Automatic yarn feeding system and automatic yarn feeding method for warping and yarn feeding

Abstract

The invention relates to an automatic yarn feeding system and an automatic yarn feeding method.The automatic yarn feeding system comprises a multi-axis mechanical arm, a partition plate taking and placing clamp, a bag removing clamp and a spinning cake taking and placing clamp, and the partition plate taking and placing clamp is used for moving under driving of the multi-axis mechanical arm so as to remove partition plates placed on all layers of spinning cakes; the bag removing clamp is used for moving under the driving of the multi-axis mechanical arm so as to remove bags arranged outside the spinning cakes in a sleeving mode, and the spinning cake taking and placing clamp is used for moving under the driving of the multi-axis mechanical arm so as to transfer the spinning cakes; the bag removing clamp comprises a first mounting base mounted on the multi-axis mechanical arm, a first pneumatic clamping jaw arranged on the first mounting base and an elastic piece arranged between the first mounting base and the first pneumatic clamping jaw, and the elastic piece is used for adjusting the acting force between the first pneumatic clamping jaw and the bag. By means of the automatic spinning cake racking device, automatic spinning cake racking can be achieved in the warping and yarn feeding process, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of textile equipment, in particular to an automatic yarn feeding system and an automatic yarn feeding method for warping and yarn feeding. Background Art

[0002] Warping and yarn loading is an important part of the warping process in the textile industry. Among them, putting the silk cakes on the rack is the first process of warping and yarn loading. Putting the silk cakes on the rack refers to placing the silk cakes on the wire rack of the silk machine in a certain order and pattern. At present, warping and yarn loading is generally done manually. Due to the high position of the wire rack and the large number of silk cakes to be loaded, manual operation is not only difficult but also dangerous, and the work efficiency is low. Therefore, it has always been hoped in the relevant technology to realize the automation of warping and yarn loading.

[0003] However, before being put on the rack, the yarn cakes are usually stacked and placed on a transport vehicle, with a bag covering the outside of each yarn cake and a partition placed on each layer of yarn cake to maintain the stability of the yarn cake. Therefore, putting the yarn cakes on the rack not only requires transferring the yarn cakes from the transport vehicle to the yarn rack of the yarn cart, but also requires removing the bags and partitions outside the yarn cakes. The existing yarn loading equipment cannot automatically complete the above-mentioned operation of removing the bags and partitions. Summary of the invention

[0004] Based on this, it is necessary to provide an automatic yarn feeding system and an automatic yarn feeding method for warping and yarn feeding in order to address the problem that the current warping and yarn feeding process cannot be automated.

[0005] The present application adopts the following technical scheme: an automatic yarn feeding system for warping yarn feeding, the automatic yarn feeding system comprises a multi-axis mechanical arm, a partition plate pick-up and placement fixture, a bag removal fixture and a yarn cake pick-up and placement fixture, the partition plate pick-up and placement fixture, the bag removal fixture and the yarn cake pick-up and placement fixture are all installed on the multi-axis mechanical arm; The partition plate picking and placing fixture is used to move under the drive of the multi-axis robot arm to remove the partition plate placed on each layer of silk cake, the bag removal fixture is used to move under the drive of the multi-axis robot arm to remove the bag set outside each silk cake, and the silk cake picking and placing fixture is used to move under the drive of the multi-axis robot arm to transfer the silk cake; The bag removal clamp includes a first mounting seat installed on the multi-axis robotic arm, a first pneumatic clamp arranged on the first mounting seat, and an elastic member arranged between the first mounting seat and the first pneumatic clamp, wherein the elastic member is used to apply pressure to the first pneumatic clamp when the first pneumatic clamp abuts against the bag to adjust the force between the first pneumatic clamp and the bag.

[0006] In one embodiment, the multi-axis robot arm includes a group of first robot arms and a group of second robot arms, the silk cake picking and placing fixture is installed on the first robot arm, the partition picking and placing fixture and the bag removal fixture are installed on the second robot arm, the first robot arm is a six-axis robot arm, and the second robot arm is a four-axis robot arm, a five-axis robot arm, or a six-axis robot arm; Or, the multi-axis robot arm includes a group of third robot arms, the partition pick-up and placement fixture, the bag removal fixture and the silk cake pick-up and placement fixture are all installed on the third robot arm, and the third robot arm is a six-axis robot arm; Or, the multi-axis robotic arm includes two groups of fourth robotic arms and one group of fifth robotic arms, the partition picking and placing fixtures and the bag removal fixtures are installed one-to-one with the two groups of the fourth robotic arms, the silk cake picking and placing fixtures are installed with the fifth robotic arm, the fourth robotic arm is a four-axis robotic arm or a five-axis robotic arm or a six-axis robotic arm, and the fifth robotic arm is a six-axis robotic arm.

[0007] In one embodiment, the bag removal clamp also includes a connecting shaft slidably disposed on the first mounting seat and a limit member disposed on the connecting shaft, the first pneumatic clamp is disposed on the connecting shaft, the limit member is used to cooperate with the first mounting seat to limit the connection shaft from being separated from the first mounting seat, and the elastic member is a spring sleeved outside the connecting shaft.

[0008] In one embodiment, the partition picking and placing fixture includes a first linear drive arranged on a first mounting seat and a pneumatic suction cup arranged at the output end of the first linear drive, and the first linear drive is used to drive the pneumatic suction cup to reciprocate along a first direction so that the pneumatic suction cup extends and retracts relative to the first pneumatic clamp along the first direction.

[0009] In one embodiment, the automatic yarn feeding system further includes a waste bag collection component, and the waste bag collection component includes: The collecting bin is formed with a cavity, and is provided with a placement opening for placing the bag into the cavity and a bag outlet for moving the bag out of the cavity; An extrusion plate is slidably disposed in the cavity and is provided with a blowing hole; A first driving mechanism, which is connected to the extrusion plate and is used to drive the extrusion plate to move closer to and away from the bag outlet; A collecting container, which is disposed outside the collecting bin and communicated with the bag outlet; and The blowing mechanism is arranged on the extrusion plate and is used for blowing air to the sleeve bag at the bag outlet through the blowing hole, so as to blow the sleeve bag from the bag outlet into the collection container.

[0010] In one embodiment, the silk cake picking and placing fixture includes a second mounting seat mounted on the multi-axis robot arm and a silk cake picking and placing assembly disposed on the second mounting seat, and the silk cake picking and placing assembly includes: A second pneumatic clamping jaw having a second clamping jaw portion that can be relatively opened and closed; a push plate having a through hole and slidably sleeved outside the second clamping jaw portion through the through hole; and The second linear driver is connected to the push plate and is used to drive the push plate to slide relative to the second clamping jaw portion.

[0011] In one embodiment, the wire cake picking and placing components are provided with at least two groups, and the wire cake picking and placing fixture also includes a second driving mechanism, which is connected to the wire cake picking and placing components and is used to drive the two adjacent groups of wire cake picking and placing components to move relative to each other so as to adjust the distance between the two adjacent groups of wire cake picking and placing components.

[0012] In one embodiment, the automatic yarn feeding system further includes a silk car transport production line, a silk cake transport production line, a silk car transport vehicle capable of moving along the silk car transport production line, and a silk cake transport vehicle capable of moving along the silk cake transport production line.

[0013] The present application also adopts the following technical solution: an automatic yarn feeding method for warping yarn feeding, the automatic yarn feeding method is implemented by using an automatic yarn feeding system as described in any one of the above technical solutions, and the automatic yarn feeding method comprises the following steps: The multi-axis robot arm drives the partition plate picking and placing fixture to move, and the partition plate picking and placing fixture moves to dock with the partition plate placed on each layer of silk cake and remove the partition plate; The multi-axis mechanical arm drives the bag removal clamp to move, and the bag removal clamp moves to dock with the bag set outside the silk cake and remove the bag; The multi-axis robot arm drives the yarn cake picking and placing fixture to move, and the yarn cake picking and placing fixture moves to dock with the yarn cake and transfer the yarn cake to the yarn rack; The bag removal clamp moves to dock with the bag set outside the silk cake and removes the bag, which includes: Step S100: the first pneumatic clamp moves downward to abut against the bag, controls the first pneumatic clamp to clamp the bag and releases the bag after moving upward a first set distance; Step S200: the first pneumatic clamp moves downward to abut against the bag, and the first pneumatic clamp is controlled to re-clamp the bag and move upward by a second set distance; The second set distance is greater than the first set distance, and the second set distance can separate the bag from the silk cake.

[0014] In one embodiment, step S110 is further included between step S100 and step S200: Repeat step S100 at least once, increase the value of the first set distance during each repetition of step S100, and the distance the first pneumatic clamp moves upward during each repetition of step S100 is less than the second set distance.

[0015] The application of this application has the following beneficial effects: by controlling the actions of the partition pick-up and placement fixture, the bag removal fixture and the silk cake pick-up and placement fixture through a multi-axis robotic arm, the purpose of removing the partition, removing the bag and transporting the silk cake can be achieved respectively, thereby realizing the automated silk cake shelving in the warping and yarn loading process. Among them, the bag removal fixture clamps the bag through the first pneumatic clamp, and the bag removal fixture can be driven downward by the multi-axis robotic arm to make the first pneumatic clamp abut against the bag. In this process, the abutment force between the first pneumatic clamp and the bag can be adjusted by the pressure of the elastic member on the first pneumatic clamp. The abutment force of the first pneumatic clamp on the bag and the silk cake in the bag will not cause damage to the silk cake, and can generate friction with the bag that is sufficient to clamp part of the bag, thereby ensuring that the first pneumatic clamp can successfully clamp the bag without damaging the silk cake. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A top view of an automatic yarn feeding system for warping and yarn feeding provided in an embodiment of the present application; Figure 2 It is a schematic diagram of the structure of the bag removal fixture in the automatic yarn feeding system; Figure 3 It is a structural schematic diagram of another perspective of the bag removal fixture in the automatic yarn feeding system; Figure 4 Side view of the bag removal fixture and the partition placement fixture Figure 1 ; Figure 5 Side view of the bag removal fixture and the partition placement fixture Figure 2 ; Figure 6 A schematic diagram of silk cakes stacked and arranged to be put on a shelf; Figure 7 It is a schematic diagram of the structure of the waste bag collection assembly; Figure 8 is a side view of a waste bag collection assembly; Fig. 9 It is a schematic diagram of the structure of the yarn cake picking and placing fixture in the automatic yarn feeding system when it is used to grab the yarn cake; Fig.10 It is a schematic diagram of the structure of the yarn cake picking and placing fixture in the automatic yarn feeding system when it is used to place the yarn cake on the yarn rack; Fig.11It is a schematic diagram of a partition picking and placing fixture, a bag removal fixture and a silk cake picking and placing fixture in an optional embodiment.

[0017] Figure numerals: 1, multi-axis robot arm; 10, first robot arm; 11, second robot arm; 2, partition pick-up and placement fixture; 20, first linear actuator; 21, pneumatic suction cup; 3, bag removal fixture; 30, first mounting seat; 300, connecting plate; 301, connecting frame; 302, mounting plate; 31, first pneumatic clamp; 310, first clamping jaw part; 311, rubber sleeve; 32, elastic member; 33, connecting shaft; 34, limit member; 35, waist-shaped hole; 4, silk cake pick-up and placement fixture; 40, second pneumatic clamp; 400, second clamping jaw part; 41, push plate; 410, perforation ; 43. Second linear drive; 44. Second mounting seat; 45. Slide rail; 5. Waste bag collection assembly; 50. Collection bin; 500. Placement opening; 501. Bag outlet; 51. Extrusion plate; 510. Blowing hole; 52. First drive mechanism; 520. Drive motor; 521. Transmission belt; 6. Wire car transport production line; 60. Wire car transport vehicle; 61. Lifting station; 62. Rotating station; 63. Lowering station; 7. Wire cake transport production line; 70. Wire cake transport vehicle; 71. Stacking machine; 72. Partition transport vehicle; 73. Partition collection bar; 8. Wire cake; 9. Partition. DETAILED DESCRIPTION

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0020] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0021] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0023] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0024] The current yarn loading equipment can only realize the automatic transportation of silk cakes through the manipulator, but for the silk cakes stacked on the transport vehicle and covered with bags, the current yarn loading equipment does not have the function of removing the partition and the bag. Therefore, in the prior art, the bag must be removed manually first, and then the partition must be taken manually in the process of using the manipulator to transport the silk cake, so that the operation of putting the silk cake on the shelf can be completed, which can only be semi-automatic. After research, the inventor found that the reason why the bag cannot be automatically removed is that two problems are prone to occur when the manipulator grabs the bag: after the manipulator contacts the bag, if it presses on the bag with a small force, it is easy to slip and fail to clamp the bag; if it presses on the bag with a large force, it is easy to damage the silk cake in the bag. In addition, even if the bag is successfully clamped, it is easy to tear the part of the bag to be clamped when driving the bag away from the silk cake, so that the bag is torn off at the clamped position, thereby causing the failure of removing the bag. Therefore, there is a problem of too high a failure rate when using a robot to remove the bag, and it cannot be applied to the production site.

[0025] To this end, this embodiment provides an automatic yarn feeding system for warping yarn. Figure 1 , Figure 2 , Figure 3 , Figure 6 and Fig. 9 As shown, the automatic yarn feeding system includes a multi-axis robot arm 1, a partition pick-up and placement fixture 2, a bag removal fixture 3 and a silk cake pick-up and placement fixture 4, and the partition pick-up and placement fixture 2, the bag removal fixture 3 and the silk cake pick-up and placement fixture 4 are all installed on the multi-axis robot arm 1. Among them, the partition pick-up and placement fixture 2 is used to move under the drive of the multi-axis robot arm 1 to remove the partition 9 placed on each layer of silk cake 8, the bag removal fixture 3 is used to move under the drive of the multi-axis robot arm 1 to remove the bag set outside each silk cake 8, and the silk cake pick-up and placement fixture 4 is used to move under the drive of the multi-axis robot arm 1 to transport the silk cake 8. The multi-axis robot arm 1 controls the actions of the partition pick-up and placement fixture 2, the bag removal fixture 3 and the silk cake pick-up and placement fixture 4 to respectively achieve the purpose of removing the partition 9, removing the bag and transporting the silk cake 8, thereby realizing the automatic shelving of the silk cake 8 in the warping yarn feeding process.

[0026] The bag removal fixture 3 in this embodiment includes a first mounting seat 30 mounted on the multi-axis robot arm 1, a first pneumatic clamp 31 arranged on the first mounting seat 30, and an elastic member 32 arranged between the first mounting seat 30 and the first pneumatic clamp 31. The elastic member 32 is used to apply pressure to the first pneumatic clamp 31 when the first pneumatic clamp 31 abuts against the bag, so as to adjust the force between the first pneumatic clamp 31 and the bag. The bag removal fixture 3 can be driven by the multi-axis robot arm 1 to move downward so that the first pneumatic clamp 31 abuts against the bag. In this process, the abutting force between the first pneumatic clamp 31 and the bag can be adjusted by the pressure of the elastic member 32 on the first pneumatic clamp 31. The abutting force of the first pneumatic clamp 31 on the bag and the silk cake 8 located in the bag will not cause damage to the silk cake 8, and can generate friction with the bag sufficient to clamp part of the bag, thereby ensuring that the first pneumatic clamp 31 can successfully clamp the bag without damaging the silk cake 8.

[0027] Further, for Figure 6 The stacked yarn cakes 8 shown in the figure, when the automatic yarn feeding system provided in this embodiment is used to perform the automatic yarn feeding operation, include the following steps: Step S10: The multi-axis robot arm 1 drives the partition plate pick-up and placement fixture 2 to move, and the partition plate pick-up and placement fixture 2 moves to dock with the partition plate 9 placed on each layer of the silk cake 8 and remove the partition plate 9; Step S20: The multi-axis robot arm 1 drives the bag removal clamp 3 to move, and the bag removal clamp 3 moves to dock with the bag set outside the silk cake 8 and remove the bag; Step S30: The multi-axis robot arm 1 drives the yarn cake picking and placing fixture 4 to move, and the yarn cake picking and placing fixture 4 moves to dock with the yarn cake 8 and transfers the yarn cake 8 to the yarn rack.

[0028] It should be noted that in this embodiment, the operations of removing the partition 9, removing the bag, and transporting the silk cake 8 are performed in sequence according to step S10, step S20, and step S30, and the transport of a layer of silk cake 8 is completed after performing one round of the above operations. Then, the above operations can be repeated multiple times according to the number of layers of the silk cakes 8 stacked. In other optional embodiments, if the partition 9 is not set on the top layer of the stacked silk cakes 8, it is necessary to carry out the operations of transporting the silk cake 8, removing the partition 9, and removing the bag in the order of step S30, step S10, and step S20. Therefore, the above steps S10, step S20, and step S30 do not limit the operating steps of the automatic yarn feeding proposed in this application, but arrange the order of the above operations according to actual conditions.

[0029] Wherein, the step S20 "the bag removal fixture 3 moves to dock with the bag set outside the silk cake 8 and removes the bag" includes the following steps: Step S100: the first pneumatic clamp 31 moves downward to abut against the bag, and the first pneumatic clamp 31 is controlled to clamp the bag and release the bag after moving upward a first set distance; Step S200: the first pneumatic clamp 31 moves downward until it contacts the bag, and the first pneumatic clamp 31 is controlled to re-clamp the bag and move upward by a second set distance; The second set distance is greater than the first set distance, and the second set distance can separate the bag from the silk cake 8.

[0030] By adopting the above-mentioned clamping and removing operation, in step S100, the first pneumatic clamp 31 can be used to clamp a bag with a smaller area and lift it up a shorter distance to avoid excessive tension of the bag due to the lifting distance being too large, thereby preventing the clamped part from being torn off. Then, in step S200, the first pneumatic clamp 31 clamps a bag with a larger area and lifts it up a longer distance to complete the bag removal operation. Since a part of the bag has been clamped and lifted for a certain distance in step S100, in step S200, the first pneumatic clamp 31 is easy to contact with the bag with a larger area, thereby facilitating the clamping of the bag with a larger area, so that the bag is not easily torn off when the bag is clamped and lifted again.

[0031] Furthermore, step S110 may be added between step S100 and step S200. Specifically, step S110 includes: repeating step S100 at least once, increasing the value of the first set distance during each repetition of step S100, and the distance the first pneumatic clamp 31 moves upward during each repetition of step S100 is less than the second set distance. By adding step S110, the success rate of removing the bag can be further improved. According to actual tests, repeating step S100 once in step S110 can increase the success rate of removing the bag to 100%. In actual operation, according to the thickness and diameter specifications of the silk cake 8, the first set distance in the first step S100 is generally a selected value between 2 cm and 10 cm, and the first set distance when repeating step S100 in step S110 is generally a selected value between 15 cm and 30 cm.

[0032] like Figure 1As shown, the multi-axis robot 1 in this embodiment includes a group of first robots 10 and a group of second robots 11. The silk cake picking and placing fixture 4 is installed on the first robot 10, and the partition picking and placing fixture 2 and the bag removal fixture 3 are installed on the second robot 11. The first robot 10 is a six-axis robot, and the second robot 11 is a four-axis robot. It is easy to understand that in other optional embodiments, the second robot 11 can also be a five-axis robot or a six-axis robot. Since the silk cake 8 picking and placing process requires the robot arm to have more degrees of freedom in different directions, a six-axis robot can be used to operate the silk cake picking and placing fixture 4. The operations of removing the partition 9 and removing the bagging require simpler movements of the robot. The partition picking and placing fixture 2 and the bag removal fixture 3 can be integrated into one and controlled by a four-axis robot. In addition, as Figure 6 As shown, for the stacked silk cakes 8, when there are a large number of silk cakes 8 in each layer, the above-mentioned scheme of separately setting the first mechanical arm 10 and the second mechanical arm 11 can achieve higher working efficiency. Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the partition pick-and-place fixture 2 in this embodiment includes a first linear actuator 20 disposed on a first mounting seat 30 and a pneumatic suction cup 21 disposed at the output end of the first linear actuator 20. The first linear actuator 20 is used to drive the pneumatic suction cup 21 to reciprocate along a first direction, so that the pneumatic suction cup 21 extends and retracts relative to the first pneumatic clamp 31 along the first direction. The first direction is Figure 4 The direction indicated by the middle arrow P is from top to bottom.

[0033] By arranging the first pneumatic gripper 31 and the pneumatic suction cup 21 on the first mounting seat 30, the second robot arm 11 can respectively grasp the partition 9 and the bag by moving in the up and down directions. When the bag needs to be clamped, the pneumatic suction cup 21 is driven to retract relative to the first pneumatic gripper 31 by the first linear actuator 20; when the partition 9 needs to be grasped, the pneumatic suction cup 21 is driven to extend relative to the first pneumatic gripper 31 by the first linear actuator 20.

[0034] like Figure 2 and Figure 3As shown, the bag removal clamp 3 in this embodiment also includes a connecting shaft 33 slidably arranged on the first mounting seat 30 and a limiter 34 arranged on the connecting shaft 33. The first pneumatic clamp 31 is arranged on the connecting shaft 33, and the limiter 34 is used to cooperate with the first mounting seat 30 to limit the connection shaft 33 from being separated from the first mounting seat 30. The elastic member 32 is a spring sleeved outside the connecting shaft 33. Specifically, the limiter 34 is a limiter block arranged at the top end of the connecting shaft 33. When the bag removal clamp 3 moves downward as a whole and contacts the bag, the bag removal clamp 3 is controlled by the second mechanical arm 11 to continue to move downward, and the first pneumatic clamp 31 will move upward in the opposite direction of the first direction and compress the elastic member 32. In a preferred embodiment, a linear bearing or a bushing can also be arranged between the connecting shaft 33 and the first mounting seat 30. In addition, the first pneumatic clamp 31 in this embodiment is a two-finger clamp with two first clamp parts 310 at its end. In order to enhance the friction between the first clamp part 310 and the bag and to reduce damage to the silk cake 8 and the bag, a rubber sleeve 311 can also be provided on the outside of the first clamp part 310.

[0035] The first mounting base 30 in this embodiment includes a connection frame 301, a connection plate 300 fixedly arranged on the connection frame 301, and a mounting plate 302. The connection plate 300 is used to be mounted with the second mechanical arm 11, and the mounting plate 302 is used to arrange the first linear actuator 20 and the first pneumatic clamp 31.

[0036] It is easy to understand that there is a paper tube in the middle of the silk cake 8. In order to avoid interference between the first pneumatic clamping jaw 31 and the paper tube, a waist-shaped hole 35 is further provided on the mounting plate 302 in this embodiment, and the first pneumatic clamping jaw 31 is fixedly mounted on the mounting plate 302 by a bolt passing through the waist-shaped hole 35. When the position of the first pneumatic clamping jaw 31 relative to the paper tube needs to be adjusted, the bolt can be manually loosened, the first pneumatic clamping jaw 31 can be moved to a suitable position along the waist-shaped hole 35, and then the bolt can be tightened.

[0037] Furthermore, since the bag is fluffy and easy to scatter, if it is not stored in time after being removed, it may cause the bag to scatter everywhere. To this end, the automatic yarn feeding system provided in this embodiment also includes a waste bag collection component 5, such as Figure 7 and Figure 8As shown, the waste bag collection assembly 5 includes a collection bin 50, a squeeze plate 51, a first driving mechanism 52, a collection container (not shown in the figure) and a blowing mechanism (not shown in the figure). The collection bin 50 is formed with a cavity, and the collection bin 50 is provided with a placement opening 500 for placing the bag into the cavity and a bag outlet 501 for moving the bag out of the cavity. The squeeze plate 51 is slidably arranged in the cavity and is provided with a blowing hole 510. The first driving mechanism 52 is connected to the squeeze plate 51 and is used to drive the squeeze plate 51 to move closer to and away from the bag outlet 501. The collection container is arranged outside the collection bin 50 and is connected to the bag outlet 501. The blowing mechanism is arranged on the squeeze plate 51 and is used to blow air to the bag at the bag outlet 501 through the blowing hole 510, so as to blow the bag from the bag outlet 501 into the collection container.

[0038] By setting the above-mentioned waste bag collection assembly 5, the removed bagging can be compressed and stored. Specifically, when the second robotic arm 11 controls the bag removal clamp 3 to remove the bagging, the second robotic arm 11 can drive the bag removal clamp 3 to clamp the bagging to the top of the placement opening 500, and then place the removed bagging into the cavity of the collection bin 50 through the placement opening 500. Afterwards, the extrusion plate 51 is driven to move by the first driving mechanism 52, so that the removed bagging can be squeezed and compressed by the extrusion plate 51, and all the bagging can be pushed to the bag outlet 501. Then, the blowing mechanism is used to blow air into the bagging through the blowing hole 510, and the bagging is blown from the bag outlet 501 into the collection container. The collection container can be a larger plastic bag or a plastic box, and the blowing mechanism can be an industrial hair dryer.

[0039] like Figure 8 As shown, the first driving mechanism 52 includes a driving motor 520 and a transmission belt 521. The driving motor 520 drives the transmission belt 521 to operate. The bottom of the extrusion plate 51 is fixed to the transmission belt 521 through a connecting component. The forward and reverse rotation of the driving motor 520 can drive the extrusion plate 51 to move closer to or farther from the bag outlet 501.

[0040] like Fig. 9 and Fig.10As shown, the silk cake picking and placing fixture 4 in this embodiment includes a second mounting seat 44 mounted on the multi-axis robot arm 1 and a silk cake picking and placing assembly arranged on the second mounting seat 44, and the silk cake picking and placing assembly includes a second pneumatic clamp 40, a push plate 41, and a second linear drive 43. Among them, the second pneumatic clamp 40 has a second clamping jaw portion 400 that can be relatively opened and closed, and the push plate 41 is formed with a through hole 410 and is slidably mounted outside the second clamping jaw portion 400 through the through hole 410. The second linear drive 43 is connected to the push plate 41 and is used to drive the push plate 41 to slide relative to the second clamping jaw portion 400. The second pneumatic clamp 40 in this embodiment is a three-finger clamp, and the second linear drive 43 and the aforementioned first linear drive 20 are both electric push rods. As shown Fig. 9 As shown, when the silk cake picking and placing fixture 4 is needed to grab the silk cake 8 located on the transport vehicle, the three second clamping claws 400 of the second pneumatic clamping claw 40 are controlled to move relatively close inward, and then the first mechanical arm 10 drives the silk cake picking and placing fixture 4 to move toward the silk cake 8 and insert the second clamping claw 400 into the paper tube in the middle of the silk cake 8. Afterwards, the three second clamping claws 400 are controlled to move relatively away from the outer support outward, so that the second clamping claw 400 can abut against the inner wall of the paper tube. Afterwards, the first mechanical arm 10 can drive the silk cake 8 to move to align with the silk rack through the silk cake picking and placing fixture 4, and then drive the silk cake picking and placing fixture 4 through the first mechanical arm 10 to move and make the paper tube of the silk cake 8 be sleeved on the silk rack of the silk car, so that the silk cake 8 is transported to the silk rack. Afterwards, the three second clamping jaws 400 of the second pneumatic clamping jaw 40 are controlled to move relatively close inward, and the push plate 41 is driven to move by the second linear driver 43, and the push plate 41 is used to push the wire cake 8 to separate from the second pneumatic clamping jaw 40 and completely sleeve it onto the wire rack.

[0041] Furthermore, since the spacing between the silk cakes 8 on the transport vehicle may be different from the spacing between the silk cakes 8 on the wire rack, at least two groups of silk cake picking and placing components are provided in this embodiment, and the silk cake picking and placing fixture 4 also includes a second driving mechanism, which is connected to the silk cake picking and placing components and is used to drive the two adjacent groups of silk cake picking and placing components to move relative to each other, so as to adjust the spacing between the two adjacent groups of silk cake picking and placing components. Specifically, a slide rail 45 is provided on the second mounting seat 44, and the silk cake picking and placing components are slidably provided on the slide rail 45 through a plate structure, and the second driving mechanism can be an electric push rod. In this way, when grabbing the silk cake 8 from the transport vehicle and placing the silk cake 8 on the wire rack, the spacing between the two adjacent groups of silk cake picking and placing components can be adjusted to a suitable distance.

[0042] It is easy to understand that a visual camera can also be set on the second mounting base 44, and the visual camera can be electrically connected to the first mechanical arm 10 and transmit signals to the first mechanical arm 10. By shooting the stacking of the silk cake 8 with the visual camera, the positioning of the first mechanical arm 10 can be assisted, and it is convenient for the first mechanical arm 10 to control the action of the silk cake picking and placing fixture 4. Providing a visual camera for the mechanical arm to facilitate the control operation of the first mechanical arm 10 belongs to the existing conventional technology, which will not be repeated here.

[0043] like Figure 1 As shown, the automatic yarn feeding system provided in this embodiment also includes a silk car transport production line 6, a silk cake transport production line 7, a silk car transport vehicle 60 capable of moving along the silk car transport production line 6, and a silk cake transport vehicle 70 capable of moving along the silk cake transport production line 7. The silk car transport vehicle 60 and the silk cake transport vehicle 70 are both automatic guided vehicles (AGV vehicles). In the production plant, the silk cake transport vehicle 70 moves the stacked silk cakes 8 to one end of the silk cake transport production line 7 and transfers the silk cakes 8 to the silk cake transport production line 7. The silk cakes 8 move along the silk cake transport production line 7. When the silk cakes 8 move to the corresponding workstation, the second mechanical arm 11 drives the partition pick-up and place fixture 2 and the bag removal fixture 3 to remove the partitions 9 and remove the bagging operations. At the other end of the silk cake transport production line 7, a stacking machine and a partition transport vehicle 72 (AGV trolley) are provided. The removed partitions 9 are automatically sorted by the stacking machine and transferred to the partition transport vehicle 72, and then transferred by the partition transport vehicle 72 to the partition collection fence 73 provided on one side of the silk cake transport production line 7. The removed bagging is placed in the waste bag collection assembly 5 for collection.

[0044] The wire cart transporter 60 transports the wire cart to one end of the wire cart transport production line 6, and transfers the wire cart with the wire rack to the wire cart transport production line 6. The wire cart transport production line 6 drives the wire cart to move along the production line, and in order to adapt to the wire cake transport production line 7, a lifting station 61, a rotating station 62 and a lowering station 63 are also provided on the wire cart transport production line 6. When the wire cart passes through the lifting station 61, it is lifted and moved to the rotating station 62. At this time, the first robot arm 10 grabs and transfers the wire cake 8 from which the partition 9 and the bag have been removed, and grabs and transfers the wire cake 8 on the wire cake transport production line 7 to the wire rack of the wire cart on the wire cart transport production line 6. Generally, both sides of the wire rack are provided with placement tubes for placing the wire cake 8. Therefore, after one side of the wire rack is filled with wire cakes 8, the wire cart can be driven to rotate half a circle through the rotating station 62 so that the first robot arm 10 can transfer the wire cake 8 to the other side of the wire rack.

[0045] The wire cart filled with wire cakes 8 continues to move along the wire cart transport production line 6, descends to the original height via the descending station 63, and is finally transferred to another wire cart transport vehicle 60, which transports the wire cart filled with wire cakes 8 to the target position.

[0046] The aforementioned stacking machine 71, AGV trolley, production line, etc. are all existing equipment and will not be described in detail here. It is easy to understand that the lifting station 61 and the lowering station 63 can be driven by the jacking mechanism to lift and lower, and the rotating station 62 can be driven by the motor to rotate, which will not be described in detail here.

[0047] In addition, the multi-axis robot arm 1 in this embodiment includes a first robot arm 10 and a second robot arm 11. In other optional implementations, the multi-axis robot arm 1 may also include only a set of third robots, such as Fig.11 As shown, the partition pick-up and placement fixture 2, the bag removal fixture 3 and the silk cake pick-up and placement fixture 4 are integrated into one and are all installed on the third robot arm, and the third robot arm is a six-axis robot arm. It is easy to understand that this can reduce the procurement cost of the robot arm, but it will correspondingly increase the control complexity of the multi-axis robot arm 1. Alternatively, the multi-axis robot arm 1 can also include two groups of fourth robots and one group of fifth robots. The partition pick-up and placement fixture 2 and the bag removal fixture 3 are installed in a one-to-one correspondence with the two groups of fourth robots, and the silk cake pick-up and placement fixture 4 is installed with the fifth robot arm. The fourth robot arm is a four-axis robot arm or a five-axis robot arm or a six-axis robot arm, and the fifth robot arm is a six-axis robot arm. In this solution, the two groups of fourth robots and the one group of fifth robots can each control the corresponding fixture structure.

[0048] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automatic yarn feeding system for warping yarn feeding, characterized in that: The automatic yarn feeding system comprises a multi-axis mechanical arm (1), a partition plate picking and placing fixture (2), a bag removal fixture (3) and a yarn cake picking and placing fixture (4), wherein the partition plate picking and placing fixture (2), the bag removal fixture (3) and the yarn cake picking and placing fixture (4) are all mounted on the multi-axis mechanical arm (1); The partition plate picking and placing fixture (2) is used to move under the drive of the multi-axis robot arm (1) to remove the partition plate (9) placed on each layer of silk cake (8), the bag removal fixture (3) is used to move under the drive of the multi-axis robot arm (1) to remove the bag set outside each silk cake (8), and the silk cake picking and placing fixture (4) is used to move under the drive of the multi-axis robot arm (1) to transport the silk cake (8); The bag removal clamp (3) comprises a first mounting seat (30) mounted on the multi-axis robot arm (1), a first pneumatic clamp (31) arranged on the first mounting seat (30), and an elastic member (32) arranged between the first mounting seat (30) and the first pneumatic clamp (31), wherein the elastic member (32) is used to apply pressure to the first pneumatic clamp (31) when the first pneumatic clamp (31) abuts against the bag, so as to adjust the force between the first pneumatic clamp (31) and the bag.

2. The automatic yarn feeding system according to claim 1, characterized in that: The multi-axis robot arm (1) comprises a first robot arm (10) and a second robot arm (11), the silk cake picking and placing fixture (4) is installed on the first robot arm (10), the partition picking and placing fixture (2) and the bag removal fixture (3) are installed on the second robot arm (11), the first robot arm (10) is a six-axis robot arm, and the second robot arm (11) is a four-axis robot arm, a five-axis robot arm, or a six-axis robot arm; Alternatively, the multi-axis robot arm (1) comprises a group of third robot arms, the partition plate pick-up and placement fixture (2), the bag removal fixture (3) and the silk cake pick-up and placement fixture (4) are all installed on the third robot arm, and the third robot arm is a six-axis robot arm; Alternatively, the multi-axis robotic arm (1) comprises two groups of fourth robotic arms and one group of fifth robotic arms, the partition pick-up and placement fixture (2) and the bag removal fixture (3) are installed in a one-to-one correspondence with the two groups of the fourth robotic arms, the silk cake pick-up and placement fixture (4) is installed with the fifth robotic arm, the fourth robotic arm is a four-axis robotic arm, a five-axis robotic arm, or a six-axis robotic arm, and the fifth robotic arm is a six-axis robotic arm.

3. The automatic yarn feeding system according to claim 1 or claim 2, characterized in that: The bag removal clamp (3) further comprises a connecting shaft (33) slidably arranged on the first mounting seat (30) and a limiting member (34) arranged on the connecting shaft (33); the first pneumatic clamp (31) is arranged on the connecting shaft (33); the limiting member (34) is used to cooperate with the first mounting seat (30) to limit the connection shaft (33) from being separated from the first mounting seat (30); and the elastic member (32) is a spring sleeved outside the connecting shaft (33).

4. The automatic yarn feeding system according to claim 1 or claim 2, characterized in that: The partition pick-and-place fixture (2) comprises a first linear driver (20) arranged on a first mounting seat (30) and a pneumatic suction cup (21) arranged at an output end of the first linear driver (20), wherein the first linear driver (20) is used to drive the pneumatic suction cup (21) to move back and forth along a first direction, so that the pneumatic suction cup (21) extends and retracts relative to the first pneumatic clamp (31) along the first direction.

5. The automatic yarn feeding system according to claim 1 or claim 2, characterized in that: The automatic yarn feeding system further comprises a waste bag collecting component (5), wherein the waste bag collecting component (5) comprises: A collecting bin (50) is formed with a cavity, and the collecting bin (50) is provided with a placement opening (500) for placing the bag into the cavity and a bag outlet (501) for removing the bag from the cavity; An extrusion plate (51) which is slidably disposed in the cavity and is provided with a blowing hole (510); A first driving mechanism (52), connected to the extrusion plate (51) and used to drive the extrusion plate (51) to move closer to or farther from the bag outlet (501); a collecting container, which is arranged outside the collecting bin (50) and is in communication with the bag outlet (501); and The blowing mechanism is arranged on the extrusion plate (51) and is used to blow air toward the bag at the bag outlet (501) through the blowing hole (510), so as to blow the bag from the bag outlet (501) into the collection container.

6. The automatic yarn feeding system according to claim 1 or claim 2, characterized in that: The yarn cake picking and placing fixture (4) comprises a second mounting seat (44) mounted on the multi-axis robot arm (1) and a yarn cake picking and placing component arranged on the second mounting seat (44), wherein the yarn cake picking and placing component comprises: A second pneumatic clamping jaw (40) having a second clamping jaw portion (400) that can open and close relatively; a push plate (41) having a through hole (410) and slidably sleeved outside the second clamping jaw portion (400) through the through hole (410); and, A second linear driver (43) is connected to the push plate (41) and is used to drive the push plate (41) to slide relative to the second clamping jaw portion (400).

7. The automatic yarn feeding system according to claim 6, characterized in that: The silk cake picking and placing components are provided with at least two groups, and the silk cake picking and placing fixture (4) also includes a second driving mechanism, which is connected to the silk cake picking and placing components and is used to drive two adjacent groups of silk cake picking and placing components to move relative to each other, so as to adjust the distance between the two adjacent groups of silk cake picking and placing components.

8. The automatic yarn feeding system according to claim 1 or claim 2, characterized in that: The automatic yarn feeding system further comprises a silk machine transport production line (6), a silk cake transport production line (7), a silk machine transport vehicle (60) capable of moving along the silk machine transport production line (6), and a silk cake transport vehicle (70) capable of moving along the silk cake transport production line (7).

9. An automatic yarn feeding method for warping yarn, characterized in that: The automatic yarn-feeding method is implemented by using the automatic yarn-feeding system according to any one of claims 1 to 8, and the automatic yarn-feeding method comprises the following steps: The multi-axis robot arm (1) drives the partition plate picking and placing fixture (2) to move, and the partition plate picking and placing fixture (2) moves to dock with the partition plate (9) placed on each layer of silk cake (8) and remove the partition plate (9); The multi-axis mechanical arm (1) drives the bag removal clamp (3) to move, and the bag removal clamp (3) moves to dock with the bag sleeved outside the silk cake (8) and remove the bag; The multi-axis mechanical arm (1) drives the yarn cake picking and placing fixture (4) to move, and the yarn cake picking and placing fixture (4) moves to dock with the yarn cake (8) and transfers the yarn cake (8) to the yarn rack; The bag removal clamp (3) moves to dock with the bag sleeved outside the silk cake (8) and removes the bag, including: Step S100: the first pneumatic clamp (31) moves downward until it contacts the bag, and controls the first pneumatic clamp (31) to clamp the bag and release the bag after moving upward a first set distance; Step S200: the first pneumatic clamp (31) moves downward until it contacts the bag, and controls the first pneumatic clamp (31) to re-clamp the bag and move upward a second set distance; The second set distance is greater than the first set distance, and the second set distance can separate the bag from the silk cake (8).

10. The automatic yarn feeding method according to claim 9, characterized in that: A step S110 is also included between the step S100 and the step S200: Step S100 is repeated at least once, and the value of the first set distance is increased during each repetition of step S100, and the distance that the first pneumatic clamp (31) moves upward during each repetition of step S100 is less than the second set distance.

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