Residual yarn detection device and detection method for automatic winder

Abstract

The invention discloses a residual yarn detection device and method for an automatic winder, and the device comprises a bobbin lifting device in a bobbin drawing device, a bobbin drawing middle section, a residual yarn separation device, a residual yarn detection assembly and a controller, and is characterized in that the bobbin drawing middle section comprises a middle section protection plate and a middle section origin sensor; a color detection sensor in the residual yarn detection assembly is arranged on a mounting frame located at the position of a middle section of a drawing tube, a middle section origin sensor is used for sending a signal to a controller when detecting that a middle section protection plate leaves an origin position, and the controller starts the color detection sensor to start detecting a bobbin. When the residual yarn tube passes through the detection area, the color detection sensor is triggered to send out a signal, the controller controls the residual yarn separation device to output the residual yarn tube from the independent channel, and separation of the residual yarn tube and the empty tube is achieved. The residual yarn is detected in a non-contact detection mode, interference of a bobbin step on the detection process is avoided, the detection accuracy is high, the manufacturing cost is low, and the service life is long.

Description

Technical Field

[0001] The invention belongs to the technical field of textile machinery, and relates to the improvement of an automatic winding machine, in particular to a residual yarn detection device and a detection method for the automatic winding machine. Background Art

[0002] The main function of the automatic winding machine is to wind small-capacity bobbins into large-capacity bobbins. During the unwinding process of the bobbins, a small amount of bobbins with a small amount of residual yarn will be produced, which is called residual yarn. Since the amount of yarn on the residual yarn is small, the common treatment method in the actual production process is to remove it. In the process of bobbin removal, in order to avoid the residual yarn and the empty tube from mixing with each other, the empty tube and the residual yarn tube are automatically pulled out by a special tube pulling device. In order to return to the previous process for reuse, the residual yarn tube must be separated from the empty tube, which requires the residual yarn to be detected.

[0003] In the existing automatic winding machine, there are usually two ways to detect the residual yarn. One is to use an image sensor for judgment, which is highly accurate but very expensive. The other is a residual yarn detection device composed of a probe wire and a torsion spring device proposed in a Chinese patent (application number: 201910657034.0). The patent discloses a residual yarn detection device and a detection method for an automatic winding machine, including: a tray, a tube pulling belt, a tube pulling clamp wheel, a bobbin lower pressure plate, a residual yarn detection assembly, a bobbin middle pressure plate, a residual yarn discharge channel, a bobbin upper pressure plate, an empty tube discharge channel and a controller. The residual yarn detection assembly is installed on the bobbin middle pressure plate, including: a residual yarn probe, a sensor, a probe balance bracket, the sensor is connected to the controller, and the residual yarn probe includes a probe and a probe wire. When the bobbin passes through the middle pressure plate, the steel wire on the probe rubs against the bobbin to generate an upward friction force. According to the magnitude of the friction force, it is judged whether the bobbin has residual yarn. If it is an empty bobbin, it enters the empty bobbin discharge channel, and if it is a bobbin with residual yarn, it enters the residual yarn discharge channel. This patent mainly uses a probe wire and a torsion spring device to detect residual yarn. However, the residual yarn detection device of this patent has the following defects in the actual production process: 1. The purpose of detection cannot be achieved for bobbins with steps. Due to the existence of steps, all empty bobbins can trigger the detection sensor, resulting in the empty bobbins being misjudged as residual bobbins; 2. It is difficult to detect bobbin yarn with very little residual yarn; 3. The probe wire directly rubs against the empty tube or the bobbin each time it is tested, which results in a short service life of the mechanical parts.

[0004] How to design a residual yarn detection device and detection method for an automatic winding machine, distinguish whether the current bobbin is an empty bobbin or a residual yarn bobbin during the bobbin removal process; use a non-contact detection method to detect residual yarn, avoid the interference of bobbin steps on the detection process, have high detection accuracy, low manufacturing cost, and long service life. This is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0005] In order to solve the above-mentioned problems existing in the prior art, the present invention provides a residual yarn detection device and a detection method for an automatic winding machine, which can distinguish whether the current yarn tube is an empty tube or a residual yarn tube during the yarn tube removal process, and adopts a non-contact detection method to detect the residual yarn, thereby avoiding the interference of the yarn tube step on the detection process, and has high detection accuracy, low manufacturing cost and long service life.

[0006] The object of the present invention is achieved through the following technical solutions: a residual yarn detection device for an automatic winding machine, comprising a bobbin lifting device in a tube pulling device, a tube pulling middle section, a residual yarn separation device, a residual yarn detection component and a controller, characterized in that the tube pulling middle section comprises a middle section guard plate and a middle section origin sensor, the residual yarn detection component comprises a color detection sensor and a mounting frame, the mounting frame is arranged at the tube pulling middle section, the color detection sensor is arranged on the mounting frame, the color detection sensor and the middle section origin sensor are respectively connected to the controller, the middle section origin sensor is used to detect that the middle section guard plate leaves the origin position and sends a signal to the controller, and the controller starts the color detection sensor to start detecting the bobbin, the color detection sensor is used to perform a comprehensive top-down detection of whether there is residual yarn on the bobbin passing through the tube pulling middle section, when the residual yarn tube passes through the detection area, the color detection sensor is triggered to send a signal, and the controller controls the residual yarn separation device to output the residual yarn tube from a separate channel, so as to separate the residual yarn tube from the empty tube.

[0007] Improvement on the above technical solution: the bobbin lifting device comprises a bobbin pulling motor, a bobbin pulling belt, a bobbin pulling cylinder and a bobbin pulling clamping wheel; the control end of the bobbin pulling motor is connected to the controller; the bobbin pulling clamping wheel clamps the bobbin under the drive of the bobbin pulling cylinder; the bobbin pulling motor drives the bobbin pulling belt to rotate upward to drive the bobbin into the bobbin pulling middle section; the residual yarn separating device comprises a residual yarn separating cylinder, a residual yarn separating plate, a residual yarn slideway and an empty tube slideway; the control end of the residual yarn separating cylinder is connected to the controller; after the controller receives a signal from the color detection sensor that a residual yarn tube has passed through, the controller controls the residual yarn separating cylinder to drive the residual yarn separating plate to swing away from the bobbin pulling belt, and the residual yarn tube enters the residual yarn slideway under the action of gravity.

[0008] Further improvement of the above technical solution: the entrance of the upper end of the residual yarn slide is located above the middle section of the tube pulling, the residual yarn separation cylinder and the residual yarn separation plate are close to the entrance of the residual yarn slide, the initial position of the residual yarn separation plate is vertically set, and the residual yarn separation cylinder drives the residual yarn separation plate to swing and then be tilted at the entrance of the upper end of the residual yarn slide.

[0009] Further improvement to the above technical solution: the tube pulling motor is located above the residual yarn separation plate, the empty tube slide is inclined, and the entrance at the upper end of the empty tube slide is higher than the tube pulling motor.

[0010] Further improvement of the above technical solution: the controller includes a detection module and a control module, the control module is used to receive a signal from the middle section origin sensor that the middle section guard plate leaves the origin position, and start the color detection sensor to start detecting the yarn tube, the detection module is used to receive a signal from the color detection sensor that there is residual yarn in the yarn tube, and control the residual yarn separation cylinder through the control module to drive the residual yarn separation plate to swing.

[0011] Further improvement to the above technical solution: the color detection sensor is a color CCD sensor or a color CMOS sensor or an RGB color sensor.

[0012] The detection method of the residual yarn detection device of the automatic winding machine of the present invention is characterized in that the detection method comprises the following steps: Step 1: The bobbin lifting device lifts the bobbin and allows it to enter the tube pulling device; Step 2: During the bobbin lifting process, the bobbin will pass through the detection area covered by the color detection sensor. At this time, the middle section guard plate of the bobbin pulling middle section will leave the original position due to the entry of the bobbin; Step 3: When the middle section guard plate leaves the origin, the color detection sensor is started to detect the yarn tube passing through the detection area. If the color detection sensor is triggered, the yarn tube is identified as a residual yarn tube, and the controller controls the residual yarn separation device to output the residual yarn tube separately; if the color detection sensor is not triggered until the yarn tube leaves the middle section guard plate, the yarn tube is identified as an empty tube, so that the residual yarn tube and the empty tube are separated. Furthermore, the detection method comprises the following specific steps: Step 1: When the yarn tube is transported to the tube pulling station of the tube pulling device, the tube pulling motor is started, and the tube pulling belt runs upward under the drive of the tube pulling motor; Step 2: The tube pulling clamping wheel clamps the yarn tube under the drive of the tube pulling cylinder, and the yarn tube moves upward along the direction of the tube pulling belt under the action of the tube pulling belt and enters the tube pulling device; Step 3: After the bobbin enters the tube pulling device, it enters the tube pulling middle section along the tube pulling belt. When the bobbin enters the tube pulling middle section, the middle section guard plate leaves the origin position due to the entry of the bobbin. At this time, the middle section origin sensor will not detect the middle section guard plate. Step 4: When the middle section origin sensor cannot detect any signal, the color detection sensor starts to detect the yarn tube passing through the middle section of the tube pulling. Each part of the yarn tube will gradually pass through the detection area of ​​the color detection sensor, realizing a comprehensive detection of the yarn tube from top to bottom; Step 5: If there is residual yarn on the bobbin, when the residual yarn part passes through the detection area of ​​the color detection sensor, the residual yarn color will trigger the color detection sensor and transmit the residual yarn signal of the bobbin to the controller. At this time, the current bobbin is judged to be a residual yarn bobbin; if there is no residual yarn on the bobbin, until the bobbin leaves the middle section of the bobbin and the middle section guard plate returns to the origin, the color detection sensor will not be triggered. At this time, the current bobbin is judged to be an empty bobbin; S Step 6: The controller determines that the current yarn tube is a residual yarn tube, and drives the residual yarn separation plate to swing away from the tube pulling belt by controlling the residual yarn separation cylinder; when the residual yarn tube leaves the middle section of the tube pulling, the residual yarn separation plate has no control effect on the residual yarn tube, and the residual yarn tube enters the residual yarn slideway under the action of gravity; when the controller determines that the current yarn tube is an empty tube, when the empty tube leaves the middle section of the tube pulling, since the residual yarn separation plate is not away from the tube pulling belt, the empty tube continues to move upward under the control of the residual yarn separation plate, and finally enters the empty tube slideway from the top of the tube pulling belt.

[0013] The advantages and positive effects of the present invention compared with the prior art are: 1. The color sensor used in the present invention is a light sensor. During operation, the color sensor does not need to be in direct contact with the object being measured. Compared with the detection mechanism using a wire probe and a torsion spring, its service life is longer; compared with the detection mechanism using an image sensor, its production cost is lower; 2. The color sensor used in the present invention detects the color of the residual yarn on the bobbin, so the bobbin with steps has no effect on the detection result of the color sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of a residual yarn detection device for an automatic winding machine of the present invention; Figure 2 The present invention is a flowchart of a detection method of a residual yarn detection device for an automatic winding machine.

[0015] The numbers in the figure are: 1. tube pulling clamp wheel; 2. tube pulling belt; 3. middle section origin sensor; 4. middle section guard plate; 5. color detection sensor; 6. residual yarn slide; 7. residual yarn separation plate; 8. empty tube slide; 9. residual yarn separation cylinder; 10. tube pulling cylinder; 11. tube pulling motor; 12. tube pulling middle section. DETAILED DESCRIPTION

[0016] The present invention is further described in detail below in conjunction with the accompanying drawings: See also Figure 1 , Figure 2 The embodiment of the residual yarn detection device of the automatic winding machine of the present invention comprises a bobbin lifting device in the bobbin pulling device, a bobbin pulling middle section 12, a residual yarn separation device, a residual yarn detection component and a controller, wherein the bobbin pulling middle section 12 comprises a middle section guard plate 4 and a middle section origin sensor 3. The residual yarn detection component comprises a color detection sensor 5 and a mounting frame, wherein the mounting frame is arranged at the bobbin pulling middle section 12, and the color detection sensor 5 is arranged on the mounting frame, and the color detection sensor 5 and the middle section origin sensor 3 are respectively connected to the controller. The middle section origin sensor 3 is used to send a signal to the controller when the middle section guard plate 4 leaves the origin position, and the controller starts the color detection sensor 5 to start detecting the bobbin. The color detection sensor 5 is used to perform a comprehensive top-to-bottom detection of whether there is residual yarn on the bobbin passing through the bobbin pulling middle section 12, and when the residual yarn bobbin passes through the detection area, the color detection sensor 5 is triggered to send a signal, and the controller controls the residual yarn separation device to output the residual yarn bobbin from a separate channel, so as to separate the residual yarn bobbin from the empty bobbin.

[0017] Specifically, the bobbin lifting device includes a bobbin pulling motor 11, a bobbin pulling belt 2, a bobbin pulling cylinder 10 and a bobbin pulling clamping wheel 1. The control end of the bobbin pulling motor 11 is connected to the controller. The bobbin pulling clamping wheel 1 clamps the bobbin under the drive of the bobbin pulling cylinder 10. The bobbin pulling motor 11 drives the bobbin pulling belt 2 to rotate upward to drive the bobbin into the bobbin pulling middle section 12. The residual yarn separation device includes a residual yarn separation cylinder 9, a residual yarn separation plate 7, a residual yarn slide 6 and an empty tube slide 8. The control end of the residual yarn separation cylinder 9 is connected to the controller. After receiving the signal from the color detection sensor 5 that a residual yarn tube has passed, the controller controls the residual yarn separation cylinder 9 to drive the residual yarn separation plate 7 to swing away from the bobbin pulling belt 2, and the residual yarn tube enters the residual yarn slide 6 under the action of gravity.

[0018] Furthermore, the entrance of the upper end of the above-mentioned residual yarn chute 6 is located above the tube pulling middle section 12, and the residual yarn separation cylinder 9 and the residual yarn separation plate 7 are close to the entrance of the residual yarn chute 6. The initial position of the residual yarn separation plate 7 is vertically set. When a residual yarn tube passes through the detection area of ​​the color detection sensor 5, the residual yarn separation cylinder 9 drives the residual yarn separation plate 7 to swing and then be tilted at the entrance of the upper end of the residual yarn chute 6 so that the residual yarn tube is not controlled by it, and the residual yarn tube enters the residual yarn chute 6 under the action of gravity.

[0019] Furthermore, the tube pulling motor 11 is located above the residual yarn separating plate 7 , the empty tube slide 8 is inclined, and the entrance at the upper end of the empty tube slide 8 is higher than the tube pulling motor 11 .

[0020] Furthermore, the above-mentioned controller includes a detection module and a control module, the control module is used to receive the signal sent by the middle section origin sensor 3 that the middle section guard plate 4 leaves the origin position, and start the color detection sensor 5 to start detecting the yarn tube; the detection module is used to receive the signal sent by the color detection sensor 5 that there is residual yarn in the yarn tube, and control the residual yarn separation cylinder 9 through the control module to drive the residual yarn separation plate 7 to swing.

[0021] Preferably, the color detection sensor is a color CCD sensor, a color CMOS sensor, or an RGB color sensor.

[0022] See also Figure 1 , Figure 2 The detection method of the residual yarn detection device of the automatic winding machine of the present invention is a specific implementation method, and the detection method comprises the following steps: Step 1: The bobbin lifting device lifts the bobbin and allows it to enter the tube pulling device; Step 2: During the bobbin lifting process, the bobbin will pass through the detection area covered by the color detection sensor 5. At this time, the middle section guard plate 4 of the bobbin pulling middle section will leave the original position due to the entry of the bobbin; Step 3: When the middle section guard plate 4 leaves the origin, the color detection sensor 5 is started to detect the yarn tube passing through the detection area. If the color detection sensor 5 is triggered, the yarn tube is identified as a residual yarn tube, and the controller controls the residual yarn separation device to output the residual yarn tube separately; if the color detection sensor 5 is not triggered until the yarn tube leaves the middle section guard plate 4, the yarn tube is identified as an empty tube, thereby realizing the separation of the residual yarn tube from the empty tube.

[0023] See also Figure 1 , Figure 2 , the embodiment of the detection method of the residual yarn detection device of the automatic winding machine of the present invention, the specific steps of the detection method are as follows: Step 1: When the yarn tube is transported to the tube pulling station of the tube pulling device, the tube pulling motor 11 is started, and the tube pulling belt 2 moves upward under the drive of the tube pulling motor 11; Step 2: The tube pulling clamping wheel 1 clamps the yarn tube under the drive of the tube pulling cylinder 10, and the yarn tube moves upward along the direction of the tube pulling belt 2 under the action of the tube pulling belt 2 and enters the tube pulling device; Step 3: After the bobbin enters the tube pulling device, it enters the tube pulling middle section 12 along the tube pulling belt 2. When the bobbin enters the tube pulling middle section 12, the middle section guard plate 4 leaves the origin position due to the entry of the bobbin. At this time, the middle section origin sensor 3 will not detect the middle section guard plate 4; Step 4: When the middle section origin sensor 3 detects no signal, the color detection sensor 5 starts to detect the yarn tube passing through the middle section of the tube removal, and each part of the yarn tube will gradually pass through the detection area of ​​the color detection sensor 5, realizing a comprehensive detection of the yarn tube from top to bottom; Step 5: If there is residual yarn on the bobbin, when the residual yarn part passes through the detection area of ​​the color detection sensor 5, the color of the residual yarn will trigger the color detection sensor 5, and transmit the residual yarn signal of the bobbin to the controller, at this time, the current bobbin is judged to be a residual yarn bobbin; if there is no residual yarn on the bobbin, until the bobbin leaves the middle section 12 of the tube pulling and the middle section guard plate 4 returns to the origin, the color detection sensor 5 will not be triggered, at this time, the current bobbin is judged to be an empty tube; S Step 6: When the controller determines that the current yarn tube is a residual yarn tube, it drives the residual yarn separation plate 4 to swing and move it away from the tube pulling belt 2 by controlling the residual yarn separation cylinder 9; when the residual yarn tube leaves the tube pulling middle section 12, the residual yarn separation plate 4 has no control effect on the residual yarn tube, and the residual yarn tube enters the residual yarn slideway under the action of gravity; when the controller determines that the current yarn tube is an empty tube, when the empty tube leaves the tube pulling middle section 12, since the residual yarn separation plate 4 is not away from the tube pulling belt 2, the empty tube continues to move upward under the control of the residual yarn separation plate 4, and finally enters the empty tube slideway 8 from the top of the tube pulling belt 2.

[0024] The working principle of the color detection sensor 5 used in the present invention is based on the color characteristics of the light reflected from the surface of the object. When the light source irradiates the surface of the object, the object will reflect light of a specific wavelength according to its own color characteristics. These reflected lights are received by the photosensitive elements in the color recognition sensor and converted into electrical signals. Subsequently, the signal processing circuit amplifies, filters, digitizes, etc. these electrical signals, and accurately recognizes and analyzes the color of the object through a specific color recognition algorithm (such as RGB algorithm, HSV algorithm, etc.).

[0025] Typically, a broad wavelength of light is used to illuminate an object and the reflected light is detected. By counting the wavelengths of the light that is reflected back, the color of the object can be determined.

[0026] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A residual yarn detection device for an automatic winding machine, comprising a tube lifting device in a tube pulling device, a tube pulling middle section, a residual yarn separation device, a residual yarn detection component and a controller, characterized in that: The middle section of the tube pulling includes a middle section guard plate and a middle section origin sensor, the residual yarn detection component includes a color detection sensor and a mounting frame, the mounting frame is arranged at the middle section of the tube pulling, the color detection sensor is arranged on the mounting frame, the color detection sensor and the middle section origin sensor are respectively connected to the controller, the middle section origin sensor is used to send a signal to the controller when detecting that the middle section guard plate leaves the origin position, and the controller starts the color detection sensor to start detecting the yarn tube, the color detection sensor is used to perform a comprehensive top-down detection on whether there is residual yarn on the yarn tube passing through the middle section of the tube pulling, when the residual yarn tube passes through the detection area, the color detection sensor is triggered to send a signal, and the controller controls the residual yarn separation device to output the residual yarn tube from a separate channel, so as to separate the residual yarn tube from the empty tube.

2. The residual yarn detection device for the automatic winding machine according to claim 1 is characterized in that: The bobbin lifting device comprises a bobbin pulling motor, a bobbin pulling belt, a bobbin pulling cylinder and a bobbin pulling clamping wheel. The control end of the bobbin pulling motor is connected to the controller. The bobbin pulling clamping wheel clamps the bobbin under the drive of the bobbin pulling cylinder. The bobbin pulling motor drives the bobbin pulling belt to rotate upward to drive the bobbin into the bobbin pulling middle section. The residual yarn separating device comprises a residual yarn separating cylinder, a residual yarn separating plate, a residual yarn slideway and an empty tube slideway. The control end of the residual yarn separating cylinder is connected to the controller. After the controller receives a signal from the color detection sensor that a residual yarn tube has passed, the controller controls the residual yarn separating cylinder to drive the residual yarn separating plate to swing away from the bobbin pulling belt, and the residual yarn tube enters the residual yarn slideway under the action of gravity.

3. The residual yarn detection device for the automatic winding machine according to claim 2, characterized in that: The entrance of the upper end of the residual yarn slide is located above the middle section of the tube pulling, the residual yarn separation cylinder and the residual yarn separation plate are close to the entrance of the residual yarn slide, the residual yarn separation plate is initially set vertically, and the residual yarn separation cylinder drives the residual yarn separation plate to swing and then be tilted at the entrance of the upper end of the residual yarn slide.

4. The residual yarn detection device for an automatic winding machine according to any one of claims 1 to 3, characterized in that: The tube pulling motor is located above the residual yarn separation plate, the empty tube slideway is inclined, and the entrance at the upper end of the empty tube slideway is higher than the tube pulling motor.

5. The residual yarn detection device for an automatic winding machine according to any one of claims 1 to 3, characterized in that: The controller includes a detection module and a control module. The control module is used to receive a signal from the middle section origin sensor that the middle section guard plate leaves the origin position, and start the color detection sensor to start detecting the yarn tube. The detection module is used to receive a signal from the color detection sensor that there is residual yarn in the yarn tube, and control the residual yarn separation cylinder through the control module to drive the residual yarn separation plate to swing.

6. The residual yarn detection device for the automatic winding machine according to claim 4, characterized in that: The controller includes a detection module and a control module. The control module is used to receive a signal from the middle section origin sensor that the middle section guard plate leaves the origin position, and start the color detection sensor to start detecting the yarn tube. The detection module is used to receive a signal from the color detection sensor that there is residual yarn in the yarn tube, and control the residual yarn separation cylinder through the control module to drive the residual yarn separation plate to swing.

7. The residual yarn detection device for an automatic winding machine according to any one of claims 1 to 3, characterized in that: The color detection sensor is a color CCD sensor, a color CMOS sensor, or an RGB color sensor.

8. The residual yarn detection device for the automatic winding machine according to claim 6, characterized in that: The color detection sensor is a color CCD sensor, a color CMOS sensor, or an RGB color sensor.

9. A detection method for the residual yarn detection device of the automatic winding machine according to any one of claims 1 to 8, characterized in that: The detection method includes the following steps: Step 1: The bobbin lifting device lifts the bobbin and allows it to enter the tube pulling device; Step 2: During the bobbin lifting process, the bobbin will pass through the detection area covered by the color detection sensor. At this time, the middle section guard plate of the bobbin pulling middle section will leave the original position due to the entry of the bobbin; Step 3: When the middle section guard plate leaves the origin, the color detection sensor is started to detect the yarn tube passing through the detection area. If the color detection sensor is triggered, the yarn tube is identified as a residual yarn tube, and the controller controls the residual yarn separation device to output the residual yarn tube separately; if the color detection sensor is not triggered until the yarn tube leaves the middle section guard plate, the yarn tube is identified as an empty tube, and the residual yarn tube is separated from the empty tube.

10. The detection method of the residual yarn detection device of the automatic winding machine according to claim 9, characterized in that: The detection method includes the following specific steps: Step 1: When the yarn tube is transported to the tube pulling station of the tube pulling device, the tube pulling motor is started, and the tube pulling belt runs upward under the drive of the tube pulling motor; Step 2: The tube pulling clamping wheel clamps the yarn tube under the drive of the tube pulling cylinder, and the yarn tube moves upward along the direction of the tube pulling belt under the action of the tube pulling belt and enters the tube pulling device; Step 3: After the bobbin enters the tube pulling device, it enters the tube pulling middle section along the tube pulling belt. When the bobbin enters the tube pulling middle section, the middle section guard plate leaves the origin position due to the entry of the bobbin. At this time, the middle section origin sensor will not detect the middle section guard plate. Step 4: When the middle section origin sensor cannot detect any signal, the color detection sensor starts to detect the yarn tube passing through the middle section of the tube pulling. Each part of the yarn tube will gradually pass through the detection area of ​​the color detection sensor, realizing a comprehensive detection of the yarn tube from top to bottom; Step 5: If there is residual yarn on the bobbin, when the residual yarn part passes through the detection area of ​​the color detection sensor, the residual yarn color will trigger the color detection sensor and transmit the residual yarn signal of the bobbin to the controller. At this time, the current bobbin is judged to be a residual yarn bobbin; if there is no residual yarn on the bobbin, until the bobbin leaves the middle section of the bobbin and the middle section guard plate returns to the origin, the color detection sensor will not be triggered. At this time, the current bobbin is judged to be an empty bobbin; S Step 6: The controller determines that the current yarn tube is a residual yarn tube, and drives the residual yarn separation plate to swing away from the tube pulling belt by controlling the residual yarn separation cylinder; when the residual yarn tube leaves the middle section of the tube pulling, the residual yarn separation plate has no control effect on the residual yarn tube, and the residual yarn tube enters the residual yarn slideway under the action of gravity; when the controller determines that the current yarn tube is an empty tube, when the empty tube leaves the middle section of the tube pulling, since the residual yarn separation plate is not away from the tube pulling belt, the empty tube continues to move upward under the control of the residual yarn separation plate, and finally enters the empty tube slideway from the top of the tube pulling belt.

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