Ring spinning automatic joint robot and humanoid joint method thereof

Abstract

The invention discloses a ring spinning automatic joint robot and a humanoid joint method thereof, and relates to the technical field of ring spinning automatic joint. The automatic jointing robot for ring spinning comprises at least two mechanical arms, the two mechanical arms are a bobbin taking, placing and unwinding mechanical arm and a broken yarn separating and capturing mechanical arm respectively, the tail end of the bobbin taking, placing and unwinding mechanical arm is connected with a bobbin taking, placing and unwinding tail end executor, and the tail end of the broken yarn separating and capturing mechanical arm is connected with a broken yarn separating and capturing tail end executor; the bobbin taking, placing and unwinding mechanical arm has the functions of stirring a spindle brake, clamping, taking and placing a bobbin, unwinding the bobbin, stirring a yarn guide hook and the like, and the broken yarn separating and capturing mechanical arm has the functions of separating and capturing broken ends, threading a steel wire ring, stirring the yarn guide hook and the like. According to the invention, the jointing process is shortened, the real jointing process is realized, the problems of abnormal cop forming and easy secondary end breakage after jointing are solved, the workload of the spooling process is reduced, and the production efficiency of the spooling process is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic piecing of ring spinning, and in particular relates to an automatic piecing robot for ring spinning and a humanoid piecing method thereof. Background Art

[0002] In ring spinning production, yarn breakage is inevitable. After the breakage, the broken yarn ends will be wrapped around the bobbin. To resume spinning operations, there are currently two main jointing processes. One process is yarn-finding jointing, that is, finding the ends first and then jointing. This type of process requires stopping the broken yarn spindle, then separating and capturing the broken ends on the broken yarn bobbin, and passing the broken ends through the wire ring, the balloon ring, and the yarn guide hook in turn, and finally pulling the broken ends to the front roller to complete the joint. Another process is the spare yarn joint, that is, in order to resume the spinning operation, a new yarn or a spare tube of yarn with a ready yarn head is directly used for the joint. It should be noted that the so-called "heading" in the industry is also this kind of process. This kind of process does not require finding the head, but first directly wraps one end of the yarn around the broken yarn tube, then passes the other end of the yarn through the wire ring and the balloon ring, and then wraps it around the yarn guide hook, and finally pulls it to the front roller to complete the joint; or replace the original broken head tube with a spare tube, then pass the yarn end of the spare tube through the wire ring and the balloon ring, and then wrap it around the yarn guide hook, and finally pull it to the front roller to complete the joint. The above two processes each have their own characteristics.

[0003] Regarding the yarn-finding and yarn-joining process, the prior art invention patent CN113939619B discloses a service robot for ring spinning and its operation method, which adopts the yarn-finding and yarn-joining process. When a broken end is detected, the service robot is positioned at the corresponding broken end spindle position, and the spindle brake device disconnects the spindle belt driving the spindle or directly stops the spindle; then, the yarn guide hook toggle device lifts the yarn guide hook, and the bobbin handling device pulls out the broken yarn bobbin and places it on the unwinding device; then, the fine yarn traction and capture device searches for and captures the broken ends on the broken yarn bobbin; finally, the wire ring threading device passes the yarn through the wire ring, and the fine yarn traction and capture device passes the broken ends through the balloon ring and winds them into the yarn guide hook, and finally puts them into the jaws between the front roller and the front drafting roller to complete the joint. The disadvantage of this solution is that the joint process is relatively complicated. Specifically, before the wire ring is threaded with yarn, the broken yarn bobbin needs to be put back to the original spindle position. For subsequent operations, the spun yarn needs to be passed through the balloon ring and placed outside the balloon ring, and then the wire ring is threaded, the balloon ring is threaded, the yarn is wound around the guide hook, and the spun yarn is pulled for jointing. That is, the spun yarn will pass through the balloon ring twice during the entire jointing process, which makes the jointing process longer.

[0004] Regarding the spare yarn joint process, the prior art invention patent CN113122976B discloses a ring spinning machine yarn splicing system and method and a yarn processing tool, which adopts the spare yarn joint process. When the broken end is detected, the joint device automatically positions itself to the broken end spindle position, and the broken end spindle does not need to be braked, and the bobbin is not pulled out. A six-axis industrial robot drives the joint end effector to the broken end bobbin; then, the yarn feeding nozzle cooperates with the yarn clamping element or the yarn holding device to spray the lead yarn onto the rotating bobbin, which can be the original broken end bobbin or the empty tube used for "growing ends"; then, the bobbin is braked, and the lead yarn is passed through the wire ring, the balloon ring, and wound into the yarn guide hook in turn; finally, the lead yarn is pulled to the jaws between the front roller and the front drafting roller to complete the joint. The disadvantage of this solution is that since the process essentially uses a section of joint yarn to restore the spinning process, the subsequent winding process still needs to rely on the broken ends to join, which increases the workload of the winding process and greatly reduces the production efficiency of the winding process; secondly, if the yarn is not in contact with the broken ends, it is easy to cause abnormal tube yarn formation; at the same time, a certain length of yarn is required for each yarn production, resulting in yarn waste; finally, since the yarn count is usually fixed, there may be a large difference between the broken yarn and the yarn count during the production process, which can easily cause secondary breakage. Therefore, this process is currently mainly used for the joints of high-count yarns and has certain limitations.

[0005] The present invention proposes an automatic jointing robot for ring spinning and its humanoid jointing method, which mainly adopts a jointing process imitating a stopper, which belongs to yarn-finding jointing. Specifically, when a yarn breaks at the spinning spindle, the two mechanical arms of the jointing robot imitate the jointing method and process of the double arms of the stopper, and the two mechanical arms cooperate with each other to stop the spindle in sequence, pull out the yarn guide hook, pull out the broken yarn bobbin, unwind to find the broken end, wear the wire ring, wear the air ring, put back the bobbin, pull back the yarn guide hook, wind the yarn guide hook, and finally connect the yarn back to the front roller and release the spindle at the same time to complete the joint. It realizes the connection of broken ends, shortens the jointing process, and makes the joint fast and stable. Summary of the invention

[0006] The purpose of the present invention is to provide an automatic piecing robot for ring spinning and a humanoid piecing method thereof, so as to solve the problems in the prior art proposed in the above background technology, such as complicated process in the piecing process, increased workload in the winding process leading to reduced production efficiency of the winding process, abnormal bobbin forming and easy occurrence of secondary breakage.

[0007] The purpose of the present invention is also to design an end effector that improves the reliability of the broken head separation and capture process, adopts a method of mechanical contact and vacuum airflow to improve the success rate of broken head separation and capture, and integrates the above two functions into the same end effector to reduce space occupancy.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] The first aspect of the present invention provides an automatic piecing robot for ring spinning, comprising at least two mechanical arms, the two mechanical arms being a bobbin picking and unwinding mechanical arm and a broken yarn separation and capture mechanical arm, the end of the bobbin picking and unwinding mechanical arm being connected to a bobbin picking and unwinding end effector, the end of the broken yarn separation and capture mechanical arm being connected to a broken yarn separation and capture end effector;

[0010] The bobbin taking, placing and unwinding end effector is used to clamp the broken yarn bobbin;

[0011] The broken yarn separation and capture end effector is used for separating the broken yarn ends from the broken yarn bobbin by friction, capturing the broken yarn ends by negative pressure, and passing the broken yarn ends through the wire ring.

[0012] Preferably, the bobbin taking, placing and unwinding robot arm and the broken yarn separation and capture robot arm are both robots with six degrees of freedom or more, and their configurations can be industrial robots or collaborative robots.

[0013] The above two robotic arms use six-axis industrial robotic arms to meet the posture requirements of the joint process.

[0014] Preferably, the broken yarn separation and capture end effector comprises a suction nozzle, a friction part and a fixing seat;

[0015] The end of the broken yarn separation and capture mechanical arm is connected to the fixing seat, which is a rigid connecting piece fixedly connected to the flange at the end of the broken yarn separation and capture mechanical arm.

[0016] The suction nozzle is located at the end of the yarn suction tube, the yarn suction tube is fixedly installed below the fixing seat, and the side surface of the suction nozzle is connected to the friction part.

[0017] The suction nozzle is connected to a vacuum air source (negative pressure air source component) not shown through a yarn suction tube, and is used to generate a negative pressure airflow to absorb the yarn.

[0018] Furthermore, the friction part is made of felt cloth or a flexible material with a rough surface, which is the same material as the yarn. The friction part can also prevent the suction nozzle from directly contacting the broken yarn bobbin, so as to avoid damaging the bobbin or the end effector.

[0019] Preferably, the broken yarn separation and capture end actuator further comprises an auxiliary yarn-seeking portion and a yarn-seeking portion driving mechanism; the yarn-seeking portion driving mechanism may be a linear actuator or a rotary actuator.

[0020] The auxiliary yarn-finding portion is located at one side of the friction portion, and the auxiliary yarn-finding portion is connected to the fixing seat through a yarn-finding portion driving mechanism;

[0021] When capturing broken ends, the friction part and the auxiliary yarn-finding part are respectively located on different sides of the broken yarn bobbin, and are used for rubbing the outer layer of the broken yarn bobbin in multiple directions.

[0022] Furthermore, the yarn-finding part driving mechanism adopts a linear cylinder; the auxiliary yarn-finding part is installed on the yarn-finding part driving mechanism, and can be a brush, a felt cloth of the same material as the yarn, or a flexible material with a rough surface.

[0023] Preferably, the broken yarn separation and capture end effector further comprises a nozzle, and the nozzle comprises at least one main nozzle and at least one auxiliary nozzle; the main nozzle and the auxiliary nozzle are both connected to the top of the suction nozzle;

[0024] The nozzle is installed above the suction nozzle and is connected to a positive pressure air source through a pipeline not shown to generate a blowing airflow.

[0025] The main nozzle and the auxiliary nozzle are arranged at a certain angle in space, and the angle is generally an acute angle. The auxiliary nozzle is mainly used to overcome the blind spot of the main nozzle airflow and assist the main nozzle to stably blow the wire ring to move; the airflow range of the main nozzle and the airflow range of the auxiliary nozzle cover the inner side of the steel collar ring.

[0026] Furthermore, the blowing directions of the main nozzle and the auxiliary nozzle are consistent with respect to the moving direction of the wire ring, which can be clockwise or counterclockwise.

[0027] Preferably, the bobbin taking, placing and unwinding end effector can apply an internal expansion force or an external clamping force to the top of the broken yarn bobbin.

[0028] The internal expansion force can be applied by an expansion airbag, an electric or pneumatic internal chuck, etc., and the external clamping force can be applied by an electric clamp, a pneumatic clamp or an external airbag, etc.

[0029] Further, the bobbin picking, placing and unwinding end effector comprises an internal expansion airbag, and the internal expansion airbag is connected to the end of the bobbin picking, placing and unwinding mechanical arm;

[0030] The inner expansion air bag is inserted into the top of the broken yarn bobbin and inflated to clamp the top of the broken yarn bobbin.

[0031] The second aspect of the present invention provides a humanoid piecing method of an automatic piecing robot for ring spinning, comprising the following steps:

[0032] S1, move the spindle brake to stop the spindle rod and move the yarn guide hook;

[0033] S2, using the bobbin taking and unwinding end effector to clamp the broken yarn bobbin and pull the broken yarn bobbin out from the spindle rod;

[0034] S3, unwinding the broken yarn bobbin, and at the same time separating and capturing the broken yarn, the end effector moves from bottom to top or from top to bottom along the axial direction of the broken yarn bobbin, cooperates with the unwinding action of the broken yarn bobbin, uses friction to initially separate the broken yarn ends, and uses negative pressure airflow to further separate and capture the broken yarn ends of the outer layer of the broken yarn bobbin;

[0035] S4, the broken yarn bobbin stops unwinding, and the yarn between the broken yarn bobbin and the broken yarn separation and capture end effector is controlled to pass through the wire ring; the broken yarn separation and capture end effector pulls the broken yarn to move upward and continues to pass through the balloon ring;

[0036] S5, the bobbin unwinding end effector puts the broken bobbin back to the original spindle position; pushes the yarn guide hook back to its original position;

[0037] S6, the broken yarn separation and capture end actuator pulls the broken yarn into the yarn guide hook, and continues to send the broken yarn into the clamp between the front roller and the front drafting roller; turn the spindle brake to release the spindle rod.

[0038] Preferably, the threading of the wire ring in S4 is achieved by first positioning the yarn and then threading the yarn, or by first positioning the wire ring and then threading the yarn;

[0039] Further, the yarn is positioned first and then threaded, specifically as follows:

[0040] Control the tension of the yarn between the broken yarn bobbin and the broken yarn separation and capture end effector, and the tensioned yarn is tangent to the steel collar;

[0041] The broken yarn separation and capture end effector generates airflow, and forms a circular airflow on the inner wall of the steel ring to blow the steel ring to rotate, so that the steel ring passes through the yarn that is tangent to the steel ring, and the steel ring is passed through;

[0042] Further, the method of positioning the wire ring first and then threading the yarn is specifically as follows:

[0043] The broken yarn separation and capture end effector generates airflow, and forms an annular airflow on the inner wall of the steel ring to blow the steel ring to rotate; the steel ring moves to the position where the friction part of the broken yarn separation and capture end effector contacts the steel ring, so as to position the steel ring;

[0044] The yarn located between the broken yarn bobbin and the broken yarn separation and capture end effector is controlled to penetrate into the positioned wire ring, thereby completing the wire ring penetration.

[0045] Preferably, the spindle brake in S1 and S6 is toggled by a bobbin taking and unwinding mechanical arm or a broken yarn separation and capture mechanical arm, or by a separately arranged auxiliary brake mechanism.

[0046] Furthermore, the auxiliary braking mechanism includes a swing cylinder and a lever, which are used to move the spindle brake to brake and release the spindle rod.

[0047] Preferably, the broken yarn bobbin is unwound in S3 by driving the sixth axis of the bobbin taking and placing unwinding robot arm to unwind the broken yarn bobbin, or by separately setting an auxiliary unwinding mechanism.

[0048] Furthermore, the auxiliary unwinding mechanism includes an unwinding motor and an unwinding spindle, which are used for unwinding the broken yarn bobbin.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] (1) In view of the fact that a skilled joint worker can complete the joint of a single spindle in about 6 seconds, the present invention is inspired by this, imitates the joint method and process of the car stopper, adopts a double mechanical arm to cooperate with the joint, and proposes a new joint method and process, which can be used for jointing with the shortest joint process. The present invention can shorten the joint process by cooperating with the double mechanical arm to realize the real joint process, solve the problem of abnormal bobbin formation and easy secondary breakage after the joint, and at the same time reduce the workload of the winding process and improve the production efficiency of the winding process.

[0051] (2) In the present invention, a friction part and an auxiliary yarn-finding part are designed in the broken yarn separation and capture end effector of the joint robot, so that the functions of separating and capturing the broken yarn ends by the broken yarn separation and capture end effector are realized by the method of negative pressure adsorption and contact friction. During the capturing process, in coordination with the unwinding of the bobbin, the auxiliary yarn-finding part and the friction part are close to the broken yarn bobbin and rub the outer layer of the bobbin yarn to initially separate the broken yarn ends, and then the negative pressure airflow at the suction nozzle is used to further separate the broken yarn ends. This can improve the success rate and stability of the broken yarn separation and capture.

[0052] (3) The friction part designed in the present invention can also be used in the wire ring threading process to adopt a method of first positioning the wire ring and then threading the yarn. The wire ring is rotated by blowing the annular airflow to move to the position where the friction part of the end actuator of the broken yarn separation and capture contacts the steel collar ring, which is used to position the wire ring.

[0053] (4) In the present invention, a main nozzle and a sub-nozzle are designed in the end effector of the yarn separation and capture of the joint robot. The sub-nozzle is used to overcome the blind spot of the main nozzle airflow and assist the main nozzle to stably blow the wire ring movement; the main and sub-nozzles blow air intermittently to position the wire ring or thread the wire ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 Schematic diagram of the relative positions of the spinning frame and the piecing robot in Example 1 of the present invention;

[0055] Figure 2 This is a schematic diagram of the interrupted yarn separation and capture end effector according to Example 1 of the present invention;

[0056] Figure 3 It is a schematic diagram of the mechanical arm moving the spindle brake to stop the spindle and moving the yarn guide hook in Example 1 of the present invention;

[0057] Figure 4 It is a schematic diagram of the robot arm taking out the broken yarn bobbin from the spindle position in Example 1 of the present invention;

[0058] Figure 5 It is a schematic diagram of unwinding and finding broken ends of interrupted yarn bobbins in Embodiment 1 of the present invention;

[0059] Figure 6 Schematic diagram of the yarn being tangent to the steel collar in Example 1 of the present invention;

[0060] Figure 7 This is a schematic diagram of the main and auxiliary nozzles blowing the wire ring in Example 1 of the present invention;

[0061] Figure 8 Schematic diagram of the balloon ring in Example 1 of the present invention;

[0062] Fig. 9 It is a schematic diagram of the robot arm returning the broken yarn bobbin to the spindle position in Example 1 of the present invention;

[0063] Fig.10 Schematic diagram of the yarn guide hook in Example 1 of the present invention;

[0064] Fig.11 It is a schematic diagram of the robot arm pulling the yarn to the front roller joint and shifting the spindle brake to release the spindle in Example 1 of the present invention;

[0065] Fig.12 is a schematic diagram of another relative position of the robot arm in Example 2 of the present invention;

[0066] Fig.13 Schematic diagram of an automatic joint robot with an auxiliary brake mechanism in Example 3 of the present invention;

[0067] Fig.14 Schematic diagram of an automatic jointing robot with an auxiliary unwinding mechanism in Example 4 of the present invention;

[0068] Fig.15 It is a schematic diagram of the process of first positioning the wire ring and then threading the yarn in Example 6 of the present invention.

[0069] In the figure: 1. Bobbin unwinding robot; 2. Broken yarn separation and capture robot; 3. Spinning spindle of spinning frame; 4. Bobbin unwinding end effector; 5. Broken yarn separation and capture end effector; 6. Spindle brake; 7. Spindle bar; 8. Steel collar plate; 9. Steel collar ring; 10. Balloon ring; 11. Broken yarn bobbin; 12. Yarn guide hook; 13. Front roller; 14. Yarn; 15. Steel ring; 16. Auxiliary brake mechanism; 17. Auxiliary unwinding mechanism; 18. Front drafting roller; 19. Internal expansion airbag; 20. Suction nozzle; 21. Main nozzle; 22. Sub-nozzle; 23. Friction part; 24. Auxiliary yarn-seeking part; 25. Driving mechanism of yarn-seeking part; 26. Fixed seat; 27. Swinging cylinder; 28. Push rod; 29. ​​Unwinding motor; 30. Unwinding spindle; 31. Main nozzle airflow; 32. Sub-nozzle airflow; 33. Effective reachable area of ​​main nozzle airflow; 34. Blind area of ​​main nozzle; 35. Yarn suction tube. DETAILED DESCRIPTION

[0070] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0071] Embodiment 1:

[0072] Figures 1 to 11 Embodiment 1 of the present invention is shown.

[0073] See also Figure 1-Figure 2 The ring spinning automatic jointing robot includes: a bobbin taking and unwinding robot arm 1 and a broken yarn separation and capture robot arm 2.

[0074] In this embodiment, the bobbin unwinding robot 1 and the yarn separation and capture robot 2 are both robots with six degrees of freedom or more, and their configurations can be industrial robots or collaborative robots. The above two robots use six-axis industrial robots to meet the posture requirements of the joint process.

[0075] In this embodiment, the bobbin placing and unwinding robot arm 1 has the functions of moving the spindle brake 6, clamping and placing the bobbin, unwinding the bobbin, and moving the yarn guide hook 12.

[0076] Specifically, a bobbin picking, placing and unwinding end effector 4 is installed at the end of the bobbin picking, placing and unwinding robot arm 1; the bobbin picking, placing and unwinding end effector 4 can apply an internal expansion force or an external clamping force to the top of the bobbin to achieve bobbin clamping and picking.

[0077] Furthermore, the internal expansion force can be applied by an expansion airbag, an electric or pneumatic internal chuck, etc., and the external clamping force can be applied by an electric clamp, a pneumatic clamp or an external airbag, etc.

[0078] In order to save space and reduce structural complexity, the bobbin taking, placing and unwinding end effector 4 of this embodiment adopts an internal expansion airbag 19 structure.

[0079] Furthermore, the bobbin picking, placing and unwinding end effector 4 can cooperate with the sixth axis of the bobbin picking, placing and unwinding robot arm 1 to unwind the broken yarn bobbin 11 .

[0080] In this embodiment, the function of the broken yarn separation and capture robot arm 2 is to cooperate with the unwinding of the broken yarn tube 11, separate and capture the broken ends on the broken yarn tube 11 and apply a certain tension to the captured yarn 14; pull the captured yarn 14 to complete the actions of passing through the wire ring 15, passing through the air ring 10, winding the yarn guide hook 12, and connecting the front roller 13; at the same time, it has the function of toggling the yarn guide hook 12.

[0081] Specifically, a yarn-breaking separation and capture end effector 5 is installed at the end of the broken yarn separation and capture mechanical arm 2; the broken yarn separation and capture end effector 5 can separate and capture the broken yarn from the broken yarn bobbin 11, and has the functions of threading or positioning the wire ring 15, moving the yarn guide hook 12, and moving the brake 6. The broken yarn separation and capture end effector 5 includes: a suction nozzle 20, a main nozzle 21, an auxiliary nozzle 22, a friction part 23, an auxiliary yarn-seeking part 24, a yarn-seeking part driving mechanism 25, and a fixing seat 26.

[0082] The functions of the yarn-broken separation and capture end effector 5 for separating and capturing broken yarns are mainly achieved by means of negative pressure adsorption combined with contact friction.

[0083] When the broken yarn separation and capture end effector 5 is close to the broken yarn tube 11, in conjunction with the unwinding of the tube, the auxiliary yarn finding part 24 and the friction part 23 are close to the broken yarn tube 11 and rub the outer layer of the tube yarn to initially separate the broken end, and then the negative pressure airflow at the suction nozzle 20 is used to further separate the broken end and capture it, so that the captured yarn 14 maintains a certain tension.

[0084] Furthermore, the fixed seat 26 is a rigid connector, which is fixedly connected to the end flange of the broken yarn separation and capture robot arm 2; the yarn suction tube 35 is fixedly installed below the fixed seat 26, and the suction nozzle 20 is connected to a vacuum air source not shown through the yarn suction tube 35, so as to generate a negative pressure airflow to adsorb the yarn; the friction part 23 is located on the outer wall of the end of the suction nozzle 20, and can be a felt cloth of the same material as the yarn 14 or a flexible material with a rough surface.

[0085] Furthermore, the auxiliary yarn-finding portion 24 is installed on the yarn-finding portion driving mechanism 25, and can be a brush, a felt cloth made of the same material as the yarn 14, or a flexible material with a rough surface.

[0086] The yarn-finding unit driving mechanism 25 can be a linear actuator or a rotary actuator. In this embodiment, the yarn-finding unit driving mechanism 25 adopts a linear cylinder.

[0087] The brush, felt cloth or flexible material selected from the auxiliary yarn-finding part 24 and the friction part 23 can contact and rub with the outer layer of the yarn of the broken yarn bobbin 11, and the auxiliary suction nozzle 20 separates the broken yarn from the outer layer of the yarn of the broken yarn bobbin 11.

[0088] The friction part 23 can also prevent the suction nozzle 20 from directly contacting the broken yarn bobbin 11, so as to avoid damaging the bobbin or the end effector.

[0089] Furthermore, the broken yarn separation and capture end effector 5 has at least one main nozzle 21 and at least one sub-nozzle 22.

[0090] To avoid interference, in this embodiment, there is one main nozzle 21 and one auxiliary nozzle 22, and the nozzles are connected to the positive pressure gas source through pipelines not shown.

[0091] The main nozzle 21 and the auxiliary nozzle 22 on the broken yarn separation and capture end effector 5 are arranged at a certain angle in space, and the angle is generally an acute angle.

[0092] By adopting the positive pressure blowing method, the main nozzle 21 and the auxiliary nozzle 22 are used to blow intermittently in a certain time sequence, so as to form an annular airflow on the inner wall of the steel collar 9 to blow the wire ring 15 to move, thereby realizing the threading or positioning of the wire ring 15.

[0093] The main nozzle 21 and the auxiliary nozzle 22 have the same blowing direction for the movement direction of the wire ring 15, which can be clockwise or counterclockwise. The auxiliary nozzle 22 is mainly used to overcome the blind spot of the main nozzle airflow 31 and assist the main nozzle 21 to stably blow the wire ring 15.

[0094] The humanoid piecing method using the above-mentioned automatic piecing robot for ring spinning is as follows:

[0095] Step 1: Read Figure 3 , Figure 3 A schematic diagram showing the mechanical arm moving the spindle brake 6 to stop the spindle and moving the yarn guide hook 12;

[0096] After the yarn breaks, the bobbin unwinding end effector 4 moves to the bottom of the spindle brake 6 and moves the spindle brake 6 upward to stop the spindle rod 7. At the same time, the broken yarn separation and capture end effector 5 moves to the bottom of the yarn guide hook 12 and lifts the yarn guide hook 12 upward.

[0097] Step 2: Read Figure 4 , Figure 4 A schematic diagram showing a mechanical arm taking out a broken yarn bobbin 11 from a spindle position;

[0098] The bobbin unwinding end effector 4 first moves to the top of the broken yarn bobbin 11, and then moves vertically downward until it is inserted into the top of the broken yarn bobbin 11. At the same time, the internal expansion airbag 19 is inflated to clamp the broken yarn bobbin 11 and pull it out from the spindle rod 7.

[0099] Step 3: Read Figure 5 , Figure 5 A schematic diagram showing the unwinding and broken end finding of the broken yarn bobbin 11 is shown;

[0100] The bobbin picking and unwinding robot 1 carries the broken yarn bobbin 11 to the front of the spinning spindle 3 of the spinning frame, and its end effector starts to unwind the broken yarn bobbin 11 driven by the sixth axis of the bobbin picking and unwinding robot 1, and at the same time, the broken yarn separation and capture end effector 5 moves from bottom to top or from top to bottom along the axial direction of the broken yarn bobbin 11, and the auxiliary yarn finding part 24 and the friction part 23 on the side of the suction nozzle 20 contact with the outer layer of the yarn of the broken yarn bobbin 11, cooperate with the unwinding action of the bobbin, and use friction force to preliminarily separate the broken ends. At the same time, the suction nozzle 20 uses negative pressure airflow to further separate and capture the broken ends of the outer layer of the yarn of the broken yarn bobbin 11, and reserve a certain length of spun yarn for the subsequent jointing process.

[0101] Step 4: Read Figure 6 , Figure 6 A schematic diagram showing the yarn 14 being tangent to the steel ring 9 is shown;

[0102] The bobbin taking and unwinding end effector 4 stops unwinding and continues to clamp the broken yarn bobbin 11. The broken yarn separation and capture end effector 5 pulls the captured yarn 14 to move to the side above the steel collar plate 8 close to the steel collar ring 9. At this time, the yarn 14 between the broken yarn bobbin 11 and the broken yarn separation and capture end effector 5 is tensioned, and one end of the yarn 14 is tangent to the steel collar ring 9.

[0103] Step 5: Read Figure 7 , Figure 7 A schematic diagram showing the main nozzle 21 and the auxiliary nozzle 22 cooperate with each other to pass through the wire ring 15;

[0104] The auxiliary nozzle 22 of the broken yarn separation and capture end effector 5 blows air for a certain period of time, and the auxiliary nozzle airflow 32 sweeps the wire ring 15 from the blind area 34 of the main nozzle to the effective reachable area 33 of the main nozzle airflow. Then the auxiliary nozzle 22 stops blowing, and the main nozzle 21 starts blowing. The main nozzle airflow 31 forms an annular airflow on the inner wall of the steel collar 9, blowing the steel ring 15 to rotate, and penetrates the yarn 14 that is tangent to the steel collar 9, completing the threading of the steel ring 15.

[0105] Step 6: Read Figure 8 , Figure 8 A schematic diagram of a balloon ring 10 is shown.

[0106] The broken yarn separation and capture mechanical arm 2 pulls the yarn 14 to move upward, and pulls the yarn 14 into the balloon ring 10 from one side of the opening of the balloon ring 10.

[0107] Step 7: Read Fig. 9 , Fig. 9 A schematic diagram showing the mechanical arm putting the broken yarn bobbin 11 back to the spindle position;

[0108] The bobbin unwinding robot 1 carries the broken yarn bobbin 11 and puts it back to its original spindle position, and then pushes the yarn guide hook 12 back to its original position. At this time, the broken yarn separation and capture end effector 5 pulls the yarn 14 upward, and its position in the height direction is lower than the yarn guide hook 12.

[0109] Step 8: Read Fig.10 , Fig.10 A schematic diagram of the yarn guide hook 12 is shown;

[0110] The broken yarn separation and capture robot arm 2 pulls the yarn 14 to wind it into the yarn guide hook 12, and at the same time, the bobbin taking, releasing and unwinding end effector 4 moves downward.

[0111] Step 9: Read Fig.11 , Fig.11 A schematic diagram showing the mechanical arm pulling the yarn 14 to the front roller 13 joint and moving the spindle brake 6 to release the spindle;

[0112] The broken yarn separation and capture robot arm 2 pulls the yarn 14 to the front roller 13, and feeds the yarn 14 into the jaws between the front roller 13 and the front drafting roller 18. At the same time, the bobbin taking, releasing and unwinding end effector 4 moves to the top of the brake spindle 6, pushes the brake spindle 6 downward, and releases the spindle rod 7, thus completing the joint.

[0113] Embodiment 2:

[0114] The difference from Example 1 is that this embodiment shows the situation where the positions of the two robot arms are swapped.

[0115] Fig.12 The second embodiment of the present invention is shown, which is a schematic diagram showing another relative position of the two robotic arms. Since the two robotic arms adopt the same configuration, the position of the end effector is essentially swapped after swapping. The joint steps and processes of this embodiment are consistent with those of the first embodiment, and will not be repeated here.

[0116] Embodiment 3:

[0117] The difference from Example 1 is that this embodiment is designed with an auxiliary braking mechanism 16, which is located next to the spindle brake 6. The function of the auxiliary braking mechanism 16 is to replace the bobbin picking and unwinding robot arm 1 to move the spindle brake 6 to achieve the braking and release of the spindle rod 7.

[0118] See also Fig.13 , Fig.13 A schematic diagram of an automatic jointing robot with an auxiliary braking mechanism 16 is shown; to simplify the structure, the auxiliary braking mechanism 16 is in the form of a swing cylinder 27 and a lever 28, and the auxiliary braking mechanism 16 is used to replace the bobbin picking and unwinding robot arm 1 to brake and release the spindle rod 7.

[0119] Compared with Example 1, the anthropomorphic joint method using the above-mentioned ring spinning automatic joint robot is that step one and step nine are changed accordingly (in Example 1, Figure 3 , Fig.11 The steps shown in the figure are changed), and the rest of the steps are the same.

[0120] Step 1: After the yarn breaks, the swing cylinder 27 of the auxiliary brake mechanism 16 pushes the lever 28 to lift the brake device 6 to stop the spindle rod 7. At the same time, the broken yarn separation and capture end actuator 5 moves to the bottom of the yarn guide hook 12 and lifts the yarn guide hook 12 upward;

[0121] Step nine: The broken yarn separation and capture robot arm 2 pulls the yarn 14 to the front roller 13, and feeds the yarn 14 into the jaws between the front roller 13 and the front drafting roller 18. At the same time, the swing cylinder 27 of the auxiliary brake mechanism 16 pushes the lever 28 to press down the brake spindle 6 to release the spindle rod 7, thus completing the joint.

[0122] Except for the above two steps, the remaining connection steps of this embodiment are consistent with those of embodiment 1 and will not be repeated here.

[0123] Embodiment 4:

[0124] The difference from Example 1 is that this embodiment is designed with an auxiliary unwinding mechanism 17, which is located in front of the spinning spindle 3 of the spinning frame. The function of the auxiliary unwinding mechanism 17 is to replace the bobbin taking and unwinding robot arm 1 to unwind the broken yarn bobbin 11.

[0125] See also Fig.14 , Fig.14 The schematic diagram of the automatic piecing robot with the auxiliary unwinding mechanism 17 is shown. To simplify the structure, the auxiliary unwinding mechanism 17 is in the form of an unwinding motor 29 and an unwinding spindle 30. The auxiliary unwinding mechanism 17 is used to replace the bobbin picking and unwinding robot arm 1 to unwind the broken yarn bobbin 11.

[0126] Compared with Example 1, the anthropomorphic piecing method using the above-mentioned ring spinning automatic piecing robot is that step three and step four are changed accordingly (in Example 1, Figure 5 , Figure 6 The steps shown in the figure are changed), and the rest of the steps are the same.

[0127] Step 3: The bobbin unwinding robot arm 1 carries the broken yarn bobbin 11 to the unwinding spindle 30 of the auxiliary unwinding mechanism 17, and the unwinding motor 29 rotates to start unwinding the broken yarn bobbin 11. At the same time, the broken yarn separation and capture end effector 5 moves from bottom to top or from top to bottom along the axial direction of the broken yarn bobbin 11, and the auxiliary yarn-finding part 24 and the friction part 23 on the side of the suction nozzle 20 contact the outer layer of the cop yarn of the broken yarn bobbin 11, cooperate with the unwinding action of the bobbin, and use friction force to preliminarily separate the broken ends. At the same time, the suction nozzle 20 uses negative pressure airflow to further separate and capture the broken ends of the outer layer of the cop yarn of the broken yarn bobbin 11, and reserve a certain length of spun yarn for the subsequent jointing process;

[0128] Step 4: The auxiliary unwinding mechanism 17 stops unwinding, and the tube unwinding robot arm 1 pulls out the broken yarn tube 11 from the unwinding spindle 30 of the auxiliary unwinding mechanism 17. At the same time, the broken yarn separation and capture end effector 5 pulls the captured yarn 14 to move to the side above the steel collar plate 8 close to the steel collar ring 9. At this time, the yarn 14 between the broken yarn tube 11 and the broken yarn separation and capture end effector 5 is tensioned, and one end of the yarn 14 is tangent to the steel collar ring 9.

[0129] Except for the above two steps, the remaining connection steps of this embodiment are consistent with those of embodiment 1 and will not be repeated here.

[0130] Embodiment 5:

[0131] The difference from the first embodiment is that the present embodiment is provided with an auxiliary braking mechanism 16 and an auxiliary unwinding mechanism 17 .

[0132] The ring spinning automatic jointing robot comprises: a bobbin taking-in, taking-out and unwinding mechanical arm 1, a bobbin taking-in, taking-out and unwinding end effector 4, a broken yarn separation and capture mechanical arm 2, a broken yarn separation and capture end effector 5, an auxiliary braking mechanism 16 and an auxiliary unwinding mechanism 17.

[0133] In this embodiment, the auxiliary braking mechanism 16 is specifically the auxiliary braking mechanism 16 in Example 3; the auxiliary braking mechanism 16 is located next to the spindle brake 6, and its function is to replace the bobbin picking and unwinding robot arm 1 to move the spindle brake 6 to achieve the braking and release of the spindle rod 7.

[0134] In this embodiment, the auxiliary unwinding mechanism 17 is specifically the auxiliary unwinding mechanism 17 in Example 4; the auxiliary unwinding mechanism 17 is located in front of the spinning spindle 3 of the spinning frame, and its function is to replace the bobbin taking and unwinding robot arm 1 to unwind the broken yarn bobbin 11.

[0135] The humanoid piecing method using the above-mentioned ring spinning automatic piecing robot, compared with Example 1, the corresponding changes in the piecing steps have been described in Example 3 and Example 4, and will not be repeated here.

[0136] Embodiment 6:

[0137] The difference from Examples 1-5 is that this example shows another situation of the wire ring threading process.

[0138] See also Fig.15 , Fig.15 The schematic diagram of the process of first positioning the wire ring 15 and then threading the yarn is shown. The wire ring threading process of this embodiment is specifically as follows: before threading the yarn 14 into the wire ring 15, the wire ring 15 needs to be positioned first, generally positioning the wire ring 15 just in front of the steel collar 9; then, the yarn 14 is threaded into the positioned wire ring 15.

[0139] The humanoid joint method of the ring spinning automatic joint robot is compared with Example 1, in which step 4 and step 5 are changed accordingly (in Example 1 Figure 6 , Figure 7 The steps shown in the figure are changed), and the rest of the steps are the same.

[0140] Step 4: The bobbin unwinding end effector 4 stops unwinding and continues to clamp the broken yarn bobbin 11. The broken yarn separation and capture end effector 5 pulls the captured yarn 14 to move to the top of the steel collar plate 8 close to the steel collar ring 9. At this time, the friction part 23 of the broken yarn separation and capture end effector 5 begins to contact the steel collar ring 9. Subsequently, the secondary nozzle 22 of the broken yarn separation and capture end effector 5 blows air for a certain period of time, and the secondary nozzle airflow 32 sweeps the wire ring 15 from the main nozzle blind area 34 to the main nozzle airflow effective reachable area 33. Subsequently, the secondary nozzle 22 stops blowing, and the main nozzle 21 starts blowing. The main nozzle airflow 31 forms an annular airflow on the inner wall of the steel collar ring 9, blowing the wire ring 15 to rotate and move to the position where the friction part 23 of the broken yarn separation and capture end effector 5 contacts the steel collar ring 9, and the wire ring 15 is positioned;

[0141] Step 5: After the broken yarn separation and capture end effector 5 uses the main and auxiliary nozzles to position the wire ring 15, the wire ring 15 does not move; the bobbin picking and unwinding robot arm 1 and the broken yarn separation and capture robot arm 2 cooperate, the bobbin picking and unwinding end effector 4 clamps the broken yarn bobbin 11, and the broken yarn separation and capture end effector 5 absorbs and pulls the yarn 14, and the yarn 14 located between the broken yarn bobbin 11 and the broken yarn separation and capture end effector 5 is inserted into the positioned wire ring 15 to complete the threading of the wire ring 15.

[0142] Except for the above steps, the remaining connection steps of this embodiment are consistent with those of embodiment 1 and will not be repeated here.

[0143] The above description is only used to help understand the method of the present invention and its core essence, but the protection scope of the present invention is not limited thereto. For those skilled in the art in the art, equivalent replacement or change according to the technical solution and inventive concept of the present invention within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A ring spinning automatic piecing robot, characterized in that: The invention comprises at least two mechanical arms, the two mechanical arms are respectively a bobbin picking-up and unwinding mechanical arm (1) and a broken yarn separation and capture mechanical arm (2); the end of the bobbin picking-up and unwinding mechanical arm (1) is connected to a bobbin picking-up and unwinding end effector (4), and the end of the broken yarn separation and capture mechanical arm (2) is connected to a broken yarn separation and capture end effector (5); The bobbin taking, placing and unwinding end effector (4) is used to clamp the broken yarn bobbin (11); The broken yarn separation and capture end effector (5) is used to separate the broken yarn ends on the broken yarn bobbin (11) by friction and capture the broken yarn ends by negative pressure, and pass the broken yarn ends through the wire ring (15).

2. The ring spinning automatic piecing robot according to claim 1, characterized in that: The broken yarn separation and capture end effector (5) comprises a suction nozzle (20), a friction part (23) and a fixing seat (26); The end of the broken yarn separation and capture mechanical arm (2) is connected to a fixed seat (26), a negative pressure air source component and a yarn suction tube (35) are connected below the fixed seat (26), the negative pressure air source component is connected to a suction nozzle (20) via the yarn suction tube (35), and the side of the suction nozzle (20) is connected to a friction part (23).

3. The automatic piecing robot for ring spinning according to claim 2, characterized in that: The broken yarn separation and capture end effector (5) further comprises an auxiliary yarn-finding section (24) and a yarn-finding section driving mechanism (25); The auxiliary yarn-finding portion (24) is located on one side of the friction portion (23), and the auxiliary yarn-finding portion (24) is connected to a fixed seat (26) via a yarn-finding portion driving mechanism (25); When capturing broken ends, the friction part (23) and the auxiliary yarn-finding part (24) are respectively located on different sides of the broken yarn bobbin (11) and are used to rub the outer layer of the bobbin yarn of the broken yarn bobbin (11) in multiple directions.

4. The automatic piecing robot for ring spinning according to claim 3, characterized in that: The friction part (23) and the auxiliary yarn-finding part (24) are both made of felt cloth or a flexible material with a rough surface, which is the same material as the yarn (14).

5. The automatic piecing robot for ring spinning according to claim 4, characterized in that: The broken yarn separation and capture end effector (5) further comprises a nozzle, the nozzle being connected to a positive pressure air source component, the nozzle comprising at least one main nozzle (21) and at least one auxiliary nozzle (22); the main nozzle (21) and the auxiliary nozzle (22) are both connected to the top of the suction nozzle (20); The main nozzle (21) and the auxiliary nozzle (22) are arranged at a certain angle in space, so that the air flow range of the main nozzle (21) and the air flow range of the auxiliary nozzle (22) cover the inner side of the steel collar (9).

6. The automatic piecing robot for ring spinning according to any one of claims 1 to 5, characterized in that: The bobbin picking, placing and unwinding end effector (4) comprises an internal expansion airbag (19), and the internal expansion airbag (19) is connected to the end of the bobbin picking, placing and unwinding mechanical arm (1); The inner expansion air bag (19) is inserted into the top of the broken yarn bobbin (11) and inflated to clamp the top of the broken yarn bobbin (11).

7. A humanoid piecing method for the automatic piecing robot for ring spinning as claimed in claim 6, characterized in that: The steps include: S1, moving the spindle brake (6) to stop the spindle rod (7) and moving the yarn guide hook (12); S2, using the bobbin taking and unwinding end effector (4) to clamp the broken yarn bobbin (11), and pull the broken yarn bobbin (11) out of the spindle rod (7); S3, unwinding the broken yarn bobbin (11), and at the same time, the broken yarn separation and capture end effector (5) moves from bottom to top or from top to bottom along the axial direction of the broken yarn bobbin (11), cooperates with the unwinding action of the broken yarn bobbin (11), uses friction force to initially separate the broken ends, and at the same time uses negative pressure airflow to further separate and capture the broken ends of the outer layer of the broken yarn bobbin (11); S4, the broken yarn bobbin (11) stops unwinding, and the yarn (14) between the broken yarn bobbin (11) and the broken yarn separation and capture end effector (5) is controlled to pass through the wire ring (15); the broken yarn separation and capture end effector (5) pulls the broken yarn to move upward and continues to pass through the balloon ring (10); S5, the bobbin unwinding end effector (4) puts the broken yarn bobbin (11) back to the original spindle position; and pushes the yarn guide hook (12) back to the original position; S6, the broken yarn separation and capture end actuator (5) pulls the broken yarn end around the yarn guide hook (12), and continues to send the broken yarn end into the jaws between the front roller (13) and the front stretching roller (18); the spindle brake (6) is moved to release the spindle rod (7).

8. The humanoid piecing method of the automatic piecing robot for ring spinning according to claim 7, characterized in that: The threading of the wire ring (15) in S4 is achieved by first positioning the yarn (14) and then threading the yarn, or by first positioning the wire ring (15) and then threading the yarn; The yarn (14) is positioned first and then threaded, specifically as follows: Controlling the tension of the yarn (14) between the broken yarn bobbin (11) and the broken yarn separation and capture end effector (5), and the tensioned yarn (14) is tangent to the steel collar (9); The broken yarn separation and capture end effector (5) generates airflow, and forms a circular airflow on the inner wall of the steel ring (9) to blow the steel ring (15) to rotate, so that the steel ring (15) penetrates the yarn (14) that is tangent to the steel ring (9), and the steel ring (15) is penetrated; The process of first positioning the wire ring (15) and then threading the yarn is as follows: The broken yarn separation and capture end effector (5) generates airflow, and forms an annular airflow on the inner wall of the steel ring (9) to blow the steel ring (15) to rotate; the steel ring (15) moves to the position where the friction part (23) of the broken yarn separation and capture end effector (5) contacts the steel ring (9), so as to position the steel ring (15); The yarn (14) located between the broken yarn bobbin (11) and the broken yarn separation and capture end actuator (5) is controlled to penetrate into the positioned wire ring (15), thereby completing the penetration of the wire ring (15).

9. The humanoid piecing method of the automatic piecing robot for ring spinning according to claim 7, characterized in that: The spindle brake (6) in S1 and S6 is driven by a bobbin taking and unwinding mechanical arm (1) or a broken yarn separation and capture mechanical arm (2), or by a separately arranged auxiliary brake mechanism (16).

10. The humanoid piecing method of the automatic piecing robot for ring spinning according to claim 7, characterized in that: In the step S3, the broken yarn bobbin (11) is unwound by driving the sixth axis of the bobbin taking and unwinding mechanical arm (1) to unwind the broken yarn bobbin (11), or by separately setting an auxiliary unwinding mechanism (17).

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