes an arm-mounted industrial camera, a fixed industrial camera and a vehicle-mounted industrial camera. The vehicle-mounted industrial camera is fixed at the bottom of the AGV guide vehicle, and is used to identify the walking path of the AGV guide vehicle and the ring spinning machine where the yarn is broken. The fixed industrial camera is set at the top of the AGV guide vehicle, and is used to identify the broken yarn spindle. The arm-mounted industrial camera is set at the end of the six-degree-of-freedom robotic arm, and is used to observe the status of the spare yarn and the wire ring;

[0008] A remote monitoring PC is used to monitor the working status of the spindles and the position and working status of the working site where the automatic spinning-in robot is located;

[0009] The motion control system includes a decision-making host computer, a PLC and a switch. The decision-making host computer, the AGV guide vehicle, the arm-mounted industrial camera, the fixed industrial camera, the vehicle-mounted industrial camera, the end actuator, the six-degree-of-freedom robotic arm and the PLC respectively establish signal transmission through the switch, and the remote monitoring PC and the decision-making host computer establish signal transmission.

[0010] Furthermore, several ring spinning frames are arranged on a work site, and a moving main road for the automatic spinning robot is planned on the ground of the work site, and a moving branch road for the automatic spinning robot is planned on the ground in front of each ring spinning frame. Several branch roads are respectively connected to the main road, and several branch roads and the main road form the activity track of the automatic spinning robot. Guide color strips are laid along the main road and several branch roads, and a machine position color block matching the corresponding ring spinning frame is laid at the intersection of each branch road and the main road. A spindle position color block matching the spindle is pasted on the steel collar plate of each spindle. The on-board industrial camera identifies the walking path of the AGV guide vehicle by identifying the guide color strip, the on-board industrial camera identifies the ring spinning frame with broken yarn by identifying the machine position color block, and the fixed industrial camera identifies the broken spindle by identifying the spindle position color block.

[0011] Furthermore, the guide color bar is a color bar with two alternating colors, and the machine position color block and the spindle position color block are both black and white blocks of QR codes in the form of Apriltag.

[0012] Furthermore, the decision-making host computer is Raspberry Pi 4B.

[0013] Furthermore, the end actuator includes an outer shell, a yarn outlet tube, a yarn tensioning tube, a clamping cylinder, a ring blowing air tube, a cycloidal servo and a yarn breaking device. The ring blowing air tube is arranged on the left part of the outer shell, and the front part of the ring blowing air tube is bent upward. The yarn outlet tube and the yarn tensioning tube are arranged on the right part of the outer shell. Both the yarn outlet tube and the yarn tensioning tube are Venturi tube structural components. The diffusion section of the yarn outlet tube is arranged forward, and the diffusion section of the yarn tensioning tube is arranged backward. The contraction section of the yarn outlet tube is coaxially opposite to the contraction section of the yarn tensioning tube front and back. A first air inlet is provided on one side of the roaring duct of the yarn outlet tube, and a first air valve is provided on the first air inlet. A second air inlet is provided on one side of the roaring duct of the yarn tensioning tube, and a second air valve is provided on the second air inlet. The rear part of the ring blowing air tube is connected to the third air valve, and 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 the side shell, a clamping cylinder is provided on the other side shell between the yarn outlet tube and the yarn tensioning tube, a soft pad is provided on the piston rod of the clamping cylinder, and the piston rod of the clamping cylinder is telescopic to control the soft pad to clamp or separate from the fixing clip, the air inlet of the clamping cylinder is connected to the air pump through the fourth air valve, the cycloid servo is connected to the shell, one end of the swing arm is connected to the output shaft of the cycloid servo, the other end of the swing arm is connected to the upper end of the fork, the lower end of the fork is lower than the yarn outlet tube, when the swing arm swings horizontally, the fork moves in an arc between the right side of the yarn outlet tube and the left side of the blowing circle air tube, the yarn breaking device consists of a cutting cylinder and a blade, the air inlet of the cutting cylinder is connected to the air pump through the fifth air valve, the blade is connected to the piston rod of the cutting cylinder, the cutting cylinder is fixed on the shell, a knife edge is provided on one side of the yarn outlet tube, and the cutting cylinder controls the blade to insert into the knife edge to cut off the spare yarn or retract it.

[0014] Furthermore, it also includes an auxiliary yarn supply device, which includes a servo motor and a spare spindle. The servo motor is installed on the AGV guide vehicle, the spare spindle is connected to the output shaft of the servo motor, the spare yarn is wound around the spare spindle, and one end of the spare yarn is inserted into the diffusion section of the yarn tensioning tube and exits from the diffusion section of the yarn outlet tube.

[0015] Furthermore, it also includes a braking mechanism, which includes a brake servo, which is installed on the AGV guide vehicle, and the installation height of the brake servo is matched with the height of the braking device of the broken yarn spindle. A paddle brake servo is provided on the output shaft of the brake servo, which is electrically connected to the PLC, and the brake mechanism is controlled by the PLC to stop or release the braking device of the broken yarn spindle.

[0016] The present invention also provides a method for spinning a yarn by a positioning control system of an automatic spinning robot for ring spinning, which is realized by relying on the above-mentioned automatic spinning robot positioning control system for ring spinning, and comprises the following steps:

[0017] Step 1: The remote monitoring PC obtains the position number of the broken yarn spindle and sends it to the decision-making host computer;

[0018] Step 2: The decision-making host computer determines the position of the broken yarn spindle to be reached by a greedy algorithm, plans a walking path to the broken yarn spindle according to the activity trajectory of the automatic spinning robot, and sends the walking path data information to the AGV guide vehicle;

[0019] Step 3: The AGV guide vehicle drives toward the broken yarn spindle along the planned walking path, and the AGV guide vehicle feeds back the position information to the decision-making host computer in real time;

[0020] Step 4: During the movement of the automatic spinning robot, the guide color strip is identified by the on-board industrial camera, and the on-board industrial camera sends the signal data to the decision-making host computer in real time, so that the decision-making host computer can judge whether the driving is offset. When the on-board industrial camera identifies the machine position color block corresponding to the ring spinning frame where the yarn is broken, the on-board industrial camera sends the signal data to the decision-making host computer, and the decision-making host computer decides to turn from the main road to the branch road corresponding to the ring spinning frame where the yarn is broken. When the fixed industrial camera identifies the spindle position color block corresponding to the broken spindle, the fixed industrial camera sends the signal data to the decision-making host computer, and the decision-making host computer issues an instruction to stop the AGV guide vehicle;

[0021] Step 5: The arm-mounted industrial camera identifies the position information of the broken yarn spindle, the ring plate, the front roller and the balloon;

[0022] Step 2: The six-degree-of-freedom robotic arm drives the automatic joint 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 spindle to feed the 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 the same direction as the airflow, forming a suspended straight line of a certain length;

[0023] Step 3, the spare yarn is brought close to the rotating broken yarn spindle, so that the spare yarn is wound around the broken yarn spindle from the rotational forward side of the broken yarn spindle, the second air valve is opened, and the air pump blows air into the yarn tensioning tube through the second air inlet, and the spare yarn obtains tension under the action of the airflow and is straightened backward;

[0024] Step 4: The spare yarn is firmly wound around the broken yarn spindle to complete the spinning-in. The brake servo is first started, and the brake servo drives the brake device of the broken yarn spindle through the paddle to stop the broken yarn spindle and stop the winding of the spare yarn. Then the second air valve is closed to stop blowing air into the yarn tensioning tube. At the same time, the fixed clamp and the soft pad are clamped together with the spare yarn through the clamping cylinder.

[0025] Step 5, the cycloid servo drives the swing arm to swing, thereby driving the shift fork to move from the right end of the arc motion path to the left end. During the movement, the shift fork shifts the spare yarn to the left to prop it up, and the spare yarn forms a loop yarn segment between the shift fork and the yarn outlet tube;

[0026] Step 6: The six-degree-of-freedom robotic arm drives the automatic joint mechanism to move rightward, and controls the front end of the automatic joint mechanism to tilt downward, so that the ring blowing air pipe faces the left upper end surface of the steel collar, and the ring threading yarn segment is attached to the outer periphery front of the steel collar;

[0027] Step 7: The air flow blown out from the ring blowing air pipe acts on the steel collar and forms a circulation. Under the action of the circulation, the steel ring slides along the steel collar and stays in front of the steel collar.

[0028] Step 8: The six-degree-of-freedom robotic arm drives the automatic joint mechanism to move upward, so that the loop-threading yarn segment slides upward in contact with the outer circumference of the steel collar and passes through the opening of the wire ring into the wire ring;

[0029] Step 9: The clamping cylinder releases the spare yarn, and the six-degree-of-freedom robotic arm drives the automatic joint mechanism to move backward, so that the spare yarn is pulled out for a section. The arm-mounted industrial camera determines whether the spare yarn is successfully inserted into the wire ring based on the shape of the spare yarn;

[0030] Step 10: If it is determined that the spare yarn is successfully inserted into the wire ring, the six-degree-of-freedom mechanical arm drives the automatic joint mechanism to move upward, so that the spare yarn passes through the balloon and the yarn guide hook in sequence. During the upward movement of the automatic joint mechanism, the spare yarn automatically disengages from the shifting fork, and the spare yarn is only pulled and moved by the yarn outlet tube;

[0031] Step 11: The six-degree-of-freedom robotic arm drives the automatic joint mechanism to continue to move upward, driving the spare yarn to enter the front roller and twist and join it with the broken yarn;

[0032] Step 12: The six-degree-of-freedom robotic arm drives the automatic joint mechanism to move backward, the cutting cylinder drives the blade to insert into the blade edge to cut off the spare yarn, the jointing method is completed, and the brake servo drives the paddle to rotate to release the brake device of the broken yarn spindle.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The automatic spinning robot proposed in the present invention can realize automatic spinning of different spindles of multiple machines in a complex factory environment, with high yarn breakage processing efficiency and high spinning success rate. The present invention adopts a spinning method to spin broken yarn without finding broken yarns, thus reducing the single spinning time. The broken yarn wiring process has a high degree of automation. The present invention is simple to move and work plan, and is easy to deploy in a ring spinning factory, with high application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a system block diagram of the positioning control system of the present invention;

[0036] Figure 2 It is a pattern diagram of the perceptual system;

[0037] Figure 3 It is a communication structure diagram of the positioning control system of the present invention;

[0038] Figure 4 It is a structural schematic diagram of the positioning control system of the present invention;

[0039] Figure 5 It is a structural diagram of the end effector;

[0040] Figure 6 It is a schematic diagram of the arrangement of the guide color bar and the camera position color block;

[0041] Figure 7 is a schematic diagram of the guide color bar;

[0042] Figure 8 It is a schematic diagram of a color block of a camera position;

[0043] Fig. 9 It is a schematic diagram of the color blocks of the spindle positions;

[0044] Fig.10 It is a working flow chart of the positioning control system of the present invention;

[0045] Fig.11 It is a structural diagram of the brake mechanism;

[0046] Fig.12 It is a structural schematic diagram of the yarn breaking device;

[0047] Fig.13 It is a structural schematic diagram of the auxiliary yarn supply device.

[0048] In the figure, 1. AGV guide vehicle, 2. six-degree-of-freedom robotic arm, 3. auxiliary yarn supply device, 31. spare spindle, 32. diaphragm coupling, 33. servo motor, 41. vehicle-mounted industrial camera, 42. fixed industrial camera, 43. arm-mounted industrial camera, 5. end actuator, 51. housing, 52. swing arm, 53. second air valve, 54. clamping cylinder, 55. cutting cylinder, 56. fork, 57. yarn outlet tube, 58. ring blowing air pipe, 59. blade, 6. brake mechanism, 61. brake servo, 62. paddle, 7. ring spinning frame, 81. guide color strip, 82. machine position color block. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0050] The connection mentioned in the present invention is divided into fixed connection and detachable connection. The fixed connection is a non-detachable connection including but not limited to conventional fixed connection methods such as folding connection, rivet connection, bonding connection and welding connection. The detachable connection includes but not limited to conventional detachable methods such as bolt connection, snap connection, pin connection and hinge connection. When the specific connection method is not clearly defined, it is assumed that at least one connection method can be found in the existing connection methods to achieve the function, and those skilled in the art can choose according to their needs. For example: welding connection is selected for fixed connection, and bolt connection is selected for detachable connection.

[0051] The present invention will be further described in detail below in conjunction with the accompanying drawings. The following embodiments are provided to explain the present invention, but the present invention is not limited to the following embodiments.

[0052] Embodiment 1: Figures 1 to 13 As shown, a positioning control system for an automatic spinning robot for ring spinning is provided. The spinning is realized by a ring spinning frame, which includes a rear roller, a middle roller, a front roller, a yarn guide hook, an air ring, a steel collar, a wire ring and a yarn tube. The coarse yarn is sequentially drawn by the rear roller, the middle roller and the front roller, and is drawn to a fine yarn with a specified linear density. The fine yarn sequentially passes through the yarn guide hook, the air ring and the wire ring arranged on the steel collar, and is finally wound on the spindle. The coarse yarn is pulled to the thinnest at the front roller, and the yarn is also prone to breakage at the front roller. When the yarn breaks, the broken yarn is sucked away by the yarn suction tube. The specific structure and operation mode of the ring spinning frame are prior art, which will not be described in detail here. The positioning control system includes:

[0053] AGV guide vehicle 1, AGV guide vehicle 1 and spinning device constitute the spinning robot, the spinning device includes an end actuator 5 and a six-degree-of-freedom mechanical arm 2, the end actuator 5 is connected to the AGV guide vehicle 1 through the six-degree-of-freedom mechanical arm 2, the end actuator 5 is used to execute the spinning of spare yarn, the positioning of wire ring, the threading of spare yarn and the splicing of spare yarn and broken yarn, the AGV guide vehicle 1 is used to receive the planned walking path information and feedback position information, and approach the broken yarn spindle according to the walking path;

[0054] A perception system, wherein the perception system includes an arm-mounted industrial camera 43, a fixed industrial camera 42 and a vehicle-mounted industrial camera 41. The vehicle-mounted industrial camera 41 is fixed at the bottom of the AGV guide vehicle 1, and is used to identify the walking path of the AGV guide vehicle 1 and the ring spinning machine where the yarn is broken. The fixed industrial camera 42 is arranged at the top of the AGV guide vehicle 1, and is used to identify the broken yarn spindle. The arm-mounted industrial camera 43 is arranged at the end of the six-degree-of-freedom robot arm 2, and is used to observe the status of the spare yarn and the wire ring;

[0055] A remote monitoring PC is used to monitor the working status of the spindles and the position and working status of the working site where the automatic spinning-in robot is located;

[0056] The motion control system includes a decision-making host computer, a PLC and a switch, all of which are arranged on the AGV guide vehicle 1. The decision-making host computer, the AGV guide vehicle 1, the arm-mounted industrial camera 43, the fixed industrial camera 42, the vehicle-mounted industrial camera 41, the end actuator 5, the six-degree-of-freedom robot arm 2 and the PLC respectively establish signal transmission through the switch, and the remote monitoring PC and the decision-making host computer establish signal transmission.

[0057] Several ring spinning frames are arranged on a work site, and a main moving road for the automatic spinning robot is planned on the ground of the work site. A branch moving road for the automatic spinning robot is planned on the ground in front of each ring spinning frame. Several branch roads are respectively connected to the main road, and several branch roads and the main road form the activity track of the automatic spinning robot. Guide color strips are laid along the main road and several branch roads, and a machine position color block matching the corresponding ring spinning frame is laid at the intersection of each branch road and the main road. A spindle position color block matching the spindle is pasted on the steel collar plate of each spindle. The on-board industrial camera 41 identifies the walking path of the AGV guide vehicle 1 by identifying the guide color strip, the on-board industrial camera 41 identifies the ring spinning frame where yarn breakage occurs by identifying the machine position color block, and the fixed industrial camera 42 identifies the broken spindle by identifying the spindle position color block. The spacing of all guide color strips is the same. By measuring the number of guide color strips, the travel of the AGV guide vehicle 1 can be calculated to assist in obtaining the specific position of the work site where the automatic spinning robot is located. In addition, auxiliary positioning color blocks can also be posted to assist the AGV guide vehicle 1 to reach the relative position and angle with the broken yarn spindle with a certain accuracy.

[0058] When the remote monitoring PC recognizes that a spindle has broken yarn, the remote monitoring PC sends the data signal of the broken yarn spindle to the decision-making host computer, and the decision-making host computer plans a walking path and issues a command to make the AGV guide vehicle 1 approach the broken yarn spindle along the planned walking path. At the same time, the AGV guide vehicle 1 feeds back the position information to the decision-making host computer in real time. During the movement of the automatic spinning robot, the perception system determines whether the walking path is deviated. The perception system sends the signal data to the decision-making host computer in real time, so that the decision-making host computer can decide whether to correct the walking path. The perception system recognizes that the yarn is broken. When the color block of the machine position corresponding to the ring spinning frame is detected, the perception system sends the signal data to the decision-making host computer in real time. The decision-making host computer decides to turn from the main road to the branch road corresponding to the ring spinning frame where the yarn is broken. When the perception system identifies the spindle position color block corresponding to the broken yarn spindle, the perception system sends the signal data to the decision-making host computer in real time. The decision-making host computer issues an instruction to control the AGV guide vehicle 1 to stop, ensuring the relative position and angle of the end actuator 5 and the spindle; and issues an instruction to the PLC to control the spinning device to execute the re-spinning of the broken yarn spindle and the twisting of the spare yarn with the broken yarn.

[0059] The end actuator 5 and the six-degree-of-freedom robot 2 are electrically connected to the PLC respectively, and the actions of the end actuator 5 and the six-degree-of-freedom robot 2 are controlled by the PLC to enable the end actuator 5 to execute the spinning of the spare yarn, the positioning of the wire ring, the threading of the spare yarn, and the splicing of the spare yarn with the broken yarn;

[0060] The decision host computer is encapsulated with a joint device decision module and an information processing module. The remote monitoring PC sends the number of the broken yarn spindle to the joint device decision module. The information processing module feeds back the current position information and status information of the automatic spinning robot to the remote monitoring PC. The joint device decision module plans the walking path and sends the planned walking path information to the AGV guide vehicle 1. The AGV guide vehicle 1 feeds back the position information to the joint device decision module. The perception system sends the identified data information to the information processing module. The information processing module sends the yarn status information and the data obtained by the perception system to the joint device decision module. The joint device decision module sends the yarn spinning action instruction to the PLC.

[0061] The AGV guide vehicle 1 includes an AGV controller, an AGV chassis, an AGV control module, a vision module, and an IMU inertial sensor. The AGV guide vehicle 1 realizes guidance based on the line patrol function of vision and the alignment and positioning function with the color block;

[0062] The automatic spinning robot proposed in the present invention can realize automatic spinning of different spindles of multiple machines in a complex factory environment, with high yarn breakage processing efficiency and high spinning success rate. The present invention adopts a spinning method to spin broken yarn without finding broken yarns, thus reducing the single spinning time. The broken yarn wiring process has a high degree of automation. The present invention is simple to move and work plan, and is easy to deploy in a ring spinning factory, with high application value.

[0063] The guide color bar is a color bar with two alternating colors, and the machine position color block and the spindle position color block are both black and white blocks of QR codes in the form of Apriltag.

[0064] The decision-making host computer is Raspberry Pi 4B.

[0065] The end actuator 5 includes a housing 51, a yarn outlet tube 57, a yarn tensioning tube, a clamping cylinder 54, a ring blowing air tube 58, a cycloidal servo and a yarn breaking device. The ring blowing air tube 58 is arranged on the left part of the housing 51, and the front part of the ring blowing air tube 58 is bent upward. The yarn outlet tube 57 and the yarn tensioning tube are arranged on the right part of the housing 51. The yarn outlet tube 57 and the yarn tensioning tube are both Venturi tube structural components. The diffusion section of the yarn outlet tube 57 is arranged forward, and the diffusion section of the yarn tensioning tube is arranged backward. The yarn outlet tube 57 The contraction section of the yarn tensioning tube is coaxially opposite to the contraction section of the yarn tensioning tube, a first air inlet is provided on one side of the roaring channel of the yarn outlet tube 57, a first air valve is provided on the first air inlet, a second air inlet is provided on one side of the roaring channel of the yarn tensioning tube, a second air inlet is provided on the second air inlet, a third air valve 53 is connected to the rear of the ring blowing air pipe 58, the first air valve, the second air valve 53 and the third air valve are respectively connected to the air pump, a fixed air valve 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 shell 51 between the fixed clamping piece, the yarn outlet tube 57 and the yarn tensioning tube, and a soft cushion is provided on the piston rod of the clamping cylinder 54. The piston rod of the clamping cylinder 54 is telescopically controlled to clamp or separate the soft cushion from the fixed clamping piece. The air inlet of the clamping cylinder is connected to the air pump through the fourth air valve. The cycloid servo is connected to the shell 51, one end of the swing arm 52 is connected to the output shaft of the cycloid servo, and the other end of the swing arm 52 is connected to the upper end of the fork 56. The lower end is lower than the yarn outlet tube 57. When the swing arm 52 swings horizontally, the fork 56 moves in an arc from the right side of the yarn outlet tube 57 to the left side of the blowing ring air tube 58. The yarn breaking device is composed of a cutting cylinder 55 and a blade 59. The air inlet of the cutting cylinder 55 is connected to the air pump through the fifth air valve. The blade 59 is connected to the piston rod of the cutting cylinder 55. The cutting cylinder 55 is fixed on the outer shell. An inlet is provided on one side of the yarn outlet tube. The cutting cylinder 55 controls the blade 59 to insert into the inlet to cut off the spare yarn or retract it.

[0066] The cycloid servo, the first air valve, the second air valve 53, the third air valve, the fourth air valve and the fifth air valve are electrically connected to the PLC respectively, and the cycloid servo, the first air valve, the second air valve 53, the third air valve, the fourth air valve, the fifth air valve and the six-degree-of-freedom robot arm 2 are controlled by the PLC to enable the end actuator 5 to execute the spinning of the spare yarn, the positioning of the wire ring, the threading of the spare yarn and the twisting of the spare yarn with the broken yarn.

[0067] The spinning device further includes an auxiliary yarn supply device 3, which includes a servo motor 33 and a spare spindle 31. The servo motor 33 is mounted on the AGV guide vehicle 1. The spare spindle 31 is connected to the output shaft of the servo motor 33. The spare yarn is wound around the spare spindle 31. One end of the spare yarn passes through the diffusion section of the yarn tensioning tube and passes through the diffusion section of the yarn outlet tube 57. The servo motor 33 is electrically connected to the PLC, and the feeding of the auxiliary yarn supply device 3 is controlled by the PLC. The servo motor 33 and the spare spindle 31 are connected through a diaphragm coupling 32.

[0068] The yarn-spinning device also includes a brake mechanism 6, which includes a brake servo 61. The brake servo 61 is installed on the AGV guide vehicle 1, and the installation height of the brake servo 61 is adapted to the height of the brake device of the broken yarn spindle. A paddle 62 is provided on the output shaft of the brake servo 61. The brake servo 61 is electrically connected to the PLC, and the brake mechanism 6 is controlled by the PLC to stop or release the brake device of the broken yarn spindle.

[0069] The six-degree-of-freedom robot arm 2 is used to carry the end actuator 5 and the arm-mounted industrial camera 43 to move between different working positions and postures; the end actuator 5 is used to complete the winding of the spare yarn on the broken yarn spindle and the threading of the wire ring, as well as the actions of sending the spare yarn into the front roller and cutting the spare yarn; the yarn outlet tube 57 is used to blow the spare yarn to the broken yarn spindle; the swing arm 52 is used to laterally support the spare yarn after completing the winding of the yarn head, so that the spare yarn forms a loop yarn segment between the fork 56 and the yarn outlet tube 57, and the loop yarn segment is fit with the front part of the steel collar to complete the insertion of the spare yarn into the wire ring; the yarn tensioning tube is used to blow the spare yarn in the reverse direction so that the spare yarn has a certain tension, which is conducive to the tight winding of the spare yarn on the broken yarn spindle and the tensioning of the loop yarn segment; the clamping cylinder 54 is used to clamp the spare yarn to prevent the spare yarn from becoming loose and detached; the ring blowing air cylinder 54 is used to clamp the spare yarn to prevent the spare yarn from becoming loose and detached; The tube 58 is used to blow out a stable airflow, and an airflow around the steel collar is formed under the action of the yarn partition plates on both sides of the broken yarn spindle, which pushes the steel wire ring to move on the steel collar and makes the steel wire ring stay in front of the steel collar; the yarn breaking device is used to cut the spare yarn at the reserved position after completing the head-joining method; the brake mechanism 6 is used to toggle the brake device of the broken yarn spindle to stop the broken yarn spindle; the arm-mounted industrial camera 43 is used to identify the position information of the broken yarn spindle, the steel collar plate, the yarn guide hook and the front roller, and is used to guide the six-degree-of-freedom robot arm 2 to load the automatic joint mechanism 5 to reach 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, the cutting cylinder, and the ring blowing air tube 58; the auxiliary yarn feeding device 7 sets the yarn feeding speed according to the spindle speed of the current ring spinning frame, and the yarn feeding speed is slightly higher than the spindle speed to ensure that the spare yarn will not be pulled off during the yarn feeding process.

[0070] The PLC used is Mitsubishi FX5U PLC.

[0071] The lens of the vehicle-mounted industrial camera 41 is perpendicular to the ground, and the lens of the fixed industrial camera 42 is perpendicular to the middle section of the ring spinning frame.

[0072] The device in the positioning control system of the present invention is powered by a 48V20ah battery and a 220V mobile power supply, wherein different step-down modules are provided for different devices, including: a 48V to 24V module, a 48V to 12V module, and a 12V to 5V module.

[0073] The remote monitoring PC communicates with the decision-making module of the decision-making host computer through a wireless LAN, and the Raspberry Pi 4B uses the TCP / IP protocol to communicate with the six-degree-of-freedom robot arm 2, PLC and perception system through a switch.

[0074] During the wiring operation, the PLC sends the position information to the cycloid servo through the RS485 bus using the Modbus protocol, sends the speed information to the servo motor 33 through the high-speed pulse port, and controls the switches of the air valves and air pumps through the I / O port.

[0075] Embodiment 2: Figures 1 to 13 As shown, a method for spinning up a ring spinning spun yarn by a positioning control system of an automatic spinning-up robot is realized based on the positioning control system of an automatic spinning-up robot of a ring spinning spun yarn described in Example 1, and includes the following steps:

[0076] Step 1: The remote monitoring PC obtains the position number of the broken yarn spindle and sends it to the decision-making host computer;

[0077] Step 2: The decision-making host computer determines the position of the broken yarn spindle to be reached by a greedy algorithm, plans a walking path to the broken yarn spindle according to the activity trajectory of the automatic spinning robot, and sends the walking path data information to the AGV guide vehicle;

[0078] Step 3: The AGV guide vehicle 1 drives toward the broken yarn spindle along the planned walking path, and the AGV guide vehicle 1 feeds back the position information to the decision-making host computer in real time;

[0079] Step 4: During the movement of the automatic spinning robot, the guide color strip is identified by the on-board industrial camera 41, and the on-board industrial camera 41 sends the signal data to the decision-making host computer in real time, so that the decision-making host computer can judge whether the driving is offset. When the on-board industrial camera 41 identifies the machine position color block corresponding to the ring spinning frame where the yarn is broken, the on-board industrial camera 41 sends the signal data to the decision-making host computer, and the decision-making host computer decides to turn from the main road to the branch road corresponding to the ring spinning frame where the yarn is broken. When the fixed industrial camera 42 identifies the spindle position color block corresponding to the broken spindle, the fixed industrial camera 42 sends the signal data to the decision-making host computer, and the decision-making host computer issues an instruction to stop the AGV guide vehicle 1;

[0080] Step 5: The arm-mounted industrial camera 43 identifies the position information of the broken yarn spindle, the ring plate, the front roller and the balloon;

[0081] Step 2, the six-degree-of-freedom robot 2 drives the automatic joint mechanism 5 to approach the broken yarn spindle, so that the yarn outlet tube 57 is tangent to the left side of the broken yarn spindle, the servo motor 33 is started, the spare spindle 31 is rotated to feed the yarn, the first air valve 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 the same direction as the airflow, forming a suspended straight line of a certain length;

[0082] Step 3: The spare yarn is brought close to the rotating broken yarn spindle, so that the spare yarn is wound around the broken yarn spindle from the rotational forward side of the broken yarn spindle, the second air valve 53 is opened, and the air pump blows air into the yarn tensioning tube through the second air inlet, and the spare yarn is tensioned and straightened backwards under the action of the airflow;

[0083] Step 4: The spare yarn is firmly wound around the broken yarn spindle to complete the spinning-in. First, the brake servo 61 is started. The brake servo 61 moves the brake device of the broken yarn spindle through the paddle 62 to stop the broken yarn spindle and stop the winding of the spare yarn. Then, the second air valve 53 is closed to stop blowing air into the yarn tensioning tube. At the same time, the fixing clamp and the soft pad are clamped together with the spare yarn through the clamping cylinder 54.

[0084] Step 5, the cycloid servo drives the swing arm 52 to swing, thereby driving the shift fork 56 to move from the right end to the left end of the arc motion path. During the movement, the shift fork 56 shifts the spare yarn to the left to prop it up, and the spare yarn forms a loop yarn segment between the shift fork 56 and the yarn outlet tube 57;

[0085] Step 6: The six-degree-of-freedom robot arm 2 drives the automatic joint mechanism 5 to move rightward, and controls the front end of the automatic joint mechanism 5 to tilt downward, so that the ring blowing air pipe 58 faces the left upper end surface of the steel collar, and the ring threading yarn segment is attached to the outer periphery front of the steel collar;

[0086] Step 7: The air flow blown out from the ring blowing air pipe 58 acts on the steel collar and forms a circulation. Under the action of the circulation, the steel ring slides along the steel collar and stays in front of the steel collar.

[0087] Step 8, the six-degree-of-freedom robot arm 2 drives the automatic joint mechanism 5 to move upward, so that the looping yarn segment slides upward in contact with the outer circumference of the steel collar, and passes through the opening of the steel ring into the steel ring;

[0088] Step nine, the clamping cylinder 54 releases the spare yarn, and the six-degree-of-freedom robot arm 2 drives the automatic joint mechanism 5 to move backward, so that the spare yarn is pulled out for a section, and the arm-mounted industrial camera 43 determines whether the spare yarn is successfully inserted into the wire ring according to the shape of the spare yarn;

[0089] Step 10: If it is determined that the spare yarn is successfully inserted into the wire ring, the six-degree-of-freedom robot arm 2 drives the automatic joint mechanism 5 to move upward, so that the spare yarn passes through the balloon and the yarn guide hook in sequence. During the upward movement of the automatic joint mechanism 5, the spare yarn automatically disengages from the fork 56, and the spare yarn is only pulled and moved by the yarn outlet tube 57;

[0090] Step 11: The six-degree-of-freedom robot arm 2 drives the automatic joint mechanism 5 to continue to move upward, driving the spare yarn to enter the front roller and twist and join with the broken yarn;

[0091] Step 12, the six-degree-of-freedom robot arm 2 drives the automatic joint mechanism 5 to move backward, the cutting cylinder 55 drives the blade 59 to insert into the blade to cut the spare yarn, the joint is completed, and the brake servo 61 drives the paddle 62 to rotate and release the brake device of the broken yarn spindle.

[0092] The above embodiments are merely exemplary descriptions of the present invention and do not limit its protection scope. Those skilled in the art may also make partial changes thereto, which are within the protection scope of the present invention as long as they do not exceed the spirit of the present invention.

Claims

1. A ring spinning automatic spinning robot positioning control system, characterized in that: include: An AGV guide vehicle (1), wherein the end actuator (5) is connected to the AGV guide vehicle (1) via a six-degree-of-freedom mechanical arm (2), wherein the end actuator (5) is used to execute the spinning of the spare yarn, the positioning of the wire ring, the threading of the spare yarn, and the splicing of the spare yarn with the broken yarn, and the AGV guide vehicle (1) is used to receive the planned walking path information and feedback the position information, and to drive close to the broken yarn spindle according to the walking path; A perception system, the perception system comprising an arm-mounted industrial camera (43), a fixed industrial camera (42) and a vehicle-mounted industrial camera (41), the vehicle-mounted industrial camera (41) being fixed at the bottom of the AGV guide vehicle (1), the vehicle-mounted industrial camera (41) being used to identify the walking path of the AGV guide vehicle (1) and the ring spinning machine where yarn breakage occurs, the fixed industrial camera (42) being arranged at the top of the AGV guide vehicle (1), the fixed industrial camera (42) being used to identify the broken yarn spindle, the arm-mounted industrial camera (43) being arranged at the end of the six-degree-of-freedom mechanical arm (2), the arm-mounted industrial camera (43) being used to observe the status of the spare yarn and the wire ring; A remote monitoring PC is used to monitor the working status of the spindles and the position and working status of the working site where the automatic spinning-in robot is located; The motion control system comprises a decision-making host computer, a PLC and a switch. The decision-making host computer, an AGV guide vehicle (1), an arm-mounted industrial camera (43), a fixed industrial camera (42), a vehicle-mounted industrial camera (41), an end actuator (5), a six-degree-of-freedom robotic arm (2) and the PLC respectively establish signal transmission through the switch, and a remote monitoring PC and the decision-making host computer establish signal transmission.

2. A ring spinning automatic spinning robot positioning control system according to claim 1, characterized in that: A plurality of ring spinning machines are arranged on a work site. A main moving road for the automatic spinning robot is planned on the ground of the work site. A branch moving road for the automatic spinning robot is planned on the ground in front of each ring spinning machine. The branch roads are respectively connected to the main road. The branch roads and the main road form the activity track of the automatic spinning robot. Guide color strips are laid along the main road and the branch roads. A machine position color block matching the corresponding ring spinning machine is laid at the intersection of each branch road and the main road. A spindle position color block matching the spindle is pasted on the steel collar plate of each spindle. The on-board industrial camera (41) identifies the walking path of the AGV guide vehicle (1) by identifying the guide color strip. The on-board industrial camera (41) identifies the ring spinning machine with broken yarn by identifying the machine position color block. The fixed industrial camera (42) identifies the broken spindle by identifying the spindle position color block.

3. The automatic spinning robot positioning control system for ring spinning according to claim 2 is characterized in that: The guide color bar is a color bar with two alternating colors, and the machine position color block and the spindle position color block are both black and white blocks of QR codes in the form of Apriltag.

4. A ring spinning automatic spinning robot positioning control system according to claim 3, characterized in that: The decision-making host computer is Raspberry Pi 4B.

5. The automatic spinning robot positioning control system for ring spinning according to claim 4 is characterized in that: The end actuator (5) comprises a housing (51), a yarn outlet tube (57), a yarn tensioning tube, a clamping cylinder (54), a ring blowing air tube (58), a cycloidal servo and a yarn breaking device. The ring blowing air tube (58) is arranged on the left side of the housing (51), and the front part of the ring blowing air tube (58) is bent upward. The yarn outlet tube (57) and the yarn tensioning tube are arranged on the right side of the housing (51). Both the yarn outlet tube (57) and the yarn tensioning tube are Venturi tube structural components. The diffusion section of the yarn outlet tube (57) is arranged forward, and the diffusion section of the yarn tensioning tube is arranged backward. The contraction section of the tube (57) is coaxially opposed to the contraction section of the yarn tensioning tube in front and back, a first air inlet is provided on one side of the roaring passage of the yarn outlet tube (57), a first air valve is provided on the first air inlet, a second air inlet is provided on one side of the roaring passage of the yarn tensioning tube, a second air inlet is provided on the second air inlet, a third air valve is connected to the rear of the ring blowing air tube (58), the first air valve, 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, and a soft cushion is provided on the piston rod of the clamping cylinder (54). The piston rod of the clamping cylinder (54) is extended and retracted to control the soft cushion and the fixed clip to clamp or separate. The air inlet of the clamping cylinder is connected to the air pump through a fourth air valve. The cycloid servo is connected to the outer shell (51), one end of the swing arm (52) is connected to the output shaft of the cycloid servo, and the other end of the swing arm (52) is connected to the upper end of the fork (56), and the lower end of the fork (56) is lower than the outlet tube (57). When the swing arm (52) swings horizontally, the shift fork (56) moves in an arc from the right side of the yarn outlet tube (57) to the left side of the blowing ring air tube (58). The yarn cutting device is composed of a cutting cylinder (55) and a blade (59). The air inlet of the cutting cylinder (55) is connected to the air pump through a fifth air valve. The blade (59) is connected to the piston rod of the cutting cylinder (55). The cutting cylinder (55) is fixed on the outer shell. A knife edge is provided on one side of the yarn outlet tube. The cutting cylinder (55) controls the blade (59) to insert into the knife edge to cut the spare yarn or retract it.

6. A ring spinning automatic spinning robot positioning control system according to claim 5, characterized in that: The invention also comprises an auxiliary yarn supply device (3), wherein the auxiliary yarn supply device (3) comprises a servo motor (33) and a spare spindle (31), wherein the servo motor (33) is mounted on the AGV guide vehicle (1), the spare spindle (31) is connected to the output shaft of the servo motor (33), the spare yarn is wound around the spare spindle (31), one end of the spare yarn is passed through the diffusion section of the yarn tensioning tube, and is passed through the diffusion section of the yarn outlet tube (57).

7. A ring spinning automatic spinning robot positioning control system according to claim 6, characterized in that: The invention also comprises a brake mechanism (6), wherein the brake mechanism (6) comprises a brake servo (61), wherein the brake servo (61) is mounted on the AGV guide vehicle (1), and the mounting height of the brake servo (61) is matched with the height of the brake device of the broken yarn spindle, and a paddle (62) is provided on the output shaft of the brake servo (61). The brake servo (61) is electrically connected to a PLC, and the brake mechanism (6) is controlled by the PLC to stop or release the brake device of the broken yarn spindle.

8. A method for spinning a ring spinning yarn by a positioning control system of an automatic spinning robot, which is realized by relying on the positioning control system of an automatic spinning yarn by a ring spinning robot according to claim 7, and is characterized in that: The following steps are involved: Step 1: The remote monitoring PC obtains the position number of the broken yarn spindle and sends it to the decision-making host computer; Step 2: The decision-making host computer determines the position of the broken yarn spindle to be reached by a greedy algorithm, plans a walking path to the broken yarn spindle according to the activity trajectory of the automatic spinning robot, and sends the walking path data information to the AGV guide vehicle; Step 3: The AGV guide vehicle (1) drives toward the broken yarn spindle along the planned walking path, and the AGV guide vehicle (1) feeds back the position information to the decision-making host computer in real time; Step 4: During the movement of the automatic spinning robot, the guide color strip is identified by the on-board industrial camera (41), and the on-board industrial camera (41) sends the signal data to the decision-making host computer in real time so that the decision-making host computer can judge whether the driving is offset. When the on-board industrial camera (41) identifies the machine position color block corresponding to the ring spinning machine where the yarn is broken, the on-board industrial camera (41) sends the signal data to the decision-making host computer, and the decision-making host computer decides to turn from the main road to the branch road corresponding to the ring spinning machine where the yarn is broken. When the fixed industrial camera (42) identifies the spindle position color block corresponding to the broken spindle, the fixed industrial camera (42) sends the signal data to the decision-making host computer, and the decision-making host computer issues a command to stop the AGV guide vehicle (1); Step 5: The arm-mounted industrial camera (43) identifies the position information of the broken yarn spindle, the ring plate, the front roller and the balloon; Step 2: The six-degree-of-freedom robot arm (2) drives the automatic joint mechanism (5) to approach the broken yarn spindle, so that the yarn outlet tube (57) is tangent to the left side of the broken yarn spindle, the servo motor (33) is started, the spare spindle (31) is rotated to feed the yarn, the first air valve 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 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, so that the spare yarn is wound around the broken yarn spindle from the rotational forward side of the broken yarn spindle, the second air valve (53) is opened, and the air pump blows air into the yarn tensioning tube through the second air inlet, and the spare yarn is tensioned and straightened backwards under the action of the airflow; Step 4: The spare yarn is firmly wound around the broken yarn spindle to complete the spinning. First, the brake servo (61) is started. The brake servo (61) moves the brake device of the broken yarn spindle through the paddle (62) to stop the broken yarn spindle and stop the winding of the spare yarn. Then, the second air valve (53) is closed to stop blowing air into the yarn tensioning tube. At the same time, the fixing clamp and the soft pad are clamped together with the spare yarn through the clamping cylinder (54). Step 5, the cycloid servo drives the swing arm (52) to swing, thereby driving the shift fork (56) to move from the right end to the left end of the arc motion path. During the movement, the shift fork (56) moves 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); Step 6: The six-degree-of-freedom mechanical arm (2) drives the automatic joint mechanism (5) to move rightward, and controls the front end of the automatic joint mechanism (5) to tilt downward, so that the ring blowing air pipe (58) faces the left upper end surface of the steel collar, and the ring threading yarn segment is attached to the outer periphery front part of the steel collar; Step 7: The blowing air pipe (58) blows out an air flow to act on the steel collar and form a circulation. Under the action of the circulation, the steel ring slides along the steel collar and stays in front of the steel collar. Step 8, the six-degree-of-freedom mechanical arm (2) drives the automatic joint mechanism (5) to move upward, so that the looping yarn segment slides upward in contact with the outer circumference of the steel collar and passes through the opening of the wire ring into the wire ring; Step 9: The clamping cylinder (54) releases the spare yarn, and the six-degree-of-freedom mechanical arm (2) drives the automatic joint mechanism (5) to move backward, so that the spare yarn is pulled out for a section, and the arm-mounted industrial camera (43) determines whether the spare yarn is successfully inserted into the wire ring according to the shape of the spare yarn; Step 10: If it is determined that the spare yarn has successfully passed through the wire ring, the six-degree-of-freedom mechanical arm (2) drives the automatic joint mechanism (5) to move upward, so that the spare yarn passes through the balloon and the yarn guide hook in sequence. During the upward movement of the automatic joint mechanism (5), the spare yarn automatically detaches from the shifting fork (56), and the spare yarn is only pulled and moved by the yarn outlet tube (57); Step 11: The six-degree-of-freedom mechanical arm (2) drives the automatic joint mechanism (5) to continue to move upward, driving the spare yarn to enter the front roller and twist and join it with the broken yarn; Step 12: The six-degree-of-freedom mechanical arm (2) drives the automatic joint mechanism (5) to move backward, the cutting cylinder (55) drives the blade (59) to insert into the blade edge to cut the spare yarn, and the jointing method is completed. The brake steering gear (61) drives the paddle (62) to rotate and release the brake device of the broken yarn spindle.

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