A ring spinning automatic splicing robot and a human-like splicing method thereof

Abstract

The application discloses a ring spinning automatic splicing robot and a human-simulated splicing method thereof, and relates to the technical field of ring spinning automatic splicing; the ring spinning automatic splicing robot comprises at least two mechanical arms, the two mechanical arms are respectively a bobbin taking and placing unwinding mechanical arm and a broken yarn separation and capturing mechanical arm, the bobbin taking and placing unwinding mechanical arm is connected with a bobbin taking and placing unwinding end effector at the tail end, and the broken yarn separation and capturing mechanical arm is connected with a broken yarn separation and capturing end effector at the tail end; the bobbin taking and placing unwinding mechanical arm is provided with functions of brake spindle poking, bobbin clamping and taking and placing, bobbin unwinding and guide hook poking; the broken yarn separation and capturing mechanical arm is provided with functions of separation and capture of broken ends, steel ring yarn threading and guide hook poking; the application shortens the splicing process, realizes a real splicing process, solves the problems of abnormal pipe yarn forming after splicing and easy secondary broken ends, reduces the workload of the winding process and improves the production efficiency of the winding process.

Description

Technical Field

[0001] This invention belongs to the field of automatic splicing technology in ring spinning, and particularly relates to an automatic splicing robot for ring spinning and its humanoid splicing method. Background Technology

[0002] In ring spinning production, yarn breakage is unavoidable. After breakage, the broken yarn will become entangled on the bobbin. To resume spinning, there are currently two main splicing processes. One process is yarn-finding splicing, which involves locating the broken yarn first and then splicing it. This process requires stopping the broken yarn spindle, separating and capturing the broken yarn on the bobbin, and then sequentially passing the broken yarn through the traveler, the air ring, and the yarn guide hook. Finally, the broken yarn is pulled to the front roller to complete the splicing. Another process is spare yarn splicing. To resume spinning, a new lead yarn or a spare bobbin with a pre-grown yarn end is used for splicing. It's worth noting that the industry term "starting a new yarn end" also refers to this process. This method doesn't require finding the end; instead, one end of the lead yarn is directly wrapped around the broken bobbin. Then, the other end is passed through the wire looper and air ring, wound into the yarn guide hook, and finally pulled to the front roller to complete the splice. Alternatively, a spare bobbin is used to replace the original broken bobbin. The yarn end of the spare bobbin is then passed through the wire looper and air ring, wound into the yarn guide hook, and finally pulled to the front roller to complete the splice. Both processes have their own characteristics.

[0003] Regarding the yarn finding and splicing process, the existing invention patent CN113939619B discloses a service robot for ring spinning and its operation method, which employs a yarn finding and splicing process. When a yarn break is detected, the service robot positions itself at the corresponding broken spindle location. The spindle braking device disconnects the spindle belt driving the spindle or directly stops the spindle. Subsequently, the yarn guide hook actuation device lifts the yarn guide hook, and the bobbin transport device pulls out the broken yarn bobbin and places it on the unwinding device. Then, the yarn traction and capture device searches for and captures the broken yarn on the bobbin. Finally, the wire traveler threading device passes the yarn through the wire traveler, and the yarn traction and capture device passes the broken yarn through the air ring, winds it into the yarn guide hook, and finally places it into the jaws between the front roller and the front drafting roller to complete the splicing. The disadvantage of this scheme is that the splicing process is relatively complicated. Specifically, before the wire traveler passes the yarn through, the broken yarn bobbin needs to be returned to its original position. In order to carry out subsequent operations, the fine yarn needs to be passed through the air ring and placed outside the air ring. Then, the operations of passing through the wire traveler, passing through the air ring, winding around the guide hook, and pulling the fine yarn splice are performed. In other words, the fine yarn will pass through the air ring twice in the entire splicing process, making the splicing process longer.

[0004] Regarding the spare yarn splicing process, the existing invention patent CN113122976B discloses a yarn splicing system and method for ring spinning machines, as well as a yarn processing tool, which employs a spare yarn splicing process. When a yarn break is detected, the splicing device automatically positions itself at the broken spindle position. The broken spindle does not need to be stopped, and the bobbin is not pulled out. A six-axis industrial robotic arm drives the end effector of the splicing device to the side of the broken bobbin. Subsequently, through the cooperation of the yarn feeding nozzle and the yarn clamping element or yarn holding device, the yarn is blown onto the rotating bobbin. This bobbin can be the original broken bobbin or an empty tube used for "new yarn". Then, the bobbin is stopped, and the yarn is sequentially passed through the wire traveler and the air ring, and wound into the yarn guide hook. Finally, the yarn is pulled to the nip between the front roller and the front drafting roller to complete the splicing. The disadvantages of this approach are as follows: First, since the process essentially restores the spinning process by using a section of yarn to guide the yarn through a joint, the subsequent winding process is still required to rejoin the broken ends, increasing the workload of the winding process and significantly reducing its production efficiency. Second, if the yarn is not properly aligned with the broken end, it can easily cause abnormal yarn bobbin formation. Additionally, each yarn rejoining requires a certain length of yarn, resulting in yarn waste. Finally, since the yarn count is usually fixed, there may be a significant difference between the yarn count of the broken yarn and the yarn count of the guided yarn during production, which can easily lead to secondary yarn breakage. Therefore, this process is currently mainly used for splicing high-count yarns and has certain limitations.

[0005] This invention proposes an automatic splicing robot for ring spinning and its humanoid splicing method, mainly employing a splicing process mimicking a spinning machine operator, which belongs to the yarn-finding splicing category. Specifically, when a yarn breakage occurs at the spinning spindle, the two robotic arms of the splicing robot imitate the splicing method and process of a spinning machine operator's two arms. The two robotic arms cooperate with each other to sequentially stop the spindle, simultaneously move the guide hook, pull out the broken yarn bobbin, unwind to find the broken end, thread the steel wire ring, thread the air ring, put back the bobbin, move the guide hook back, and wind the guide hook again. Finally, the yarn is spliced ​​back to the front roller while the spindle is released, completing the splicing. This achieves the goal of reconnecting broken ends, shortening the splicing process, and providing fast and stable splicing. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic splicing robot for ring spinning and its humanoid splicing method, so as to solve the problems in the prior art mentioned in the background, such as complex process in splicing, increased workload of winding process leading to reduced production efficiency of winding process, abnormal yarn forming and easy secondary breakage.

[0007] The present invention also aims to design an end effector that improves the reliability of the decapitation separation and capture process. It adopts a method of combining mechanical contact with vacuum airflow to improve the success rate of decapitation separation and capture. At the same time, it integrates the above two functions into a single end effector, reducing space occupation.

[0008] To achieve the above objectives, the present invention employs the following technical solution:

[0009] The first aspect of this invention proposes an automatic splicing robot for ring spinning, comprising at least two robotic arms, namely a bobbin picking and unwinding robotic arm and a yarn breakage separation and capture robotic arm, wherein the end of the bobbin picking and unwinding robotic arm is connected to a bobbin picking and unwinding end actuator, and the end of the yarn breakage separation and capture robotic arm is connected to a yarn breakage separation and capture end actuator.

[0010] The bobbin pick-and-place unwinding end actuator is used to clamp the broken yarn bobbin;

[0011] The yarn breakage separation and capture end effector is used to rub and separate the broken yarn from the broken yarn bobbin and capture the broken yarn under negative pressure, and then pass the broken yarn through the wire loop.

[0012] Preferably, the bobbin picking and unwinding robotic arm and the yarn breakage separation and capture robotic arm are both robotic arms with six degrees of freedom or more, and their configuration can be industrial robotic arms or collaborative robotic arms.

[0013] The two robotic arms mentioned above are both six-axis industrial robotic arms, which can meet the position and posture requirements of the jointing process.

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

[0015] The end of the yarn breakage separation and capture robotic arm is connected to a fixed base, which is a rigid connector and is fixedly connected to the flange at the end of the yarn breakage separation and capture robotic arm.

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

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

[0018] Furthermore, the friction part is made of felt cloth of the same material as the yarn or a flexible material with a rough surface. The friction part also prevents the suction nozzle from directly contacting the broken yarn bobbin, thus avoiding damage to the yarn or the end effector.

[0019] Preferably, the yarn breakage separation and capture end effector further includes an auxiliary yarn finding unit and a yarn finding unit drive mechanism; the yarn finding unit drive mechanism may be a linear actuator or a rotary actuator.

[0020] The auxiliary yarn finding part is located on one side of the friction part, and the auxiliary yarn finding part is connected to the fixed base through the yarn finding part driving mechanism;

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

[0022] Furthermore, the yarn-finding drive mechanism adopts a linear cylinder; the auxiliary yarn-finding part is installed on the yarn-finding drive 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 yarn breakage separation and capture end effector further includes a nozzle, the nozzle comprising at least one main nozzle and at least one auxiliary nozzle; both the main nozzle and the auxiliary nozzle are connected to the top of the suction nozzle;

[0024] The nozzle is mounted above the suction nozzle and is connected to a positive pressure air source via a pipe (not shown) to generate a jet of air.

[0025] The main nozzle and the auxiliary nozzle are arranged at a certain angle in space, which is generally an acute angle. The auxiliary nozzle is mainly used to overcome the blind zone of the airflow of the main nozzle and assist the main nozzle in stabilizing the movement of the steel wire ring; so that the airflow range of the main nozzle and the airflow range of the auxiliary nozzle cover the inner side of the steel ring.

[0026] Furthermore, the main nozzle and the auxiliary nozzle blow air in the same direction with respect to the movement direction of the wire ring, which can be clockwise or counterclockwise.

[0027] Preferably, the bobbin take-up and unwinding end actuator can apply an internal expansion force or an external clamping force to the top of the broken yarn bobbin.

[0028] The aforementioned internal expansion force can be applied by an inflatable airbag, an electric or pneumatic internal clamping plate, etc., while the external clamping force can be applied by an electric clamp, a pneumatic gripper, or an external airbag, etc.

[0029] Furthermore, the end effector for picking up, placing, and unwinding the bobbin includes an internal expansion airbag, which is connected to the end of the bobbin picking up, placing, and unwinding robotic arm.

[0030] Insert the internal expansion airbag into the top of the broken yarn bobbin and inflate it to clamp the top of the broken yarn bobbin.

[0031] A second aspect of this invention provides a humanoid splicing method for an automatic splicing robot in ring spinning, comprising the following steps:

[0032] S1. Activate the spindle brake to stop the spindle rod and activate the yarn guide hook;

[0033] S2. Use the bobbin pick-and-place unwinding end actuator to clamp the broken yarn bobbin and pull it out of the spindle.

[0034] S3. Unwind the broken yarn bobbin, and at the same time, the broken yarn separation and capture end actuator moves from bottom to top or from top to bottom along the axis of the broken yarn bobbin. In conjunction with the unwinding action of the broken yarn bobbin, the broken ends are initially separated by friction, and the broken ends of the outer layer of the broken yarn bobbin are further separated and captured by negative pressure airflow.

[0035] S4. The broken yarn bobbin stops unwinding, and the yarn between the broken yarn bobbin and the broken yarn separation and capture end actuator is controlled to pass through the steel wire loop; the broken yarn separation and capture end actuator pulls the broken end upward to continue passing through the air ring;

[0036] S5. The end actuator for bobbin loading, unwinding, and rewinding returns the broken bobbin to its original spindle position; the yarn guide hook is then moved back to its original position.

[0037] S6. The yarn breakage separation and capture end actuator pulls the broken yarn into the guide hook and continues to feed the broken yarn into the jaws between the front roller and the front drafting roller; the spindle rod is released by moving the brake.

[0038] Preferably, in step S4, the threading of the steel wire loop is achieved by first positioning the yarn and then threading the yarn, or by first positioning the steel wire loop and then threading the yarn.

[0039] Furthermore, the step of positioning the yarn before threading it is specifically as follows:

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

[0041] The yarn breakage separation and capture end effector generates airflow, and forms an annular airflow on the inner wall of the steel collar, which blows the steel wire loop to rotate. The steel wire loop passes through the yarn that is already tangent to the steel collar, thus completing the steel wire loop insertion.

[0042] Furthermore, the step of first positioning the steel wire loop and then threading the yarn is as follows:

[0043] The yarn breakage separation and capture end actuator generates airflow, and forms an annular airflow on the inner wall of the steel collar, causing the steel wire ring to rotate; the steel wire ring moves to the position where the friction part of the yarn breakage separation and capture end actuator contacts the steel collar, thus positioning the steel wire ring;

[0044] The yarn located between the yarn breakage bobbin and the yarn breakage separation and capture end actuator is controlled to pass through the positioned steel wire loop, thus completing the wire loop passing.

[0045] Preferably, the actuating brake in S1 and S6 is actuated by a bobbin take-up and unwinding robotic arm or a yarn breakage separation and capture robotic arm, or by a separately provided auxiliary braking mechanism.

[0046] Furthermore, the auxiliary braking mechanism includes a swing cylinder and a lever, used to actuate the brake lever to brake and release it.

[0047] Preferably, in step S3, the unwinding of the broken yarn bobbin is achieved by driving the sixth axis of the bobbin picking and placing unwinding robot arm to unwind the broken yarn bobbin, or by setting up a separate auxiliary unwinding mechanism.

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

[0049] Compared with the prior art, the beneficial effects of the present invention are:

[0050] (1) Inspired by the fact that skilled splicing workers can complete the splicing of a single spindle in about 6 seconds, this invention imitates the splicing method and process of a machine operator, and proposes a completely new splicing method and process by using two robotic arms to assist in splicing. This method can achieve splicing with the shortest possible process. By using two robotic arms to assist in splicing, this invention can shorten the splicing process, realize a true splicing process, solve the problems of abnormal yarn forming and easy secondary breakage after splicing, and at the same time reduce the workload of the winding process and improve the production efficiency of the winding process.

[0051] (2) The end effector of the yarn breakage separation and capture robot in this invention is designed with a friction part and an auxiliary yarn finding part, so that the function of the yarn breakage separation and capture end effector is realized by negative pressure adsorption combined with contact friction. During the capture process, in conjunction with the unwinding of the bobbin, the auxiliary yarn finding part and the friction part approach the yarn breakage bobbin and rub the outer layer of the yarn to initially separate the yarn breakage. Then, the negative pressure airflow at the suction nozzle is used to further separate the yarn breakage. This can improve the success rate and stability of yarn breakage separation and capture.

[0052] (3) The friction part designed in this invention can also be used in the wire ring yarn threading process by first positioning the wire ring and then threading the yarn. The wire ring is rotated by the annular airflow and moves to the position where the friction part of the yarn breakage separation capture end actuator contacts the wire ring, which is used to position the wire ring.

[0053] (4) The end effector of the yarn breakage separation and capture of the joint robot in this invention is designed with a main nozzle and a secondary nozzle. The secondary nozzle is used to overcome the blind zone of the airflow of the main nozzle and assist the main nozzle in stabilizing the movement of the wire ring. The main and secondary nozzles blow air intermittently to position the wire ring or pass through the wire ring. Attached Figure Description

[0054] Figure 1 This is a schematic diagram showing the relative positions of the spinning machine and the splicing robot in Embodiment 1 of the present invention;

[0055] Figure 2 This is a schematic diagram of the yarn-breaking separation and capture end effector of Embodiment 1 of the present invention;

[0056] Figure 3 This is a schematic diagram of the robotic arm actuating the brake to stop the spindle and actuating the yarn guide hook in Embodiment 1 of the present invention;

[0057] Figure 4 This is a schematic diagram of the robotic arm removing the broken yarn bobbin from the spindle in Embodiment 1 of the present invention;

[0058] Figure 5 This is a schematic diagram of the unwinding and breakage finding of the yarn bobbin in Embodiment 1 of the present invention;

[0059] Figure 6 This is a schematic diagram showing the yarn being tangent to the steel collar in Embodiment 1 of the present invention;

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

[0061] Figure 8 This is a schematic diagram of the gas-insertion ring in Embodiment 1 of the present invention;

[0062] Figure 9 This is a schematic diagram of the robotic arm returning the broken yarn bobbin to the spindle position in Embodiment 1 of the present invention;

[0063] Figure 10 This is a schematic diagram of the winding guide hook in Embodiment 1 of the present invention;

[0064] Figure 11 This is a schematic diagram of the robotic arm pulling the yarn to the front roller joint and the actuating brake releasing the spindle in Embodiment 1 of the present invention;

[0065] Figure 12 This is a schematic diagram of another relative position of the robotic arm in Embodiment 2 of the present invention;

[0066] Figure 13 This is a schematic diagram of an automatic jointing robot with an auxiliary braking mechanism in Embodiment 3 of the present invention;

[0067] Figure 14 This is a schematic diagram of an automatic jointing robot with an auxiliary unwinding mechanism in Embodiment 4 of the present invention;

[0068] Figure 15 This is a schematic diagram of the process of first positioning the steel wire loop and then threading the yarn in Embodiment 6 of the present invention.

[0069] In the diagram: 1. Boll tube pick-up and unwinding robotic arm; 2. Broken yarn separation and capture robotic arm; 3. Spindle position on the spinning frame; 4. Boll tube pick-up and unwinding end effector; 5. Broken yarn separation and capture end effector; 6. Spindle brake; 7. Spindle bar; 8. Ring rail; 9. Ring ring; 10. Air ring; 11. Broken yarn bobbin; 12. Yarn guide hook; 13. Front roller; 14. Yarn; 15. Traveling wire; 16. Auxiliary braking mechanism; 17. Auxiliary unwinding mechanism; 18. Front drafting roller; 19. Internal expansion airbag; 20. Suction nozzle; 21. Main nozzle; 22. Secondary nozzle; 23. Friction part; 24. Auxiliary yarn finding part; 25. Yarn finding part drive mechanism; 26. Fixed base; 27. Swing cylinder; 28. Lever; 29. ​​Unwinding motor; 30. Unwinding spindle; 31. Main nozzle airflow; 32. Secondary nozzle airflow; 33. Effective reachable area of ​​main nozzle airflow; 34. Main nozzle blind zone; 35. Yarn suction tube. Detailed Implementation

[0070] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0071] Example 1:

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

[0073] See Figures 1-2 The ring spinning automatic splicing robot includes: bobbin picking, placing and unwinding robotic arm 1 and broken yarn separation and capture robotic arm 2.

[0074] In this embodiment, both the bobbin picking / unwinding robotic arm 1 and the yarn breakage separation and capture robotic arm 2 are six-degree-of-freedom or higher robotic arms, and their configuration can be industrial robotic arms or collaborative robotic arms. The use of six-axis industrial robotic arms for both arms is sufficient to meet the positional requirements of the splicing process.

[0075] In this embodiment, the bobbin picking, placing and unwinding robotic arm 1 has the functions of actuating the brake 6, clamping and picking up / placing the bobbin, unwinding the bobbin, and actuating the yarn guide hook 12.

[0076] Specifically, the end of the bobbin picking, placing and unwinding robotic arm 1 is equipped with a bobbin picking, placing and unwinding end actuator 4; the bobbin picking, placing and unwinding end actuator 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 aforementioned internal expansion force can be applied by an inflatable airbag, an electric or pneumatic internal clamping plate, etc., and the external clamping force can be applied by an electric clamp, a pneumatic gripper, or an external airbag, etc.

[0078] To save space and reduce structural complexity, the end effector 4 for tube loading, unloading and unwinding in this embodiment adopts an internal expansion airbag 19 structure.

[0079] Furthermore, the bobbin pick-up and unwinding end actuator 4 can work with the sixth axis of the bobbin pick-up and unwinding robotic arm 1 to unwind the broken yarn bobbin 11.

[0080] In this embodiment, the function of the yarn breakage separation and capture robotic arm 2 is to cooperate with the unwinding of the yarn breakage bobbin 11, separate and capture the broken ends on the yarn breakage bobbin 11 and apply a certain tension to the captured yarn 14; pull the captured yarn 14 to complete actions such as threading through the steel wire loop 15, threading through the air ring 10, winding around the guide hook 12, and reconnecting the front roller 13; at the same time, it has the function of flicking the guide hook 12.

[0081] Specifically, the yarn breakage separation and capture robotic arm 2 is equipped with a yarn breakage separation and capture end effector 5 at its end. The yarn breakage separation and capture end effector 5 can separate and capture the broken yarn from the yarn breakage bobbin 11, and also functions as a yarn threading or positioning device for the wire coil 15, as well as actuating the yarn guide hook 12 and the brake spindle 6. The yarn breakage separation and capture end effector 5 includes: a suction nozzle 20, a main nozzle 21, a secondary nozzle 22, a friction part 23, an auxiliary yarn finding part 24, a yarn finding part drive mechanism 25, and a fixed base 26, etc.

[0082] The function of the yarn breakage separation and capture end effector 5 is mainly achieved by negative pressure adsorption combined with contact friction.

[0083] When the yarn breakage separation and capture end actuator 5 approaches the yarn breakage bobbin 11, it works in conjunction with the unwinding of the bobbin to assist the yarn finding part 24 and the friction part 23 in approaching the yarn breakage bobbin 11 and rubbing the outer layer of the yarn to initially separate the broken ends. Then, the negative pressure airflow at the suction nozzle 20 is used to further separate and capture the broken ends, so that the captured yarn 14 maintains a certain tension.

[0084] Furthermore, the fixed base 26 is a rigid connector, which is fixedly connected to the end flange of the yarn breakage separation and capture robot arm 2; the yarn suction tube 35 is fixedly installed below the fixed base 26, and the suction nozzle 20 is connected to a vacuum source (not shown) through the yarn suction tube 35 to generate 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 felt cloth of the same material as the yarn 14 or a flexible material with a rough surface.

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

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

[0087] The auxiliary yarn finding part 24 and the friction part 23 are made of brush, felt or flexible material, which can contact and rub against the outer layer of yarn in the broken yarn bobbin 11, and the auxiliary suction nozzle 20 separates the broken end from the outer layer of yarn in 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 damage to the yarn or the end effector.

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

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

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

[0092] A positive pressure blowing method is adopted, using the main nozzle 21 and the auxiliary nozzle 22 to blow air intermittently in a certain time sequence, forming an annular airflow on the inner wall of the steel ring 9 to blow the steel wire ring 15 to move, thereby realizing the threading or positioning of the steel wire ring 15.

[0093] The main nozzle 21 and the auxiliary nozzle 22 blow air in the same direction with respect to the movement direction of the wire coil 15, which can be clockwise or counterclockwise. The auxiliary nozzle 22 is mainly used to overcome the blind spot of the airflow 31 of the main nozzle and assist the main nozzle 21 in stabilizing the movement of the wire coil 15.

[0094] The humanoid splicing method using the aforementioned automatic splicing robot for ring spinning is as follows:

[0095] Step 1: Refer to Figure 3 , Figure 3 A schematic diagram is shown of the robotic arm actuating the brake 6 to stop the spindle and actuating the yarn guide hook 12;

[0096] After the yarn breaks, the bobbin take-up and unwinding end actuator 4 moves to the lower part of the brake 6 and pushes the brake 6 upward to stop the spindle rod 7. At the same time, the yarn breakage separation and capture end actuator 5 moves to the lower part of the guide hook 12 and lifts the guide hook 12 upward.

[0097] Step Two: Refer to Figure 4 , Figure 4 A schematic diagram is shown of a robotic arm removing the broken yarn bobbin 11 from the spindle position;

[0098] The end actuator 4 for taking, placing, and unwinding the yarn first moves to directly above 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 inner expansion airbag 19 inflates and clamps the broken yarn bobbin 11, pulling it out from the spindle 7.

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

[0100] The bobbin picking and unwinding robotic arm 1 transports the broken yarn bobbin 11 to the front of the spinning spindle 3 of the spinning machine. Its end effector, driven by the sixth axis of the bobbin picking and unwinding robotic arm 1, begins to unwind 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. The friction part 23 on the side of the auxiliary yarn finding part 24 and the suction nozzle 20 contacts the outer layer of the yarn in the broken yarn bobbin 11. In conjunction with the unwinding action of the bobbin, the broken ends are initially separated by friction. 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 in the broken yarn bobbin 11, and reserves a certain length of yarn for subsequent splicing process.

[0101] Step 4: Refer to Figure 6 , Figure 6 A schematic diagram showing the tangency of yarn 14 and steel collar 9 is shown;

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

[0103] Step 5: Refer to Figure 7 , Figure 7 A schematic diagram showing the main nozzle 21 and the auxiliary nozzle 22 working together with the wire guide ring 15 is shown;

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

[0105] Step Six: Refer to Figure 8 , Figure 8 A schematic diagram of the gas-permeable ring 10 is shown.

[0106] The yarn breakage separation and capture robotic arm 2 pulls the yarn 14 upward and pulls the yarn 14 through the air ring 10 from one side of the opening.

[0107] Step Seven: Refer to Figure 9 , Figure 9 A schematic diagram is shown showing the robotic arm returning the broken yarn bobbin 11 to the spindle position;

[0108] The bobbin picking, placing, and unwinding robotic arm 1 transports the broken yarn bobbin 11 and places it back to its original spindle position. Then, the yarn guide hook 12 is moved 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: Refer to Figure 10 , Figure 10 A schematic diagram of the winding guide hook 12 is shown;

[0110] The yarn breakage separation and capture robot arm 2 pulls the yarn 14 and winds it into the yarn guide hook 12. At the same time, the bobbin pick-up, unwinding end actuator 4 moves downward.

[0111] Step Nine: Refer to Figure 11 , Figure 11 A schematic diagram is shown of the robotic arm pulling the yarn 14 to the front roller 13 joint and the actuating brake 6 releasing the spindle;

[0112] The yarn breakage 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 pick-up and unwinding end actuator 4 moves to the top of the brake 6, pushes the brake 6 downward, and releases the spindle 7, thus completing the splicing.

[0113] Example 2:

[0114] The difference from Example 1 is that this example shows the case where the positions of the two robotic arms are swapped.

[0115] Figure 12 Embodiment 2 of the present invention is shown, illustrating a schematic diagram of another relative position of the two robotic arms. Since the two robotic arms employ the same configuration, the swapping essentially involves changing the position of the end effector. The connection steps and processes in this embodiment are consistent with those in Embodiment 1, and will not be repeated here.

[0116] Example 3:

[0117] The difference from Embodiment 1 is that this embodiment is designed with an auxiliary braking mechanism 16, which is located next to the brake 6. The auxiliary braking mechanism 16 is used to replace the bobbin picking, unloading and rewinding robot arm 1 in moving the brake 6 to achieve braking and release of the spindle 7.

[0118] See Figure 13 , Figure 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. The auxiliary braking mechanism 16 is used to replace the braking and release of the bobbin rod 7 of the tube picking, placing and unwinding robotic arm 1.

[0119] The humanoid splicing method using the above-described ring spinning automatic splicing robot differs from Example 1 in that steps one and nine are modified accordingly (in Example 1...). Figure 3 , Figure 11 The joint steps shown are different; the remaining steps are the same. Specifically:

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

[0121] Step 9: The yarn breakage 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 braking mechanism 16 pushes the lever 28 to press down the brake spindle 6 and release the spindle rod 7, thus completing the splicing.

[0122] Apart from the two steps mentioned above, the remaining connection steps in this embodiment are the same as in Embodiment 1, and will not be repeated here.

[0123] Example 4:

[0124] The difference from Embodiment 1 is that this embodiment is designed with an auxiliary unwinding mechanism 17. The auxiliary unwinding mechanism 17 is located in front of the spinning spindle position 3 of the spinning machine. The function of the auxiliary unwinding mechanism 17 is to replace the bobbin picking and unwinding robot arm 1 to unwind the broken bobbin 11.

[0125] See Figure 14 , Figure 14 A schematic diagram of an automatic splicing robot with an 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 placing unwinding robotic arm 1 for unwinding broken yarn bobbins 11.

[0126] The humanoid splicing method using the above-described ring spinning automatic splicing robot differs from Example 1 in that steps three and four are modified accordingly (in Example 1...). Figure 5 , Figure 6 The joint steps shown are different; the remaining steps are the same. Specifically:

[0127] Step 3: The bobbin picking and unwinding robotic arm 1 transports the broken yarn bobbin 11 to the unwinding spindle 30 of the auxiliary unwinding mechanism 17. The unwinding motor 29 rotates to start unwinding the broken yarn bobbin 11. At the same time, the broken yarn separation and capture end actuator 5 moves from bottom to top or from top to bottom along the axis of the broken yarn bobbin 11. The friction part 23 on the side of the auxiliary yarn finding part 24 and the suction nozzle 20 contacts the outer layer of the yarn in the broken yarn bobbin 11. In conjunction with the unwinding action of the bobbin, the broken ends are initially separated by friction. 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 in the broken yarn bobbin 11, and reserves a certain length of fine yarn for the subsequent splicing process.

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

[0129] Apart from the two steps mentioned above, the remaining connection steps in this embodiment are the same as in Embodiment 1, and will not be repeated here.

[0130] Example 5:

[0131] The difference from Embodiment 1 is that this embodiment is designed with an auxiliary braking mechanism 16 and an auxiliary unwinding mechanism 17.

[0132] The ring spinning automatic splicing robot includes: bobbin picking and unwinding robotic arm 1, bobbin picking and unwinding end effector 4, yarn breakage separation and capture robotic arm 2, yarn breakage separation and capture end effector 5, auxiliary braking mechanism 16, and auxiliary unwinding mechanism 17.

[0133] In this embodiment, the auxiliary braking mechanism 16 is specifically the auxiliary braking mechanism 16 in embodiment 3. The auxiliary braking mechanism 16 is located next to the brake 6. The function of the auxiliary braking mechanism 16 is to replace the bobbin picking, placing and unwinding mechanical arm 1 in moving the brake 6 to realize the braking and release of the spindle 7.

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

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

[0136] Example 6:

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

[0138] See Figure 15 , Figure 15 A schematic diagram of the process of positioning the traveler 15 before threading the yarn is shown. In this embodiment, the process of threading the traveler is as follows: before threading the yarn 14 into the traveler 15, the traveler 15 needs to be positioned, generally in front of the neck ring 9; then, the yarn 14 is threaded into the positioned traveler 15.

[0139] The humanoid splicing method of the automatic splicing robot for ring spinning differs from that in Example 1 in the corresponding changes to steps four and five (in Example 1). Figure 6 , Figure 7 The joint steps shown are different; the remaining steps are the same. Specifically:

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

[0141] Step 5: After the yarn breakage separation and capture end effector 5 positions the wire loop 15 using the main and auxiliary nozzles, the wire loop 15 remains stationary; the bobbin pick-up and unwinding robotic arm 1 and the yarn breakage separation and capture robotic arm 2 cooperate, the bobbin pick-up and unwinding end effector 4 clamps the yarn breakage bobbin 11, and the yarn breakage separation and capture end effector 5 adsorbs and pulls the yarn 14, and the yarn 14 located between the yarn breakage bobbin 11 and the yarn breakage separation and capture end effector 5 is threaded into the positioned wire loop 15, completing the threading of the wire loop 15.

[0142] Apart from the steps mentioned above, the remaining connection steps in this embodiment are the same as in Embodiment 1, and will not be repeated here.

[0143] The above description is only for the purpose of helping to understand the method and core essence of the present invention, but the scope of protection of the present invention is not limited thereto. For those skilled in the art, any equivalent substitutions or modifications made to the technical solution and inventive concept disclosed in the present invention within the scope of the technology disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automatic splicing robot for ring spinning, characterized in that, It includes at least two robotic arms, namely a bobbin picking and unwinding robotic arm (1) and a yarn breakage separation and capture robotic arm (2). The end of the bobbin picking and unwinding robotic arm (1) is connected to a bobbin picking and unwinding end actuator (4), and the end of the yarn breakage separation and capture robotic arm (2) is connected to a yarn breakage separation and capture end actuator (5). The bobbin pick-and-place unwinding end actuator (4) is used to clamp the broken yarn bobbin (11); The yarn breakage separation and capture end actuator (5) is used to separate the broken yarn from the broken yarn bobbin (11) by friction and capture the broken yarn under negative pressure, and pass the broken yarn through the wire loop (15). The bobbin picking, unwinding and unwinding robotic arm (1) and the yarn breakage separation and capture robotic arm (2) are both robotic arms with six degrees of freedom or more. The bobbin picking, unwinding and unwinding robotic arm (1) has the functions of actuating the brake (6), clamping and picking up the broken bobbin (11), unwinding the broken bobbin (11) and actuating the guide hook (12); The broken yarn separation and capture robotic arm (2) can cooperate with the unwinding of the broken yarn bobbin (11), separate and capture the broken ends on the broken yarn bobbin (11), and apply a certain tension to the captured yarn (14), pulling the captured yarn (14) to complete the actions of threading through the steel wire loop (15), threading through the air ring (10), winding around the guide hook (12), and reconnecting to the front roller (13); at the same time, it has the function of flicking the guide hook (12); The threading of the steel wire loop (15) is achieved by first positioning the steel wire loop (15) and then threading the yarn, as follows: The yarn (14) between the yarn breakage bobbin (11) and the yarn breakage separation and capture end actuator (5) is controlled to pass through the wire loop (15); the yarn breakage separation and capture end actuator (5) pulls the broken end upward to continue passing through the air ring (10); the yarn breakage separation and capture end actuator (5) generates airflow and forms an annular airflow on the inner wall of the steel collar (9) to blow the wire loop (15) to rotate; the wire loop (15) moves to the position where the friction part (23) of the yarn breakage separation and capture end actuator (5) contacts the steel collar (9), and the wire loop (15) is positioned; the yarn (14) between the yarn breakage bobbin (11) and the yarn breakage separation and capture end actuator (5) is controlled to pass through the positioned wire loop (15) to complete the passing through the wire loop (15).

2. The automatic splicing robot for ring spinning according to claim 1, characterized in that, The yarn breakage separation and capture end effector (5) includes a suction nozzle (20), a friction part (23), and a fixed base (26). The end of the yarn breakage separation and capture robot arm (2) is connected to the fixed base (26). The fixed base (26) is connected to the negative pressure air source component and the yarn suction tube (35) below. The negative pressure air source component is connected to the suction nozzle (20) through the yarn suction tube (35). The suction nozzle (20) is connected to the friction part (23) on the side.

3. The automatic splicing robot for ring spinning according to claim 2, characterized in that, The yarn breakage separation and capture end effector (5) also includes an auxiliary yarn finding unit (24) and a yarn finding unit drive mechanism (25). The auxiliary yarn finding part (24) is located on one side of the friction part (23), and the auxiliary yarn finding part (24) is connected to the fixed base (26) through the yarn finding part driving mechanism (25); When capturing a broken yarn, the friction part (23) and the auxiliary yarn finding part (24) are located on different sides of the broken yarn bobbin (11) to rub the outer layer of the broken yarn bobbin (11) in multiple directions.

4. The automatic splicing robot for ring spinning according to claim 3, characterized in that, Both the friction part (23) and the auxiliary yarn finding part (24) are made of flexible material with rough surfaces.

5. The automatic splicing robot for ring spinning according to claim 4, characterized in that, The yarn breakage separation and capture end actuator (5) also includes a nozzle, which is connected to a positive pressure air source component. The nozzle includes 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 airflow range of the main nozzle (21) and the airflow range of the auxiliary nozzle (22) cover the inner side of the steel collar (9).

6. An automatic splicing robot for ring spinning according to any one of claims 1-5, characterized in that, The end actuator (4) for picking up, placing and unwinding the tube includes an internal expansion airbag (19), which is connected to the end of the tube picking up, placing and unwinding robotic arm (1). Insert the internal expansion airbag (19) into the top of the broken yarn tube (11) and inflate it to clamp the top of the broken yarn tube (11).

7. A humanoid splicing method for an automatic splicing robot in ring spinning as described in claim 6, characterized in that, Includes the following steps: S1. Actuate the spindle brake (6) to stop the spindle rod (7) and actuate the yarn guide hook (12). S2. Use the bobbin pick-and-place unwinding end actuator (4) to clamp the broken yarn bobbin (11) and pull the broken yarn bobbin (11) off the spindle (7); S3, unwind the broken yarn bobbin (11), and at the same time the broken yarn separation and capture end actuator (5) moves from bottom to top or from top to bottom along the axis of the broken yarn bobbin (11), cooperating with the unwinding action of the broken yarn bobbin (11), using friction to initially separate the broken ends, and at the same time using 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 actuator (5) is controlled to pass through the steel wire ring (15); the broken yarn separation and capture end actuator (5) pulls the broken end upward to continue passing through the air ring (10). S5. The end actuator (4) for taking, placing, and unwinding the bobbin puts the broken bobbin (11) back to its original position and moves the yarn guide hook (12) back to its original position. S6. The yarn breakage separation and capture end actuator (5) pulls the broken yarn into the yarn guide hook (12) and continues to feed the broken yarn into the jaws between the front roller (13) and the front drafting roller (18); the spindle brake (6) is activated to release the spindle rod (7).

8. The humanoid splicing method for an automatic splicing robot in ring spinning according to claim 7, characterized in that, The actuating brake (6) in S1 and S6 is actuated by the bobbin take-up and unwinding mechanical arm (1) or the yarn breakage separation and capture mechanical arm (2), or by a separately set auxiliary braking mechanism (16).

9. The humanoid splicing method for an automatic splicing robot in ring spinning according to claim 7, characterized in that, The broken yarn bobbin (11) in S3 is unwound by the sixth axis of the bobbin picking and placing unwinding robot arm (1), or by a separate auxiliary unwinding mechanism (17).

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