A ring spinning fine yarn automatic starting robot positioning control system and starting method

Abstract

A ring spinning automatic head forming robot positioning control system and head forming method belong to the field of textile machinery automation control, and are used to solve the problems of low head forming success rate and low efficiency of the existing automatic head forming device for ring spinning frame. The system comprises an AGV guide vehicle, a remote monitoring PC and a decision host computer. An end execution mechanism is connected to the AGV guide 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 top of the AGV guide vehicle. An arm-mounted industrial camera is arranged at the end of the six-degree-of-freedom mechanical arm. The decision host computer, the AGV guide 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 a PLC are respectively connected to a switch to establish signal transmission. The remote monitoring PC and the decision host computer are connected to establish signal transmission. The automatic head forming robot can realize automatic head forming of multiple spindles in a complex factory environment, has high yarn breakage processing efficiency and high head forming success rate.

Description

Technical Field

[0001] This invention belongs to the field of automated control of textile machinery, and particularly relates to a positioning control system and method for an automatic yarn-forming robot in ring spinning. Background Technology

[0002] In textile production, the spinning process, particularly the spinning stage, plays a crucial role. During ring spinning, yarn breakage can occur, meaning the yarn breaks between the front roller and the spindle on the spinning machine. Yarn breakage leads to decreased yarn quality and reduced production efficiency. Therefore, a significant amount of manpower is needed to inspect and reconnect broken yarns between spinning frames. Consequently, highly automated yarn breakage splicing equipment is of great importance in reducing labor intensity, production costs, and improving production efficiency.

[0003] Currently, numerous automatic splicing solutions have been proposed both domestically and internationally, mainly divided into original spindle splicing and spare yarn splicing. However, these solutions suffer from low success rates, low efficiency, complex structures, and the inability to achieve complete automation. Summary of the Invention

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

[0005] A positioning and control system for an automatic ring spinning yarn raising robot includes:

[0006] The AGV guide vehicle has an end effector connected to it via a six-degree-of-freedom robotic arm. The end effector is used to perform tasks such as starting the spare yarn, positioning the wire loop, threading the spare yarn, and splicing the spare yarn with the broken yarn. The AGV guide vehicle is used to receive the planned travel path information and feedback position information, and to approach the broken yarn spindle according to the travel path.

[0007] The sensing system includes an arm-mounted industrial camera, a fixed industrial camera, and a vehicle-mounted industrial camera. The vehicle-mounted industrial camera is fixed to the bottom of the AGV guide vehicle and is used to identify the AGV guide vehicle's travel path and identify ring spinning machines where yarn breakage has occurred. The fixed industrial camera is set at the top of the AGV guide vehicle and is used to identify broken yarn spindles. The arm-mounted industrial camera is set at the end of a six-degree-of-freedom robotic arm and is used to observe the status of spare yarn and traveler wire.

[0008] A remote monitoring PC is used to monitor the working status of the spindles and the location and working status of the automatic spindle-generating robot in its work area.

[0009] The action control system comprises a decision host computer, a PLC and a switch, the decision host computer, an AGV guide vehicle, an arm-mounted industrial camera, a fixed industrial camera, a vehicle-mounted industrial camera, an end effector, a six-degree-of-freedom mechanical arm and the PLC respectively establish signal transmission through the switch, and a remote monitoring PC and the decision host computer establish signal transmission.

[0010] Further, a plurality of ring spinning frames are arranged on a work site, a main trunk path for movement of the automatic piecer is planned on the ground of the work site, a branch trunk path for movement of the automatic piecer is planned on the ground in front of each ring spinning frame, the plurality of branch trunk paths are respectively connected with the main trunk path, the plurality of branch trunk paths and the main trunk path form a movement track of the automatic piecer, a guide color bar is laid along the main trunk path and the plurality of branch trunk paths, a machine position color block matched with the corresponding ring spinning frame is laid at the intersection of each branch trunk path and the main trunk path, a yarn spindle position color block matched with the yarn spindle is pasted on the steel ring plate of each yarn spindle, the vehicle-mounted industrial camera identifies the walking path of the AGV guide vehicle by identifying the guide color bar, the vehicle-mounted industrial camera identifies the ring spinning frame where the yarn breakage occurs by identifying the machine position color block, and the fixed industrial camera identifies the yarn breakage yarn spindle by identifying the yarn spindle position color block.

[0011] Further, the guide color bar is a color bar provided with two kinds of alternating colors, and the machine position color block and the yarn spindle position color block are both black and white color blocks in the form of Apriltag two-dimensional codes.

[0012] Further, the decision host computer is a Raspberry Pi 4B.

[0013] Further, the end effector comprises a shell, a yarn delivery tube, a yarn tension tube, a clamping cylinder, a blowing ring air tube, a cycloidal steering engine and a yarn breaking device, the blowing ring air tube is arranged at the left part of the shell, the front part of the blowing ring air tube is upwardly bent, the yarn delivery tube and the yarn tension tube are arranged at the right part of the shell, the yarn delivery tube and the yarn tension tube are both Venturi tube structure members, the diffusion section of the yarn delivery tube is arranged forward, the diffusion section of the yarn tension tube is arranged backward, the contraction section of the yarn delivery tube and the contraction section of the yarn tension tube are coaxially opposite, a first air inlet is arranged on the one side of the nozzle of the yarn delivery tube, a first air valve is arranged on the first air inlet, a second air inlet is arranged on the one side of the nozzle of the yarn tension tube, a second air valve is arranged on the second air inlet, the rear part of the blowing ring air tube is connected with a third air valve, the first air valve, the second air valve and the third air valve are respectively connected with an air pump, a fixed clamping piece is arranged on one side of the shell between the yarn delivery tube and the yarn tension tube, a clamping cylinder is arranged on the other side of the shell between the yarn delivery tube and the yarn tension tube, a soft pad is arranged on the piston rod of the clamping cylinder, the piston rod of the clamping cylinder is retractable to control the clamping or separation of the soft pad and the fixed clamping piece, the air inlet of the clamping cylinder is connected with the air pump through a fourth air valve, the cycloidal steering engine is connected with the shell, one end of a swing arm is connected with the output shaft of the cycloidal steering engine, the other end of the swing arm is connected with the upper end of a fork, the lower end of the fork is lower than the yarn delivery tube, when the swing arm swings horizontally, the fork moves in an arc between the right side of the yarn delivery tube and the left side of the blowing ring air tube, the yarn breaking device is composed of a cutting cylinder and a blade, the air inlet of the cutting cylinder is connected with the air pump through a fifth air valve, the blade is connected with the piston rod of the cutting cylinder, the cutting cylinder is fixed on the shell, one side of the yarn delivery tube is provided with a cutting inlet, the cutting cylinder controls the blade to insert into the cutting inlet to cut the standby yarn or retract.

[0014] Further, the auxiliary yarn feeding device comprises a servo motor and a standby yarn spindle, the servo motor is installed on the AGV guide vehicle, the standby yarn spindle is connected with the output shaft of the servo motor, the standby yarn is wound on the standby yarn spindle, one end of the standby yarn is inserted into the diffusion section of the yarn tension tube and is drawn out from the diffusion section of the yarn delivery tube.

[0015] Further, the brake mechanism comprises a brake steering engine, the brake steering engine is installed on the AGV guide vehicle, and the installation height of the brake steering engine is matched with the height of the brake device of the yarn breaking spindle, a brake piece is arranged on the output shaft of the brake steering engine, the brake steering engine is electrically connected with a PLC, and the brake mechanism is controlled to stop or release the brake device of the yarn breaking spindle through the PLC.

[0016] The application also provides a ring spinning automatic piecing robot positioning control system piecing method, which is realized by relying on the ring spinning automatic piecing robot positioning control system, and comprises the following steps:

[0017] Step one, the remote monitoring PC obtains the position number of the broken yarn spindle and sends it to the decision host computer;

[0018] Step two, the decision host computer determines the position of the broken yarn spindle to be approached by using the greedy algorithm, plans the walking path of the automatic head forming robot to the broken yarn spindle according to the activity track, and sends the walking path data information to the AGV guide vehicle;

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

[0020] Step four, in the moving process of the automatic head forming robot, the on-board industrial camera recognizes the guide color bar, the on-board industrial camera sends the signal data to the decision host computer in real time, so that the decision host computer judges whether the driving deviates, when the on-board industrial camera recognizes the machine position color block corresponding to the broken yarn ring spinning frame, the on-board industrial camera sends the signal data to the decision host computer, and the decision host computer decides to turn from the main road into the branch road corresponding to the broken yarn ring spinning frame, when the fixed industrial camera recognizes the yarn spindle position color block corresponding to the broken yarn spindle, the fixed industrial camera sends the signal data to the decision host computer, and the decision host computer sends an instruction to make the AGV guide vehicle stop;

[0021] Step five, the arm-mounted industrial camera recognizes the position information of the broken yarn spindle, the ring plate, the front roller and the coil;

[0022] Step two, the six-degree-of-freedom mechanical arm drives the automatic joint mechanism to approach the broken yarn spindle, so that the yarn pipe is tangent to the left side of the broken yarn spindle, the servo motor is started to rotate the standby yarn spindle to feed yarn, the first air valve is opened, the air pump blows air into the yarn pipe through the first air inlet, the standby yarn moves forward under the action of the airflow, and the standby yarn passing through the yarn pipe keeps the same direction with the airflow, forming a certain length of suspended straight line;

[0023] Step three, the standby yarn is close to the rotating broken yarn spindle, so that the standby yarn is wound on the broken yarn spindle from the rotating side of the broken yarn spindle, the second air valve is opened, the air pump blows air into the yarn tension pipe through the second air inlet, and the standby yarn obtains tension and is pulled straight back under the action of the airflow;

[0024] Step four, the standby yarn is stably wound on the broken yarn spindle to complete the head forming, the brake servo is first started, the brake servo drives the brake device of the broken yarn spindle through the tab to stop the broken yarn spindle, and the winding of the standby yarn is stopped, then the second air valve is closed, the blowing of air into the yarn tension pipe is stopped, and the fixed clamping piece and the soft pad are clamped to the standby yarn through the clamping cylinder;

[0025] Step five, the cycloid steering engine works, the cycloid steering engine drives the swing arm to swing, and then drives the shift fork to move from the right end of the arc motion path to the left end. The shift fork pokes the standby yarn to the left during the movement, and the standby yarn forms a loop yarn segment between the shift fork and the yarn outlet tube;

[0026] Step six, the six-degree-of-freedom mechanical arm drives the automatic joint mechanism to move right, and controls the front end of the automatic joint mechanism to be downward inclined, so that the loop blowing air pipe is directed to the left upper end surface of the ring, and the loop yarn segment is attached to the front part of the outer periphery of the ring;

[0027] Step seven, the loop blowing air pipe blows air flow on the ring, and forms a circulating flow, and the traveller slides along the ring under the action of the circulating flow, so that the traveller stays at the front part of the ring;

[0028] Step eight, the six-degree-of-freedom mechanical arm drives the automatic joint mechanism to move upward, so that the loop yarn segment is attached to the outer periphery of the ring and slides upward, and is inserted into the traveller through the opening of the traveller;

[0029] Step nine, the clamping air cylinder releases the standby yarn, the six-degree-of-freedom mechanical arm drives the automatic joint mechanism to move backward, so that the standby yarn is pulled out a segment, and the arm-mounted industrial camera judges whether the standby yarn is successfully inserted into the traveller through the shape of the standby yarn;

[0030] Step ten, if it is judged that the standby yarn is successfully inserted into the traveller, the six-degree-of-freedom mechanical arm drives the automatic joint mechanism to move upward, so that the standby yarn passes through the loop and the guide hook in turn, and the standby yarn is automatically separated from the shift fork during the upward movement of the automatic joint mechanism. The standby yarn is only moved by the yarn outlet tube;

[0031] Step eleven, the six-degree-of-freedom mechanical arm drives the automatic joint mechanism to continue to move upward, drives the standby yarn into the front roller, and twists the broken yarn;

[0032] Step twelve, the six-degree-of-freedom mechanical arm drives the automatic joint mechanism to move backward, the cutting air cylinder drives the blade to insert into the cutting opening to cut the standby yarn, the head forming method joint is completed, and the brake steering engine drives the shifting plate to rotate to release the brake device of the broken yarn spindle.

[0033] Compared with the prior art, the automatic head forming robot has the advantages that:

[0034] The automatic head forming robot can realize automatic head forming of multiple spindles in a complex factory environment, has high broken yarn processing efficiency and high head forming success rate. The head forming method is used to form the head of the broken yarn, and the broken head is not needed to be found, so that the single head forming time is reduced, the automation degree of the broken head connection process is high, the movement and work planning are simple, the robot is easy to deploy in a ring spinning fine yarn factory, and has high application value. BRIEF DESCRIPTION OF DRAWINGS

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

[0036] Figure 2 is the mode diagram of the perception system;

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

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

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

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

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

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

[0043] Figure 9 is the schematic diagram of a spindles position color block;

[0044] Figure 10 is the work flow diagram of the positioning control system of the present application;

[0045] Figure 11 is the structural schematic diagram of the brake mechanism;

[0046] Figure 12 is the structural schematic diagram of the broken yarn device;

[0047] Figure 13 is the structural schematic diagram of the auxiliary yarn feeding device.

[0048] In the figure, 1. AGV guide vehicle, 2. Six-degree-of-freedom robot arm, 3. Auxiliary yarn feeding device, 31. Backup spindles, 32. Diaphragm coupling, 33. Servo motor, 41. Vehicle-mounted industrial camera, 42. Fixed industrial camera, 43. Arm-mounted industrial camera, 5. End effector, 51. Shell, 52. Swing arm, 53. Second air valve, 54. Clamping cylinder, 55. Cutting cylinder, 56. Shift fork, 57. Yarn outlet pipe, 58. Blowing ring air pipe, 59. Blade, 6. Brake mechanism, 61. Brake rudder, 62. Shift piece, 7. Ring spinning frame, 81. Guide color bar, 82. Camera color block. DETAILED DESCRIPTION

[0049] 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.

[0050] 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.

[0051] 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.

[0052] Example 1: As Figures 1-13 As shown, an automatic ring spinning robot positioning and control system is disclosed. The ring spinning process relies on a ring spinning machine, which includes a back roller, middle roller, front roller, guide hook, air ring, ring, traveler, and yarn bobbin. The roving is sequentially drafted through the back roller, middle roller, and front roller to a specified linear density. The yarn then passes through the guide hook, air ring, and traveler on the ring, and is finally wound onto the spindle. The roving is drawn to its finest point at the front roller, where breakage is also common. When a breakage occurs, the broken yarn is sucked away by a suction tube. The specific structure and operation of the ring spinning machine are existing technologies and will not be described further here. The positioning and control system includes:

[0053] The AGV guide vehicle 1 and the yarn-generating device constitute the yarn-generating robot. The yarn-generating device includes an end effector 5 and a six-degree-of-freedom robotic arm 2. The end effector 5 is connected to the AGV guide vehicle 1 through the six-degree-of-freedom robotic arm 2. The end effector 5 is used to perform the yarn-generating of spare yarn, the positioning of the wire loop, the threading of the spare yarn, and the splicing of the spare yarn with the broken yarn. The AGV guide vehicle 1 is used to receive the planned walking path information and feedback position information, and to approach the broken yarn spindle according to the walking path.

[0054] A perception system comprising an arm-mounted industrial camera 43, a fixed industrial camera 42 and a vehicle-mounted industrial camera 41 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 identify the ring spinning frame where the broken yarn occurs, the fixed industrial camera 42 being arranged at the top end of the AGV guide vehicle 1, the fixed industrial camera 42 being used to identify the broken-yarn spindle, and 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 state of the standby yarn and the traveller;

[0055] A remote monitoring PC for monitoring the working state of the spindles and the position and working state of the working site where the automatic piecing robot is located;

[0056] An action control system comprising a decision-making host computer, a PLC and a switch, all 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 effector 5, the six-degree-of-freedom mechanical arm 2 and the PLC establishing signal transmission through the switch respectively, and the remote monitoring PC and the decision-making host computer establishing signal transmission.

[0057] A plurality of ring spinning frames are arranged on the working site, a main trunk road for the movement of the automatic piecing robot is planned on the ground of the working site, a branch trunk road for the movement of the automatic piecing robot is planned on the ground in front of each ring spinning frame, a plurality of branch trunk roads are connected with the main trunk road respectively, and the plurality of branch trunk roads and the main trunk road form the activity track of the automatic piecing robot, a guide color strip is laid along the main trunk road and the plurality of branch trunk roads, a machine position color block matched with the corresponding ring spinning frame is laid at the intersection of each branch trunk road and the main trunk road, and a yarn position color block matched with the yarn spindle is pasted on the ring traveler plate of each yarn spindle, the vehicle-mounted industrial camera 41 identifies the walking path of the AGV guide vehicle 1 by identifying the guide color strip, the vehicle-mounted industrial camera 41 identifies the ring spinning frame where the broken yarn occurs by identifying the machine position color block, and the fixed industrial camera 42 identifies the broken-yarn spindle by identifying the yarn position color block. The distances of all the guide color strips are the same, and the number of the guide color strips is counted by a metering approach, so that the travel of the AGV guide vehicle 1 can be calculated, and the specific position of the working site where the automatic piecing robot is located can be obtained. In addition, an auxiliary positioning color block can also be pasted to assist the AGV guide vehicle 1 to reach the relative position and angle with the broken-yarn spindle within a certain accuracy.

[0058] When the remote monitoring PC identifies that a yarn breakage occurs in a spinning reel, the remote monitoring PC sends a data signal of the yarn breakage spinning reel to the decision host computer, the decision host computer plans a walking path, and sends an instruction to make the AGV guiding vehicle 1 drive to the yarn breakage spinning reel along the planned walking path, and meanwhile, the AGV guiding vehicle 1 feeds back position information to the decision host computer in real time, in the moving process of the automatic piecing robot, whether the walking path is deviated is judged through a sensing system, the sensing system sends signal data to the decision host computer in real time, so that the decision host computer decides whether to correct the walking path, when the sensing system identifies a machine position color block corresponding to the ring spinning frame where the yarn breakage occurs, the sensing system sends signal data to the decision host computer in real time, and the decision host computer decides to turn from the main road to the branch road corresponding to the ring spinning frame where the yarn breakage occurs, when the sensing system identifies a yarn reel position color block corresponding to the yarn breakage spinning reel, the sensing system sends signal data to the decision host computer in real time, and the decision host computer sends an instruction to control the AGV guiding vehicle 1 to stop, so as to ensure the relative position and angle of the end effector 5 and the yarn reel; and sends an instruction to the PLC, so that the PLC controls the piecing device to perform the re-piecing of the yarn breakage spinning reel and the twisting joint of the standby yarn and the yarn breakage.

[0059] The end effector 5 and the six-degree-of-freedom mechanical arm 2 are respectively electrically connected with the PLC, and the actions of the end effector 5 and the six-degree-of-freedom mechanical arm 2 are controlled through the PLC, so as to realize the piecing of the standby yarn, the positioning of the traveler, the threading of the traveler by the standby yarn and the twisting joint of the standby yarn and the yarn breakage by the end effector 5;

[0060] The decision host computer is packaged with a joint device decision module and an information processing module, the remote monitoring PC sends the number of the yarn breakage spinning reel to the joint device decision module, the information processing module feeds back the current position information and state information of the automatic piecing robot to the remote monitoring PC, the joint device decision module plans a walking path, and sends the planned walking path information to the AGV guiding vehicle 1, the AGV guiding vehicle 1 feeds back position information to the joint device decision module, the sensing system sends the recognized data information to the information processing module, the information processing module sends the yarn state information and the data obtained by the sensing system to the joint device decision module, and the joint device decision module sends a piecing action instruction of the yarn to the PLC;

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

[0062] The automatic head forming robot can realize automatic head forming of multiple machines with different spindles in a complex factory environment, has high efficiency and high success rate of broken yarn processing, adopts a head forming method to form a head for broken yarn, does not need to find a broken end, reduces the single head forming time, and has high automation degree in the broken end connection process.

[0063] The guide color bar is provided with two color bars with alternating colors, and the camera position color block and the spindle position color block are both black and white color blocks of the two-dimensional code in the form of Apriltag.

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

[0065] The end effector 5 comprises a shell 51, a yarn outlet pipe 57, a yarn tension pipe, a clamping cylinder 54, a blowing ring air pipe 58, a cycloidal steering engine and a broken yarn device. The blowing ring air pipe 58 is arranged at the left part of the shell 51, the front part of the blowing ring air pipe 58 is bent upward, the yarn outlet pipe 57 and the yarn tension pipe are arranged at the right part of the shell 51, and the yarn outlet pipe 57 and the yarn tension pipe are both Venturi pipe structure members. The diffusion section of the yarn outlet pipe 57 is arranged forward, the diffusion section of the yarn tension pipe is arranged backward, the contraction section of the yarn outlet pipe 57 is coaxially opposite to the contraction section of the yarn tension pipe, a first air inlet is arranged on one side of the nozzle of the yarn outlet pipe 57, a first air valve is arranged on the first air inlet, a second air inlet is arranged on one side of the nozzle of the yarn tension pipe, a second air valve 53 is arranged on the second air inlet, the rear part of the blowing ring air pipe 58 is connected with a third air valve, the first air valve, the second air valve 53 and the third air valve are respectively connected with an air pump, a fixed clamping piece is arranged on one side of the shell 51 between the yarn outlet pipe 57 and the yarn tension pipe, a clamping cylinder 54 is arranged on the other side of the shell 51 between the yarn outlet pipe 57 and the yarn tension pipe, a soft pad is arranged on the piston rod of the clamping cylinder 54, the piston rod of the clamping cylinder 54 controls the clamping or separation of the soft pad and the fixed clamping piece, the air inlet of the clamping cylinder is connected with the air pump through a fourth air valve, the cycloidal steering engine is connected with the shell 51, one end of a swing arm 52 is connected with the output shaft of the cycloidal steering engine, the other end of the swing arm 52 is connected with the upper end of a fork 56, the lower end of the fork 56 is lower than the yarn outlet pipe 57, when the swing arm 52 swings horizontally, the fork 56 moves in an arc between the right side of the yarn outlet pipe 57 and the left side of the blowing ring air pipe 58, the broken yarn device is composed of a cutting cylinder 55 and a blade 59, the air inlet of the cutting cylinder 55 is connected with the air pump through a fifth air valve, the blade 59 is connected with the piston rod of the cutting cylinder 55, the cutting cylinder 55 is fixed on the shell, one side of the yarn outlet pipe is provided with a cutting opening, and the cutting cylinder 55 controls the blade 59 to insert into the cutting opening to cut the standby yarn or retract.

[0066] The cycloid steering engine, the first air valve, the second air valve 53, the third air valve, the fourth air valve and the fifth air valve are respectively electrically connected with the PLC, the cycloid steering engine, 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 mechanical arm 2 are controlled by the PLC, so that the end effector 5 performs the functions of starting the standby yarn, positioning the steel ring, threading the standby yarn through the ring and twisting the standby yarn with the broken yarn.

[0067] The starting device further comprises an auxiliary yarn feeding device 3, the auxiliary yarn feeding device 3 comprising a servo motor 33 and a standby yarn spindle 31, the servo motor 33 being installed on the AGV guide vehicle 1, the standby yarn spindle 31 being connected with the output shaft of the servo motor 33, the standby yarn being wound on the standby yarn spindle 31, one end of the standby yarn being inserted through the diffusion section of the yarn tension tube and being threaded out through the diffusion section of the yarn outlet tube 57. The servo motor 33 is electrically connected with the PLC, and the feeding of the auxiliary yarn feeding device 3 is controlled by the PLC. The servo motor 33 and the standby yarn spindle 31 are connected through a diaphragm coupling 32.

[0068] The starting device further comprises a brake mechanism 6, the brake mechanism 6 comprising a brake steering engine 61, the brake steering engine 61 being installed on the AGV guide vehicle 1, and the installation height of the brake steering engine 61 being matched with the height of the brake device of the broken yarn spindle, a paddle 62 being arranged on the output shaft of the brake steering engine 61. The brake steering engine 61 is electrically connected with the PLC, and the brake mechanism 6 is controlled by the PLC to brake or release the brake device of the broken yarn spindle.

[0069] The six-degree-of-freedom mechanical arm 2 is used to move the end effector 5 and the arm-mounted industrial camera 43 between different working positions and postures; the end effector 5 is used to complete the winding and threading of the standby yarn on the broken yarn spindle, and the standby yarn is sent to the front roller and cut off; the yarn outlet pipe 57 is used to blow the standby yarn to the broken yarn spindle; the swing arm 52 is used to support the standby yarn transversely after the winding is completed, so that the standby yarn forms a loop between the fork 56 and the yarn outlet pipe 57, and the loop is attached to the front part of the ring, and the standby yarn is threaded into the ring; the yarn tension pipe is used to blow the standby yarn in the opposite direction, so that the standby yarn has a certain tension, which is beneficial to the winding of the standby yarn on the broken yarn spindle and the tension of the loop; the clamping cylinder 54 is used to clamp the standby yarn to prevent the standby yarn from being loose; the loop blowing air pipe 58 is used to blow stable air flow, which forms an air flow around the ring under the action of the spacer on both sides of the broken yarn spindle, pushes the ring to move on the ring, and makes the ring stay at the front part of the ring; the broken yarn device is used to cut off the standby yarn at the reserved position after the head forming joint is completed; the brake mechanism 6 is used to drive the brake device of the broken yarn spindle, and the broken yarn spindle is stopped; the arm-mounted industrial camera 43 is used to identify the position information of the broken yarn spindle, the ring plate, the guide hook and the front roller, and is used to guide the six-degree-of-freedom mechanical arm 2 to load the automatic joint mechanism 5 to the working position of each action; the air pump provides stable air pressure for the yarn outlet pipe 57, the yarn tension pipe, the clamping cylinder 54, the cutting cylinder and the loop blowing air pipe 58; the auxiliary yarn feeding device 7 sets the feeding speed according to the spindle speed of the current ring spinning frame, and the feeding speed is slightly higher than the spindle speed, so that the standby yarn is not pulled off during the feeding process.

[0070] The PLC is selected from 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 devices in the positioning control system are powered by a 48V 20ah battery and a 220V mobile power supply, wherein different devices have different voltage reduction modules, including: 48V to 24V module, 48V to 12V module and 12V to 5V module.

[0073] The remote monitoring PC communicates with the head forming decision module of the decision host computer through a wireless local area network, and the Raspberry Pi 4B communicates with the six-degree-of-freedom mechanical arm 2, the PLC and the sensing system through a switch using the TCP / IP protocol.

[0074] During the connection action, the PLC sends the position information to the cycloidal steering engine through the RS485 bus in the Modbus protocol, sends the rotating speed information to the servo motor 33 through the high-speed pulse port, and controls the opening and closing of each gas valve and gas pump through the I / O port.

[0075] Embodiment two: as shown in a ring spinning automatic piecing robot positioning control system piecing method, relying on the implementation of the ring spinning automatic piecing robot positioning control system described in embodiment one, comprising the following steps: Figures 1-13

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

[0077] Step two, the decision-making host computer determines the position of the broken yarn spindle to be approached by using the greedy algorithm, plans the walking path to the broken yarn spindle according to the movement trajectory of the automatic piecing robot, and sends the walking path data information to the AGV guide vehicle;

[0078] Step three, the AGV guide vehicle 1 drives to 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 four, in the movement process of the automatic piecing robot, the vehicle-mounted industrial camera 41 identifies the guide color bar, and the vehicle-mounted industrial camera 41 sends the signal data to the decision-making host computer in real time for the decision-making host computer to judge whether the driving is deviated, when the vehicle-mounted industrial camera 41 identifies the color block corresponding to the ring spinning frame where the yarn breakage occurs, the vehicle-mounted 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 breakage occurs, when the fixed industrial camera 42 identifies the yarn spindle position color block corresponding to the broken yarn 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 make the AGV guide vehicle 1 stop;

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

[0081] Step two, the six-degree-of-freedom mechanical arm 2 drives the automatic piecing 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 to rotate the spare yarn spindle 31 to feed yarn, the first gas valve is opened, and the gas pump blows air into the yarn outlet tube 57 through the first air inlet, the spare yarn moves forward under the action of the air flow, and the spare yarn passing through the yarn outlet tube 57 keeps the same direction with the air flow, forming a certain length of suspended straight line;

[0082] ​Step three, the standby yarn is close to the rotating broken yarn spindle, the standby yarn is wound on the broken yarn spindle from the rotating forward side of the broken yarn spindle, the second air valve 53 is opened, the air pump blows air into the yarn tension pipe through the second air inlet, and the standby yarn obtains tension under the action of the airflow and is pulled straight back;

[0083] Step four, the standby yarn is stably wound on the broken yarn spindle to complete the threading, the brake steering engine 61 is first started, the brake steering engine 61 drives the brake device of the broken yarn spindle through the tab 62 to stop the broken yarn spindle and stop the winding of the standby yarn, the second air valve 53 is closed, the blowing of air into the yarn tension pipe is stopped, and the fixed clamping piece and the soft pad clamp the standby yarn through the clamping cylinder 54;

[0084] Step five, the cycloidal steering engine works, the cycloidal steering engine drives the swing arm 52 to swing, and then drives the shift fork 56 to move from the right end to the left end of the arc motion path, the shift fork 56 pulls the standby yarn leftward during the movement, and the standby yarn forms a loop yarn segment between the shift fork 56 and the yarn outlet pipe 57;

[0085] Step six, 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 be downward inclined, so that the blowing loop air pipe 58 faces the left upper end surface of the steel ring, and the loop yarn segment is attached to the front part of the outer periphery of the steel ring;

[0086] Step seven, the blowing loop air pipe 58 blows airflow on the steel ring, and forms a circulating flow, the steel ring is slid along the steel ring under the action of the circulating flow, and the steel ring is stopped at the front part of the steel ring;

[0087] Step eight, the six-degree-of-freedom mechanical arm 2 drives the automatic joint mechanism 5 to move upward, so that the loop yarn segment is slid upward and is inserted into the steel ring from the opening of the steel ring;

[0088] Step nine, the clamping cylinder 54 releases the standby yarn, the six-degree-of-freedom mechanical arm 2 drives the automatic joint mechanism 5 to move backward, so that the standby yarn is pulled out a segment, and the arm-mounted industrial camera 43 judges whether the standby yarn is successfully inserted into the steel ring through the shape of the standby yarn;

[0089] Step ten, if it is judged that the standby yarn is successfully inserted into the steel ring, the six-degree-of-freedom mechanical arm 2 drives the automatic joint mechanism 5 to move upward, so that the standby yarn passes through the air loop and the guide hook in turn, the standby yarn is automatically separated from the shift fork 56 in the upward movement of the automatic joint mechanism 5, and the standby yarn is only moved by the yarn outlet pipe 57;

[0090] Step eleven, the six-degree-of-freedom mechanical arm 2 drives the automatic joint mechanism 5 to continue to move upward, drives the standby yarn into the front roller, and twists the broken yarn;

[0091] Step twelve, six degrees of freedom robot arm 2 drive automatic joint mechanism 5 move backward, cutting air cylinder 55 drive blade 59 inserted into the cutting edge cut standby yarn, the head method joint is completed, brake rudder 61 drive the release of broken yarn spindle brake device.

[0092] The above examples are only illustrative of the present application, and do not limit its protection scope, and the skilled in the art can also change it locally, as long as it does not exceed the spirit and essence of the present application, it is within the protection scope of the present application.

Claims

1. A ring spinning yarn piecing robot positioning control system, characterized by, The application relates to an automatic head forming robot for ring spinning machines, which comprises the following parts: An AGV guiding vehicle (1), a terminal actuator (5) connected with the AGV guiding vehicle (1) through a six-degree-of-freedom mechanical arm (2), the terminal actuator (5) being used for performing the functions of forming a reserve yarn, positioning a steel ring, threading the reserve yarn through the steel ring and twisting the reserve yarn with a broken yarn, the AGV guiding vehicle (1) being used for receiving planned walking path information and feedback position information and driving to the broken yarn spindle according to the walking path; A sensing system, which comprises 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 guiding vehicle (1) and being used for identifying the walking path of the AGV guiding vehicle (1) and identifying the ring spinning machine where the broken yarn occurs, the fixed industrial camera (42) being arranged at the top end of the AGV guiding vehicle (1) and being used for identifying the broken yarn spindle, and the arm-mounted industrial camera (43) being arranged at the terminal end of the six-degree-of-freedom mechanical arm (2) and being used for observing the state of the reserve yarn and the steel ring; A remote monitoring PC, which is used for monitoring the working state of the yarn spindle and the position and working state of the working site of the automatic head forming robot; An action control system, which comprises a decision host computer, a PLC and a switch, the decision host computer, the AGV guiding vehicle (1), the arm-mounted industrial camera (43), the fixed industrial camera (42), the vehicle-mounted industrial camera (41), the terminal actuator (5), the six-degree-of-freedom mechanical arm (2) and the PLC establishing signal transmission through the switch respectively, and the remote monitoring PC and the decision host computer establishing signal transmission. The end effector (5) comprises a shell (51), a yarn outlet pipe (57), a yarn tension pipe, a clamping cylinder (54), a loop blowing pipe (58), a cycloidal steering engine and a yarn breaking device, the loop blowing pipe (58) is arranged at the left part of the shell (51), the front part of the loop blowing pipe (58) is bent upward, the yarn outlet pipe (57) and the yarn tension pipe are arranged at the right part of the shell (51), the yarn outlet pipe (57) and the yarn tension pipe are both Venturi pipe structure members, the diffusion section of the yarn outlet pipe (57) is arranged forward, the diffusion section of the yarn tension pipe is arranged backward, the contraction section of the yarn outlet pipe (57) is coaxial with the contraction section of the yarn tension pipe, a first air inlet is arranged on one side of the throat of the yarn outlet pipe (57), a first air valve is arranged on the first air inlet, a second air inlet is arranged on one side of the throat of the yarn tension pipe, a second air valve (53) is arranged on the second air inlet, the rear part of the loop blowing pipe (58) is connected with a third air valve, the first air valve, the second air valve (53) and the third air valve are respectively connected with an air pump, a fixed clamping piece is arranged on one side of the shell (51) between the yarn outlet pipe (57) and the yarn tension pipe, a clamping cylinder (54) is arranged on the other side of the shell (51) between the yarn outlet pipe (57) and the yarn tension pipe, a soft pad is arranged on the piston rod of the clamping cylinder (54), the piston rod of the clamping cylinder (54) is controlled to extend or retract to control the clamping or separation of the soft pad and the fixed clamping piece, the air inlet of the clamping cylinder is connected with the air pump through a fourth air valve, the cycloidal steering engine is connected with the shell (51), one end of a swing arm (52) is connected with the output shaft of the cycloidal steering engine, the other end of the swing arm (52) is connected with the upper end of a yoke (56), the lower end of the yoke (56) is lower than the yarn outlet pipe (57), when the swing arm (52) swings horizontally, the yoke (56) moves in an arc between the right side of the yarn outlet pipe (57) and the left side of the loop blowing pipe (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 with the air pump through a fifth air valve, the blade (59) is connected with the piston rod of the cutting cylinder (55), the cutting cylinder (55) is fixed on the shell, one side of the yarn outlet pipe is provided with a cutting inlet, the cutting cylinder (55) controls the blade (59) to insert into the cutting inlet to cut the standby yarn or to retract; The auxiliary yarn feeding device (3) comprises a servo motor (33) and a standby yarn spindle (31), the servo motor (33) is installed on the AGV guide vehicle (1), the standby yarn spindle (31) is connected with the output shaft of the servo motor (33), the standby yarn is wound on the standby yarn spindle (31), one end of the standby yarn is inserted into the diffusion section of the yarn tension pipe and is inserted out of the diffusion section of the yarn outlet pipe (57).

2. A ring spinning auto piecing robot positioning control system as claimed in claim 1 wherein: Several ring spinning machines are arranged on a work site, a main trunk path of the automatic piecing robot is planned on the ground of the work site, a branch trunk path of the automatic piecing robot is planned on the ground in front of each ring spinning machine, the branch trunk paths are connected with the main trunk path respectively, the branch trunk paths and the main trunk path form a moving track of the automatic piecing robot, a guide color bar is laid along the main trunk path and the branch trunk paths, a machine position color block matched with the corresponding ring spinning machine is laid at the intersection of each branch trunk path and the main trunk path, a yarn spindle position color block matched with the yarn spindle is pasted on the ring traveler plate of each yarn spindle, a vehicle-mounted industrial camera (41) identifies the walking path of the AGV guide vehicle (1) by identifying the guide color bar, the vehicle-mounted industrial camera (41) identifies the ring spinning machine where the yarn breakage occurs by identifying the machine position color block, and a fixed industrial camera (42) identifies the yarn breakage yarn spindle by identifying the yarn spindle position color block.

3. A ring spinning auto piecing robot positioning control system as claimed in claim 2 wherein: The guide color bar is a color bar provided with two kinds of alternating colors, and the machine position color block and the yarn spindle position color block are both black and white color blocks in the form of Apriltag two-dimensional codes.

4. A ring spinning auto piecing robot positioning control system as claimed in claim 3 wherein: The decision-making host computer is a Raspberry Pi 4B.

5. A ring spinning auto piecing robot positioning control system as claimed in claim 4 wherein: The brake mechanism (6) includes a brake steering engine (61) installed on the AGV guide vehicle (1), and the installation height of the brake steering engine (61) is matched with the height of the brake device of the yarn breakage yarn spindle, a paddle (62) is arranged on the output shaft of the brake steering engine (61), and the brake steering engine (61) is electrically connected with the PLC, so that the brake mechanism (6) is controlled by the PLC to brake or release the brake device of the yarn breakage yarn spindle.

6. A ring spinning automatic piecing robot positioning control system piecing method, relying on the ring spinning automatic piecing robot positioning control system of claim 5 to implement, characterized in that, The method comprises the following steps: Step one, the remote monitoring PC obtains the position number of the yarn breakage yarn spindle and sends it to the decision-making host computer; Step two, the decision-making host computer determines the yarn breakage yarn spindle position to be visited by using the greedy algorithm, plans a walking path to the yarn breakage yarn spindle according to the moving track of the automatic piecing robot, and sends the walking path data information to the AGV guide vehicle; Step three, the AGV guide vehicle (1) drives to the yarn breakage 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 four, in the moving process of the automatic piecing robot, the vehicle-mounted industrial camera (41) identifies the guide color bar, the vehicle-mounted industrial camera (41) sends the signal data to the decision-making host computer in real time, so that the decision-making host computer determines whether the driving deviates, when the vehicle-mounted industrial camera (41) identifies the machine position color block corresponding to the ring spinning machine where the yarn breakage occurs, the vehicle-mounted industrial camera (41) sends the signal data to the decision-making host computer, the decision-making host computer decides to turn from the main trunk path into the branch trunk path corresponding to the ring spinning machine where the yarn breakage occurs, and when the fixed industrial camera (42) identifies the yarn spindle position color block corresponding to the yarn breakage yarn 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 make the AGV guide vehicle (1) stop; Step five, the arm-mounted industrial camera (43) identifies the position information of the yarn breakage yarn spindle, the ring traveler plate, the front roller and the loop. Step six, the six degrees of freedom robot arm (2) drives the automatic joint mechanism (5) to approach the broken yarn spindle, so that the out yarn pipe (57) is tangent to the left side of the broken yarn spindle, the servo motor (33) is started, the standby spindle (31) is rotated to feed the yarn, the first air valve is opened, the air pump blows air into the out yarn pipe (57) through the first air inlet, the standby yarn moves forward under the action of the airflow, and the standby yarn passing through the out yarn pipe (57) keeps the same direction with the airflow, forming a certain length of suspended straight line; Step seven, the standby yarn is close to the rotating broken yarn spindle, so that the standby yarn is wound on the broken yarn spindle from the rotating forward side of the broken yarn spindle, the second air valve (53) is opened, the air pump blows air into the yarn tension pipe through the second air inlet, the standby yarn obtains tension and is pulled straight back under the action of the airflow; Step eight, the standby yarn is stably wound on the broken yarn spindle to complete the starting, the brake steering wheel (61) is first started, the brake steering wheel (61) drives the brake device of the broken yarn spindle through the toggle (62) to stop the broken yarn spindle and stop the winding of the standby yarn, then the second air valve (53) is closed to stop blowing air into the yarn tension pipe, and the fixed clamping piece and the soft pad are clamped to the standby yarn through the clamping cylinder (54); Step nine, the cycloidal steering wheel works, the cycloidal steering wheel drives the swing arm (52) to swing, and further drives the yoke (56) to move from the right end to the left end of the arc motion path, the yoke (56) pokes the standby yarn to the left in the moving process, and the standby yarn forms a loop yarn segment between the yoke (56) and the out yarn pipe (57); Step ten, the six degrees of freedom robot arm (2) drives the automatic joint mechanism (5) to move right, and controls the front end of the automatic joint mechanism (5) to be downward inclined, so that the blowing ring air pipe (58) faces the left upper end surface of the ring, and the loop yarn segment is attached to the outer periphery of the front part of the ring; Step eleven, the blowing ring air pipe (58) blows airflow on the ring, and forms a circulating flow, the ring travels along the ring under the action of the circulating flow, and the ring stays at the front part of the ring; Step twelve, the six degrees of freedom robot arm (2) drives the automatic joint mechanism (5) to move upward, so that the loop yarn segment slides upward along the outer periphery of the ring, and is inserted into the ring from the opening of the ring; Step thirteen, the clamping cylinder (54) releases the standby yarn, the six degrees of freedom robot arm (2) drives the automatic joint mechanism (5) to move backward, so that the standby yarn is pulled out for a period of time, and the arm-mounted industrial camera (43) judges whether the standby yarn is successfully inserted into the ring through the shape of the standby yarn; Step fourteen, if it is judged that the standby yarn is successfully inserted into the ring, the six degrees of freedom robot arm (2) drives the automatic joint mechanism (5) to move upward, so that the standby yarn passes through the air ring and the guide hook in turn, in the upward moving process of the automatic joint mechanism (5), the standby yarn is automatically separated from the yoke (56), and the standby yarn is only moved by the out yarn pipe (57); Step fifteen, the six degrees of freedom robot arm (2) drives the automatic joint mechanism (5) to continue to move upward, drives the standby yarn to enter the front roller, and twists with the broken yarn. Step sixteen, six degrees of freedom robot arm (2) drive automatic joint mechanism (5) move backward, cutting air cylinder (55) drive blade (59) inserted into the cutting edge cut standby yarn, the head method joint is completed, brake rudder (61) drive the release of broken yarn spindle brake device.

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