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

Abstract

The present invention relates to an automatic yarn feeding system and method for warping and yarn feeding. The automatic yarn feeding system includes a multi-axis robotic arm, a partition pick-up and placement fixture, a bag removal fixture, and a yarn cake pick-up and placement fixture. The partition pick-up and placement fixture is used to remove the partitions placed on each layer of yarn cake under the drive of the multi-axis robotic arm. The bag removal fixture is used to remove the bag covered outside each yarn cake under the drive of the multi-axis robotic arm. The yarn cake pick-up and placement fixture is used to transfer the yarn cake under the drive of the multi-axis robotic arm. The bag removal fixture includes a first mounting seat mounted on the multi-axis robotic arm, a first pneumatic clamp provided on the first mounting seat, and an elastic member provided between the first mounting seat and the first pneumatic clamp, the elastic member being used to adjust the force between the first pneumatic clamp and the bag. The application of this application can realize automatic yarn cake loading in the warping and yarn feeding process, thereby improving work efficiency.

Description

Technical Field

[0001] The present 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 a crucial step in the warping process in the textile industry. Cake loading is the first step in the warping process, which involves placing the yarn cakes onto the yarn racks of the spinning loom in a specific order and pattern. Currently, warping and yarn loading is typically performed manually. Due to the high position of the yarn racks and the large number of yarn cakes required, manual operation is not only difficult and dangerous, but also inefficient. Therefore, there has been a long-standing desire to automate the warping and yarn loading process.

[0003] However, before being loaded onto the racks, the yarn cakes are typically stacked and placed on a transport vehicle. Each cake is covered with a bag, and each layer of yarn cakes is placed with partitions to maintain stability. Therefore, loading the yarn cakes onto the racks requires not only transferring the yarn cakes from the transport vehicle to the racks on the spinning vehicle, but also removing the bags and partitions from the yarn cakes. Existing yarn loading equipment cannot automatically perform these bag and partition removal operations. 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 to address the problem that the current warping and yarn feeding process cannot be automated.

[0005] The present application adopts the following technical solution: an automatic yarn feeding system for warping yarn, the automatic yarn feeding system comprising a multi-axis robotic arm, a partition pick-up and placement fixture, a bag removal fixture, and a yarn cake pick-up and placement fixture, the partition 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 robotic arm;

[0006] The partition plate picking and placing fixture is used to move under the drive of the multi-axis robotic 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 robotic 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 robotic arm to transport the silk cake;

[0007] 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.

[0008] In one embodiment, the multi-axis robotic arm includes a group of first robotic arms and a group of second robotic arms, the silk cake picking and placing fixture is installed on the first robotic arm, the partition picking and placing fixture and the bag removal fixture are installed on the second robotic arm, the first robotic arm is a six-axis robotic arm, and the second robotic arm is a four-axis robotic arm, a five-axis robotic arm, or a six-axis robotic arm;

[0009] Alternatively, the multi-axis robotic arm includes a set of third robotic 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 robotic arm, and the third robotic arm is a six-axis robotic arm;

[0010] 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.

[0011] In one embodiment, the bag removal clamp also includes a connecting shaft slidably arranged on the first mounting seat and a limit member arranged on the connecting shaft, the first pneumatic clamp is arranged on the connecting shaft, the limit member is used to cooperate with the first mounting seat to limit the connecting shaft from being detached from the first mounting seat, and the elastic member is a spring sleeved outside the connecting shaft.

[0012] 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 move back and forth along a first direction so that the pneumatic suction cup extends and retracts relative to the first pneumatic clamp along the first direction.

[0013] In one embodiment, the automatic yarn feeding system further includes a waste bag collection component, and the waste bag collection component includes:

[0014] 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 removing the bag from the cavity;

[0015] An extrusion plate is slidably disposed in the cavity and is provided with a blowing hole;

[0016] a first driving mechanism connected to the extrusion plate and used to drive the extrusion plate toward and away from the bag outlet;

[0017] a collecting container, which is disposed outside the collecting bin and communicated with the bag outlet; and

[0018] The blowing mechanism is arranged on the extrusion plate and is used for blowing air toward the sleeve bag at the bag outlet through the blowing holes, so as to blow the sleeve bag from the bag outlet into the collection container.

[0019] In one embodiment, the yarn cake picking and placing fixture includes a second mounting seat mounted on the multi-axis robotic arm and a yarn cake picking and placing assembly disposed on the second mounting seat, wherein the yarn cake picking and placing assembly includes:

[0020] A second pneumatic clamping jaw having a second clamping jaw portion that can open and close relative to each other;

[0021] a push plate having a through hole and slidingly sleeved on the outside of the second clamping jaw portion through the through hole; and

[0022] The second linear driver is connected to the push plate and is used for driving the push plate to slide relative to the second clamping jaw portion.

[0023] In one embodiment, there are at least two groups of the silk cake picking and placing components, and the silk cake picking and placing fixture 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 to adjust the distance between the two adjacent groups of silk cake picking and placing components.

[0024] 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.

[0025] The present application also adopts the following technical solution: an automatic yarn feeding method for warping yarn, the automatic yarn feeding method is implemented by using the automatic yarn feeding system as described in any one of the above technical solutions, and the automatic yarn feeding method includes the following steps:

[0026] The multi-axis robotic arm drives the separator picking and placing fixture to move, and the separator picking and placing fixture moves to dock with the separator placed on each layer of silk cake and remove the separator;

[0027] The multi-axis robotic 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;

[0028] The multi-axis robotic 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;

[0029] The bag removal clamp moves to dock with the bag placed outside the silk cake and removes the bag, which includes:

[0030] Step S100: the first pneumatic gripper moves downward until it contacts the bag, controls the first pneumatic gripper to clamp the bag, and releases the bag after moving upward a first set distance;

[0031] Step S200: the first pneumatic gripper moves downward until it contacts the bag, and the first pneumatic gripper is controlled to re-grip the bag and move upward a second set distance;

[0032] The second set distance is greater than the first set distance, and the second set distance can separate the bag from the yarn cake.

[0033] In one embodiment, step S110 is further included between step S100 and step S200:

[0034] 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 gripper moves upward during each repetition of step S100 is less than the second set distance.

[0035] The application of this application has the following beneficial effects: by controlling the actions of the partition plate pick-up and placement fixture, the bag removal fixture, and the yarn cake pick-up and placement fixture through a multi-axis robotic arm, the purpose of removing the partition plate, removing the bag, and transporting the yarn cake can be achieved respectively, thereby realizing the automated yarn cake placement in the warping and yarn loading process. Among them, the bag removal fixture clamps the bag through a first pneumatic clamp, and the multi-axis robotic arm can drive the bag removal fixture downward to make the first pneumatic clamp abut against the bag. During this process, the abutting force between the first pneumatic clamp and the bag can be adjusted by the pressure applied by the elastic member to the first pneumatic clamp. This ensures that the abutting force of the first pneumatic clamp on the bag and the yarn cake located in the bag will not cause damage to the yarn cake, and can generate friction with the bag sufficient to clamp part of the bag, thereby ensuring that the first pneumatic clamp can successfully clamp the bag without damaging the yarn cake. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A top view of an automatic yarn feeding system for warping and yarn feeding provided in an embodiment of the present application;

[0037] Figure 2 It is a structural diagram of the bag removal fixture in the automatic yarn feeding system;

[0038] Figure 3 This is a structural diagram of the bag removal fixture in the automatic yarn feeding system from another perspective;

[0039] Figure 4 Side view of the bag removal fixture and the partition placement fixture Figure 1 ;

[0040] Figure 5 Side view of the bag removal fixture and the partition placement fixture Figure 2 ;

[0041] Figure 6A schematic diagram of the stacked silk cakes to be put on the shelf;

[0042] Figure 7 It is a structural diagram of the waste bag collection component;

[0043] Figure 8 is a side view of the waste bag collection assembly;

[0044] Figure 9 This 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;

[0045] Figure 10 This 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;

[0046] Figure 11 Schematic diagram of a partition pick-up and placement fixture, a bag removal fixture, and a silk cake pick-up and placement fixture in an optional embodiment.

[0047] 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; 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; 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. Silk car transport production line; 60. Silk car transport vehicle; 61. Lifting station; 62. Rotating station; 63. Lowering station; 7. Silk cake transport production line; 70. Silk cake transport vehicle; 71. Stacking machine; 72. Partition transport vehicle; 73. Partition collection bar; 8. Silk cake; 9. Partition. DETAILED DESCRIPTION

[0048] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0049] 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 to 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, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0051] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0052] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0053] 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 an intermediate 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 an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0054] Current yarn loading equipment can only automatically transport yarn cakes using a robotic arm. However, for yarn cakes stacked on a transport vehicle and covered with bags, the current equipment lacks the ability to remove the separators or bags. Therefore, the existing technology requires manual removal of the bags, followed by manual removal of the separators during the robotic arm's transfer process, to complete the loading of the yarn cakes, resulting in only semi-automated operation. The inventors discovered that the inability to automatically remove the bags is due to two issues that can easily arise when the robotic arm grasps the bags: If the robotic arm applies minimal pressure after contacting the bags, it can slip and fail to grip them; if it applies greater pressure, it can damage the yarn cakes within. Furthermore, even if the bags are successfully gripped, the process of pulling the bags off the yarn cakes can easily tear the gripped portion of the bags, causing them to break at the gripping point, thus preventing removal. Therefore, when using a robot to remove the bag, there is a problem of too high a failure rate, and it cannot be applied to the production site.

[0055] To this end, this embodiment provides an automatic yarn feeding system for warping and yarn feeding. Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 and Figure 9 As shown, the automatic yarn feeding system includes a multi-axis robotic arm 1, a partition pick-up and placement fixture 2, a bag removal fixture 3, and a yarn cake pick-up and placement fixture 4. The partition pick-up and placement fixture 2, the bag removal fixture 3, and the yarn cake pick-up and placement fixture 4 are all mounted on the multi-axis robotic arm 1. Specifically, the partition pick-up and placement fixture 2 is driven by the multi-axis robotic arm 1 to remove the partitions 9 placed on each layer of yarn cake 8, the bag removal fixture 3 is driven by the multi-axis robotic arm 1 to remove the bagging sleeved outside each yarn cake 8, and the yarn cake pick-up and placement fixture 4 is driven by the multi-axis robotic arm 1 to transport the yarn cake 8. By controlling the actions of the partition pick-up and placement fixture 2, the bag removal fixture 3, and the yarn cake pick-up and placement fixture 4 through the multi-axis robotic arm 1, the partitions 9, the bagging sleeve, and the yarn cake 8 can be removed, respectively, thereby realizing the automated placement of the yarn cakes 8 in the warping and yarn feeding process.

[0056] The bag removal fixture 3 in this embodiment includes a first mounting base 30 mounted on the multi-axis robotic arm 1, a first pneumatic clamp 31 disposed on the first mounting base 30, and an elastic member 32 disposed between the first mounting base 30 and the first pneumatic clamp 31. The elastic member 32 is configured to apply pressure to the first pneumatic clamp 31 when the first pneumatic clamp 31 abuts the bag, thereby adjusting the force between the first pneumatic clamp 31 and the bag. The multi-axis robotic arm 1 can be used to drive the bag removal fixture 3 downward to bring the first pneumatic clamp 31 into abutment with the bag. During this process, the pressure exerted by the elastic member 32 on the first pneumatic clamp 31 adjusts the abutment force between the first pneumatic clamp 31 and the bag. This ensures that the abutment force exerted by the first pneumatic clamp 31 on the bag and the yarn cake 8 within the bag does not damage the yarn cake 8, while also generating sufficient friction with the bag to partially clamp the bag, thereby ensuring that the first pneumatic clamp 31 can successfully clamp the bag without damaging the yarn cake 8.

[0057] Further, for Figure 6 The stacked yarn cakes 8 shown in FIG. 1 are automatically fed with the yarn by the automatic yarn feeding system provided in this embodiment, and the following steps are included:

[0058] Step S10: The multi-axis robot arm 1 drives the separator pick-up and placement fixture 2 to move, and the separator pick-up and placement fixture 2 moves to dock with the separator 9 placed on each layer of silk cake 8 and removes the separator 9;

[0059] 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;

[0060] 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.

[0061] 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 carried out in sequence according to step S10, step S20, and step S30. After performing one round of the above operations, the transport of one layer of silk cake 8 is completed. Thereafter, the above operations can be repeated multiple times according to the number of layers of silk cakes 8 stacked. In other optional embodiments, if the partition 9 is not provided 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.

[0062] The step S20 of "the bag removal fixture 3 moves to dock with the bag set outside the yarn cake 8 and removes the bag" includes the following steps:

[0063] Step S100: the first pneumatic clamp 31 moves downward until it contacts the bag, controls the first pneumatic clamp 31 to clamp the bag, and releases the bag after moving upward a first set distance;

[0064] Step S200: the first pneumatic clamp 31 moves downward until it contacts the bag, and the first pneumatic clamp 31 is controlled to re-grip the bag and move upward a second set distance;

[0065] The second set distance is greater than the first set distance, and the second set distance can separate the bag from the yarn cake 8.

[0066] Using the above-described clamping and removal operations, in step S100, the first pneumatic gripper 31 can first grip a smaller bag and lift it a short distance, avoiding excessive tension on the bag due to excessive lifting distance, thereby preventing the gripped portion from being torn. Then, in step S200, the first pneumatic gripper 31 grips a larger bag and lifts it a greater distance to complete the bag removal operation. Since a portion of the bag has already been gripped and lifted a certain distance in step S100, the first pneumatic gripper 31 can easily contact the larger bag in step S200, thereby facilitating gripping the larger bag. This makes it less likely that the bag will be torn when the bag is gripped and lifted again.

[0067] 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 bag removal can be further improved. According to actual tests, repeating step S100 once in step S110 can increase the success rate of bag removal to 100%. In actual operation, depending on the thickness and diameter specifications of the silk cake 8, the first set distance in the first step S100 is generally selected between 2 cm and 10 cm, and the first set distance when repeating step S100 in step S110 is generally selected between 15 cm and 30 cm.

[0068] like Figure 1As shown, the multi-axis robot arm 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 arm 10, and 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. It is easy to understand that in other optional embodiments, the second robot arm 11 can also be a five-axis robot arm or a six-axis robot arm. Since the silk cake 8 picking and placing process requires the robot arm to have more degrees of freedom in multiple directions, a six-axis robot arm 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 arm. 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 arm. In addition, as Figure 6 As shown, for the stacked yarn cakes 8, when there are a large number of yarn cakes 8 in each layer, the above-mentioned scheme of separately setting the first robot arm 10 and the second robot arm 11 can achieve higher work 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 base 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 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. The first direction is Figure 4 The direction indicated by the arrow P is from top to bottom.

[0069] By arranging both the first pneumatic gripper 31 and the pneumatic suction cup 21 on the first mounting base 30, the second robotic arm 11 can grasp the partition 9 and the bag, respectively, by moving in the up and down directions. When the bag needs to be grasped, the first linear actuator 20 drives the pneumatic suction cup 21 to retract relative to the first pneumatic gripper 31; when the partition 9 needs to be grasped, the first linear actuator 20 drives the pneumatic suction cup 21 to extend relative to the first pneumatic gripper 31.

[0070] 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 on the outside of the connecting shaft 33. Specifically, the limiter 34 is a limit 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 robotic 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 provided 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 clamping parts 310 at its end. In order to enhance the friction between the first clamping 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 clamping part 310.

[0071] The first mounting base 30 in this embodiment includes a connecting frame 301, a connecting plate 300 fixedly mounted on the connecting frame 301, and a mounting plate 302. The connecting plate 300 is used for mounting with the second robotic arm 11, and the mounting plate 302 is used for arranging the first linear actuator 20 and the first pneumatic gripper 31.

[0072] As will be readily understood, the center of the bobbin 8 contains a paper tube. To prevent interference between the first pneumatic clamping jaw 31 and the paper tube, a waist-shaped hole 35 is provided on the mounting plate 302 in this embodiment. The first pneumatic clamping jaw 31 is fixed to the mounting plate 302 via a bolt passing through the waist-shaped hole 35. To adjust the position of the first pneumatic clamping jaw 31 relative to the paper tube, the bolt can be manually loosened, the first pneumatic clamping jaw 31 can be moved along the waist-shaped hole 35 to the desired position, and the bolt can be tightened.

[0073] 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 drive mechanism 52, a collection container (not shown), and an air blowing mechanism (not shown). The collection bin 50 defines a cavity and is provided with an opening 500 for placing a bag into the cavity and an outlet 501 for removing the bag from the cavity. The squeeze plate 51 is slidably disposed within the cavity and is provided with an air blowing hole 510. The first drive mechanism 52 is connected to the squeeze plate 51 and is used to drive the squeeze plate 51 toward and away from the outlet 501. The collection container is disposed outside the collection bin 50 and is in communication with the outlet 501. The air blowing mechanism is disposed on the squeeze plate 51 and is used to blow air into the bag at the outlet 501 through the air blowing hole 510, thereby blowing the bag from the outlet 501 into the collection bin.

[0074] By setting up the above-mentioned waste bag collection component 5, the removed bags can be compressed and stored. Specifically, after the second robotic arm 11 controls the bag removal clamp 3 to remove the bag, the second robotic arm 11 can drive the bag removal clamp 3 to clamp the bag and move it to the top of the placement opening 500, and then place the removed bag into the cavity of the collection bin 50 through the placement opening 500. Afterwards, the first driving mechanism 52 drives the extrusion plate 51 to move, so that the removed bag can be squeezed and compressed by the extrusion plate 51, and all the bags are pushed to the bag outlet 501. Then, the blowing mechanism is used to blow air into the bag through the blowing hole 510, and the bag 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.

[0075] 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 closer to and away from the bag outlet 501.

[0076] like Figure 9 and Figure 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 opened and closed relatively, 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 Figure 9 As shown, when the bobbin picking and placing fixture 4 is needed to grab the bobbin 8 located on the transport vehicle, the three second gripping jaws 400 of the second pneumatic gripper 40 are controlled to move inwards and close together. The first robotic arm 10 then drives the bobbin picking and placing fixture 4 toward the bobbin 8, inserting the second gripping jaws 400 into the paper tube in the middle of the bobbin 8. The three second gripping jaws 400 are then controlled to move outwards and away from the outer support, allowing the second gripping jaws 400 to abut against the inner wall of the paper tube. The first robotic arm 10 then uses the bobbin picking and placing fixture 4 to move the bobbin 8 until it is aligned with the bobbin rack. The first robotic arm 10 then drives the bobbin picking and placing fixture 4 to move the paper tube of the bobbin 8 onto the bobbin rack of the bobbin vehicle, thereby transferring the bobbin 8 to the bobbin rack. Afterwards, the three second clamping jaws 400 of the second pneumatic clamping jaw 40 are controlled to move relatively close to each other, and the push plate 41 is driven to move by the second linear actuator 43, and the push plate 41 is used to push the yarn cake 8 to separate from the second pneumatic clamping jaw 40 and completely put it on the yarn rack.

[0077] Furthermore, because the spacing between the bobbin cakes 8 on the transport vehicle may differ from the spacing between the bobbin cakes 8 on the bobbin rack, at least two sets of bobbin cake handling assemblies are provided in this embodiment. The bobbin cake handling fixture 4 also includes a second drive mechanism, which is connected to the bobbin cake handling assemblies and is used to drive the two adjacent sets of bobbin cake handling assemblies to move relative to each other to adjust the spacing between the two adjacent sets of bobbin cake handling assemblies. Specifically, a slide rail 45 is provided on the second mounting seat 44, and the bobbin cake handling assemblies are slidably mounted on the slide rail 45 via a plate structure. The second drive mechanism can be an electric push rod. In this way, when grabbing bobbin cakes 8 from the transport vehicle and placing bobbin cakes 8 on the bobbin rack, the spacing between the two adjacent sets of bobbin cake handling assemblies can be adjusted to an appropriate distance.

[0078] It will be readily understood that a visual camera can also be installed on the second mounting base 44. The visual camera can be electrically connected to the first robotic arm 10 and transmit signals to the first robotic arm 10. By using the visual camera to capture the stacking of the yarn cakes 8, it can assist in positioning the first robotic arm 10 and facilitate the first robotic arm 10 in controlling the movement of the yarn cake pick-up and placement fixture 4. Installing a visual camera on a robotic arm to facilitate the control of the first robotic arm 10 is conventional technology and will not be further described here.

[0079] like Figure 1 As shown, the automatic yarn feeding system provided in this embodiment also includes a yarn transport line 6, a yarn cake transport line 7, a yarn transport vehicle 60 capable of moving along the yarn transport line 6, and a yarn cake transport vehicle 70 capable of moving along the yarn cake transport line 7. Both the yarn transport vehicle 60 and the yarn cake transport vehicle 70 are automated guided vehicles (AGVs). Within the production plant, the yarn cake transport vehicle 70 moves the stacked yarn cakes 8 to one end of the yarn cake transport line 7 and transfers the yarn cakes 8 onto the yarn cake transport line 7. The yarn cakes 8 move along the yarn cake transport line 7. When the yarn cakes 8 reach the corresponding workstation, the second robotic arm 11 drives the partition plate placement fixture 2 and the bag removal fixture 3 to remove the partition plate 9 and the bag. At the other end of the bobbin conveyor line 7, a stacking machine and a separator transport vehicle 72 (AGV) are installed. Removed separators 9 are automatically sorted by the stacking machine and transferred to the separator transport vehicle 72. The separator transport vehicle 72 then transports them to a separator collection bin 73 located on one side of the bobbin conveyor line 7. Removed bags are then placed in a waste bag collection assembly 5 for collection.

[0080] The wire cart transporter 60 transports the wire cart to one end of the wire cart transport line 6 and transfers the wire cart with the wire rack to the wire cart transport line 6. The wire cart transport line 6 drives the wire cart along the production line and, to match the yarn cake transport line 7, is also equipped with a lifting station 61, a rotating station 62, and a lowering station 63. When the wire cart passes the lifting station 61, it is lifted and moved to the rotating station 62. At this time, the first robotic arm 10 grabs and transfers the yarn cake 8, from which the partitions 9 and bag have been removed, and grabs and transfers the yarn cake 8 on the yarn cake transport line 7 to the yarn rack of the wire cart on the wire cart transport line 6. Generally, both sides of the yarn rack are equipped with placement tubes for the yarn cakes 8. Therefore, after one side of the yarn rack is filled with yarn cakes 8, the rotating station 62 can drive the wire cart to rotate half a circle, allowing the first robotic arm 10 to transfer the yarn cake 8 to the other side of the yarn rack.

[0081] The wire cart filled with wire cakes 8 continues to move along the wire cart transport production line 6, descends to the original height through 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.

[0082] 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 a jacking mechanism to achieve lifting and lowering, and the rotating station 62 can be driven by a motor to achieve rotation, which will not be described in detail here.

[0083] 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 embodiments, the multi-axis robot arm 1 may also include only a set of third robot arms, such as Figure 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, which 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, 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.

[0084] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0085] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. An automatic yarn feeding method for warping yarn, characterized in that: The automatic yarn feeding method is implemented by using an automatic yarn feeding system, wherein the automatic yarn feeding system comprises a multi-axis robotic arm (1), a partition plate pick-up and placement fixture (2), a bag removal fixture (3), and a yarn cake pick-up and placement fixture (4), wherein the partition plate pick-up and placement fixture (2), the bag removal fixture (3), and the yarn cake pick-up and placement fixture (4) are all installed on the multi-axis robotic arm (1); The partition plate pick-up and placement fixture (2) is used to be driven by 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 be driven by 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 be driven by 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 acting force between the first pneumatic clamp (31) and the bag; The automatic yarn-threading method comprises the following steps: 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 silk cake (8) and removes the partition plate (9); The multi-axis robotic 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 removes the bag; The multi-axis robotic 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 placed outside the silk cake (8) and removes the bag, including: Step S100: the first pneumatic clamp (31) moves downward until it contacts the bag, controls the first pneumatic clamp (31) to clamp the bag, and releases 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 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).

2. The automatic yarn feeding method for warping and yarn feeding according to claim 1, characterized in that: The multi-axis robot arm (1) includes 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 robotic arm (1) includes a set of third robotic arms, 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 third robotic arm, and the third robotic arm is a six-axis robotic arm; Alternatively, the multi-axis robotic arm (1) includes two groups of fourth robotic arms and one group of fifth robotic arms, the partition pick-up and placement fixtures (2) and the bag removal fixtures (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 fixtures (4) are 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 method for warping yarn 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 connecting 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 method for warping yarn according to claim 1 or claim 2, characterized in that: The partition pick-and-place fixture (2) comprises a first linear actuator (20) arranged on a first mounting seat (30) and a pneumatic suction cup (21) arranged at an output end of the first linear actuator (20), wherein the first linear actuator (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 method for warping yarn 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) 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 and 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 provided on the extrusion plate (51) and is used for blowing 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 method for warping yarn 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 assembly arranged on the second mounting seat (44), wherein the yarn cake picking and placing assembly comprises: A second pneumatic clamp (40) having a second clamp portion (400) that can open and close relative to each other; a push plate (41) having a through hole (410) and being slidably mounted 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 method for warping and yarn feeding 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) further 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 method for warping yarn 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. The automatic yarn feeding method for warping and yarn feeding according to claim 1, characterized in that: A step S110 is further included between the step S100 and the 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 (31) moves upward during each repetition of step S100 is less than the second set distance.

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