Positioning control device for automatic spinning-in robot of spinning frame

Abstract

The invention discloses an automatic spinning-in robot positioning control device of a spinning frame, and belongs to the technical field of spinning equipment.The automatic spinning-in robot positioning control device comprises an AGV trolley, a lifting mechanism, a mechanical arm and a rotating mechanism, the lifting mechanism is installed at the top of the AGV trolley, the mechanical arm is arranged on one side of the lifting mechanism, the lifting mechanism is used for lifting work of the mechanical arm, and the rotating mechanism is used for rotating the mechanical arm; the spinning frame end breaking automatic joint device has the beneficial effects that by integrating the AGV trolley, the lifting mechanism, the mechanical arm, the brake mechanism, the pipe drawing mechanism, the rotating mechanism, the end finding mechanism and the like, full-process automatic joint operation after end breaking of a spinning frame is achieved; the low-efficiency mode of traditional manual joint is changed, and the production efficiency is remarkably improved; the cooperative work of the lifting mechanism and the brake mechanism is combined, so that the spindle can be accurately braked and fixed in a short time; manual intervention is not needed in the whole jointing process, and the downtime caused by end breakage is greatly shortened.

Description

Technical Field

[0001] The present application relates to the technical field of textile equipment, and in particular to a positioning control device for an automatic spinning robot of a spinning frame. Background Art

[0002] In the production process of spinning enterprises, the piecing work of the spinning frame is a critical and tedious task. Traditionally, every 5,000 spindles of spinning equipment need to be equipped with 3 workers to perform patrol piecing operations; in the production process of spinning enterprises, yarn breakage often occurs in the spinning equipment. The traditional method of dealing with broken ends mainly relies on manual operation. Workers need to spend a lot of time on a series of tedious steps such as finding the broken end position, braking the spindle, pulling out the bobbin, finding the end, putting the bobbin back, turning on the brake, and piecing the yarn around the roller. This not only causes the spinning frame to stop for a long time due to broken ends, which seriously affects production efficiency, but also increases the labor intensity of workers.

[0003] There are many problems with manual jointing. First, the efficiency is low. Workers need to spend a lot of time looking for the broken end position and performing jointing operations, which causes the spinning machine to stop for a long time due to broken ends, seriously affecting production efficiency. Secondly, the stability of manual operation is poor. When workers brake the spindle, they may damage the spindle due to improper operation, affecting the service life of the spindle; when fixing the spindle and clamping the broken end, it is difficult to ensure that each operation is accurate and correct, resulting in unstable joint quality, increasing the defective rate caused by poor joints, and reducing the overall quality of the product.

[0004] In addition, there are many types and specifications of existing spinning machines, and different equipment has high compatibility requirements for broken end processing equipment. The traditional manual jointing method cannot meet the diverse equipment requirements. Enterprises often need to equip different types of spinning machines with dedicated jointing equipment, which not only increases the equipment procurement cost, but also leads to equipment redundancy and resource waste. At the same time, the maintenance of multiple equipment also brings higher operating costs to enterprises. Maintenance personnel need to maintain and troubleshoot different types of equipment separately, which is inefficient and prone to errors.

[0005] In view of the above problems, although there are some automatic jointing equipment on the market, most of them have problems such as imperfect functions, poor adaptability, and complicated operation, which cannot meet the needs of textile enterprises for efficient, stable, and versatile automatic spinning equipment for spinning machines. Therefore, there is an urgent need for a positioning control device for an automatic spinning machine robot that can solve the problems of low manual jointing efficiency, unstable quality, and poor equipment compatibility in the existing technology. Summary of the invention

[0006] One of the purposes of the present application is to provide a spinning machine automatic spinning robot positioning control device to solve the problems of low efficiency and unstable quality of manual splicing in the prior art, poor compatibility of traditional equipment, and high procurement and maintenance costs.

[0007] In order to achieve the above objectives, the technical solution adopted in this application is: a positioning and control device for an automatic spinning robot for a spinning machine, comprising: an AGV trolley, a lifting mechanism, a mechanical arm and a rotating mechanism. A lifting mechanism is installed on the top of the AGV trolley, a mechanical arm is arranged on one side of the lifting mechanism, the lifting mechanism is used for lifting the mechanical arm, a brake mechanism is arranged under the mechanical arm, the brake mechanism is used for stopping the spindle, a tube pulling mechanism is arranged at one end of the top of the mechanical arm, the tube pulling mechanism is used for pulling out the yarn tube, a rotating mechanism is arranged on the top of one end of the AGV trolley, a head finding mechanism is arranged on one side of the rotating mechanism, the head finding mechanism is installed on the top of the AGV trolley, the head finding mechanism is used for finding the head when the line is broken, and the AGV trolley is connected to the remote control terminal signal.

[0008] Preferably, the lifting mechanism includes a bracket, a linear guide is provided on one side of the bracket, two linear guides are provided, the two linear guides are connected to the bracket by bolts, a first motor is installed on the top of the bracket, the first motor is connected to the top of the bracket by bolts, a first threaded rod is externally mounted on the bottom output end of the first motor, one end of the bottom of the first threaded rod is rotatably connected to the top of the AGV trolley, the outside of the first threaded rod is threadedly connected to one side of a skateboard, both ends of the skateboard are slidably connected to the linear guide, the lifting mechanism drives the first threaded rod to rotate by the first motor, combined with the guiding effect of the linear guide, realizes the precise lifting and lowering movement of the skateboard, provides a height adjustment function for the robotic arm, and at the same time ensures the stability and reliability of the lifting process, effectively improves the operating accuracy, and has good adaptability and versatility, can meet the needs of different types of spinning machines, and improves the overall performance and work efficiency of the equipment.

[0009] Preferably, the brake mechanism is installed on one side of the skateboard, and the brake mechanism includes a lifting platform, an adjusting mechanism and a friction mechanism, the adjusting mechanism is used to adjust the pressure of the friction mechanism, and the friction mechanism is used to contact the spindle, the lifting platform is located on one side of the skateboard, the lifting platform is connected to the skateboard by bolts, the side of the lifting platform is L-shaped, the adjusting mechanism is installed on one side of the bottom of the lifting platform, and the friction mechanism is installed on one side of the adjusting mechanism. By arranging the lifting platform, the adjusting mechanism and the friction mechanism on one side of the skateboard, the spindle can be quickly and accurately braked. The L-shaped structure design of the lifting platform enables it to be stably installed on the skateboard and provide support for the adjusting mechanism and the friction mechanism; the adjusting mechanism can flexibly adjust the pressure of the friction mechanism to ensure that the friction mechanism can provide appropriate braking force according to actual needs when contacting the spindle, which can not only quickly brake the spindle, but also avoid damage to the spindle due to excessive braking force, effectively ensuring the service life of the spindle and the stability of equipment operation, not only improving the reliability and safety of the braking operation, but also enhancing the adaptability of the equipment to spindles of different models, and improving the overall performance and work efficiency of the automatic jointing robot of the spinning frame.

[0010] Preferably, the friction mechanism includes a first cylinder, two of which are provided, one end of the two first cylinders is embedded in the interior of the lifting platform, the telescopic end of the first cylinder is connected to a connecting block, one end of the top of the connecting block is in sliding contact with the bottom surface of the lifting platform, and two second telescopic rods are welded on the other side of the connecting block, one end of the second telescopic rod is welded to both sides of the push plate, a rubber pad is provided on one side of the push plate, and the rubber pad and the surface of the push plate are both arc-shaped, and the two first cylinders are installed in the interior of the lifting platform, and the telescopic ends thereof are connected to the second telescopic rod through the connecting block, and finally drive the push plate and the rubber pad to contact with the spindle; by utilizing the telescopic action of the cylinder, the braking force can be quickly and accurately transmitted to the spindle to achieve rapid braking; at the same time, the arc-shaped design of the rubber pad fits closely with the surface of the spindle, which not only increases the friction force, but also avoids hard damage to the spindle, thereby extending the service life of the spindle; in addition, the arc-shaped structure of the push plate and the rubber pad can better adapt to the shape of the spindle, ensure the stability and reliability of the braking process, and further improve the performance and efficiency of the automatic jointing robot of the spinning frame.

[0011] Preferably, the adjusting mechanism includes an adjusting wheel, which is sleeved on the outside of one end of the second telescopic rod, and a thread is provided on the outer wall surface of one end of the second telescopic rod. The second telescopic rod is threadedly connected to the adjusting wheel through the outer wall thread, and a first spring is sleeved on the outside of one end of the second telescopic rod. When the wheel is adjusted, the adjusting wheel will move axially due to the action of the thread, thereby changing the contact pressure between the push plate and the spindle. This design can not only accurately adjust the braking force according to actual needs and ensure that the spindle can be stably stopped under different working conditions, but also can buffer the impact force during braking through the elastic support of the first spring, further protect the spindle from damage, and improve the reliability and service life of the equipment.

[0012] Preferably, the tube pulling mechanism includes a positioning assembly and a clamping assembly, the positioning assembly is installed at one end of the top of the mechanical arm, the positioning assembly is used to fix the spindle, the clamping assembly is installed outside the positioning assembly, and the clamping assembly is used to fix the yarn head; the positioning assembly includes a sleeve, the top end of the sleeve is connected to the top end of the mechanical arm by bolts, a mounting plate is welded to the outside of one side of the sleeve, a first air pump is installed on one side of the mounting plate, the bottom output end of the first air pump is connected to the inside of the airbag, the airbag is a ring-shaped structure, the airbag is glued to the inner wall of the bottom end of the sleeve, and the tube pulling mechanism realizes the positioning of the sleeve through the synergistic effect of the positioning assembly and the clamping assembly. Precise fixation and operation of spindles and yarn heads, the sleeve in the positioning component is connected to the robotic arm, and the first air pump is used to inflate the annular airbag so that the airbag is inflated and fits tightly against the outer wall of the spindle, thereby firmly fixing the spindle. This airbag fixing method can not only adapt to spindles of different diameters, but also avoid damage to the spindle during the fixing process, ensuring the stability and reliability of the operation. At the same time, the clamping component is installed outside the positioning component and is specifically used to fix the yarn head, further ensuring the accuracy and success rate of the tube pulling operation. This design effectively improves the functionality and adaptability of the tube pulling mechanism, and provides a reliable yarn tube pulling and fixing function for the spinning frame automatic jointing robot.

[0013] Preferably, a fixing ring is installed inside the sleeve, a telescopic column is welded at the bottom of the fixing ring, a connecting ring is rotatably connected to one end of the bottom of the telescopic column, a rubber block is glued to the bottom of the connecting ring, and a second spring is sleeved on the outside of the telescopic column. A fixing ring, a telescopic column, a connecting ring, a rubber block and a second spring are arranged inside the tube, thereby enhancing the stability and adaptability of the tube pulling mechanism. The fixing ring plays a supporting and positioning role, and the telescopic column connects the fixing ring and the connecting ring to provide a telescopic supporting structure, which can be adaptively adjusted according to the size of the spindle; the rubber block glued to the bottom of the connecting ring plays a buffering and protective role when in contact with the spindle, thereby avoiding damage to the spindle due to hard contact; the second spring is sleeved on the outside of the telescopic column, provides elastic support, automatically adjusts the pressure, ensures that the airbag fits tightly with the spindle, and avoids damage to the spindle due to excessive pressure. This structural design improves the adaptability of the tube pulling mechanism to spindles of different diameters, enhances the stability and reliability of operation, and improves the performance of the tube pulling mechanism.

[0014] Preferably, the clamping assembly includes a fixed plate, one side of the fixed plate is welded to the sleeve, and a third motor is installed on the top of the fixed plate, and a third threaded rod is externally sleeved on the output end of the bottom of the third motor, the third threaded rod is externally threadedly connected to the lifting block, and one side of the lifting block is in sliding contact with the outer wall of the sleeve, and two micro-cylinders are embedded at one end of the top of the lifting block, and a clamping block is externally sleeved on the telescopic end of the micro-cylinder, the third motor installed on the top of the fixed plate drives the third threaded rod to rotate, and the lifting block threadably connected thereto slides up and down along the outer wall of the sleeve to achieve precise vertical position adjustment, and the two micro-cylinders on the top of the lifting block can perform subtle telescopic movements, and the clamping blocks connected to the telescopic ends thereof are used to accurately clamp the yarn heads or other small components, which not only realizes precise positioning and firm clamping of the yarn heads, but also ensures moderate clamping force through fine control of the micro-cylinders to avoid damage to the yarn heads, thereby improving the reliability and flexibility of the clamping operation, and further enhancing the automation and intelligence level of the automatic jointing robot of the spinning machine.

[0015] Preferably, the rotating mechanism includes a support table, a second motor is installed at the bottom of the support table, a base is mounted on the outside of the output end of the second motor, a fixed tube is arranged at one end of the top of the base, the fixed tube is arranged vertically, and one end of the bottom of the fixed tube is welded to the base, the rotating mechanism is driven by the second motor at the bottom of the support table, the base connected to the output end of the motor can realize precise rotation movement, the fixed tube on the top of the base is arranged vertically and welded to the base to form a stable structure for fixing and supporting the ingot or other components, thereby realizing stable rotation of the ingot during the head finding process and improving the versatility and stability of the equipment.

[0016] Preferably, the head-finding mechanism includes a third cylinder, two of which are provided, and the third cylinders are installed on the top of the support platform. The telescopic end of the third cylinder is welded to the guide plate on the outside, and the guide plate is in an arc-shaped structure. The inner side of the guide plate is provided with a hole groove connected to the bellows, and the other end of the bellows is connected to the air pipe, and one end of the bottom of the air pipe is connected to the second air pump. The head-finding mechanism is installed on the top of the support platform through two third cylinders, and the telescopic end of the cylinder is welded to the arc-shaped guide plate. The hole groove on the inner side of the guide plate is connected to the bellows, and the other end of the bellows is connected to the air pipe, and the bottom of the air pipe is connected to the second air pump. The telescopic action of the cylinder is used to drive the guide plate close to the spindle, and suction is generated by the air pump and the bellows, so that the guide plate can absorb and guide the broken yarn, and achieve accurate positioning and capture of the broken yarn. The design of the arc-shaped guide plate can better fit the surface of the spindle, improve the efficiency and reliability of head-finding, and provide a strong guarantee for subsequent joint operations.

[0017] Compared with the prior art, the beneficial effects of this application are:

[0018] (1) By integrating the AGV trolley, lifting mechanism, robotic arm, brake mechanism, tube pulling mechanism, rotating mechanism and head finding mechanism, the full process of automated jointing operation after the spinning machine breaks is realized; the inefficient mode of traditional manual jointing is changed, and the production efficiency is significantly improved; the rapid response and precise positioning capabilities of the AGV trolley, combined with the collaborative work of the lifting mechanism and the brake mechanism, ensure that the spindle can be accurately stopped and fixed in a short time; the airbag fixation of the tube pulling mechanism and the precise clamping function of the clamping component further ensure the stability and reliability of the jointing operation; the entire jointing process does not require manual intervention, which greatly reduces the downtime caused by broken ends.

[0019] (2) The rubber pad in the brake mechanism is designed in an arc shape, which fits tightly with the surface of the spindle, which can not only achieve rapid braking but also avoid damage to the spindle; the air bag fixing method of the tube pulling mechanism achieves a firm and non-destructive fixing effect by expanding the air bag to squeeze the spindle, providing a solid foundation for subsequent joint operations; the micro-cylinder and clamping block design of the clamping assembly can accurately clamp the broken end to ensure the accuracy of the joint; these innovative structural designs make the joint quality more stable and reliable, effectively reduce the defective rate caused by poor joints, and significantly improve the overall quality of the product.

[0020] (3) The device uses a highly flexible AGV trolley as a mobile platform and is equipped with an adjustable lifting mechanism, which enables it to respond quickly and reach any break position, while adapting to spinning frames of different models and specifications. This design not only improves the versatility and adaptability of the equipment, but also reduces the company's equipment procurement and maintenance costs. The company does not need to configure dedicated jointing equipment for each model of spinning frame, reducing equipment redundancy and resource waste. At the same time, the versatility of the device also allows maintenance personnel to perform equipment maintenance and troubleshooting more efficiently, further reducing the company's operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 It is a side structural schematic diagram of the present invention.

[0023] Figure 3 It is a schematic diagram of the lifting mechanism structure of the present invention.

[0024] Figure 4 It is a schematic diagram of the brake mechanism structure of the present invention.

[0025] Figure 5 It is a schematic diagram of the structure of the tube removal mechanism of the present invention.

[0026] Figure 6 It is a schematic diagram of the structure of the clamping block of the present invention.

[0027] Figure 7 It is a schematic diagram of the airbag structure of the present invention.

[0028] Figure 8 It is a schematic diagram of the structure of the rotating mechanism of the present invention.

[0029] Fig. 9 It is a structural schematic diagram of the head-finding mechanism of the present invention.

[0030] In the figure: 1. AGV trolley; 2. lifting mechanism; 201. bracket; 202. linear guide; 203. first motor; 204. first threaded rod; 205. slide plate; 3. mechanical arm; 4. tube extraction mechanism; 401. sleeve; 402. mounting plate; 403. first air pump; 404. air bag; 405. fixing ring; 406. second spring; 407. connecting ring; 408. rubber block; 409. telescopic column; 410. fixing plate; 411. third motor; 412. third threaded rod; 413. lifting block ;414, micro-cylinder;415, clamping block;5, brake mechanism;501, lifting platform;502, first cylinder;503, connecting block;504, adjusting wheel;505, first spring;506, push plate;507, rubber pad;508, second telescopic rod;6, rotating mechanism;601, second motor;602, supporting platform;603, base;604, fixing tube;7, head-finding mechanism;701, guide plate;702, bellows;703, air pipe;704, second air pump;705, third cylinder. DETAILED DESCRIPTION

[0031] Below, the present application is further described in conjunction with specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0032] In the description of the present application, it should be noted that directional words, such as the terms "center", "lateral", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions and positional relationships are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of narrating the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and cannot be understood as limiting the specific scope of protection of the present application.

[0033] It should be noted that the terms "first", "second", etc. in the description and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0034] Embodiment 1:

[0035] One of the preferred embodiments of the present application is as follows: Figures 1 to 7As shown, a positioning control device for an automatic spinning robot of a spinning machine comprises: an AGV trolley 1, a lifting mechanism 2, a mechanical arm 3 and a rotating mechanism 6. The lifting mechanism 2 is installed on the top of the AGV trolley 1, and the mechanical arm 3 is arranged on one side of the lifting mechanism 2. The lifting mechanism 2 is used for lifting the mechanical arm 3. A brake mechanism 5 is arranged below the mechanical arm 3. The brake mechanism 5 is used for stopping the spindle. A tube pulling mechanism 4 is arranged at one end of the top of the mechanical arm 3. The tube pulling mechanism 4 is used for pulling out the yarn tube. A rotating mechanism 6 is arranged on the top of one end of the AGV trolley 1. A head finding mechanism 7 is arranged on one side of the rotating mechanism 6. The head finding mechanism 7 is installed on the top of the AGV trolley 1. The head finding mechanism 7 is used for finding the head when the thread is broken. The car 1 is connected with the remote control terminal signal; the lifting mechanism 2 includes a bracket 201, a linear guide rail 202 is arranged on one side of the bracket 201, two linear guide rails 202 are arranged, and the two linear guide rails 202 are connected to the bracket 201 by bolts, and a first motor 203 is installed on the top of the bracket 201, and the first motor 203 is connected to the top of the bracket 201 by bolts, and a first threaded rod 204 is externally sleeved on the bottom output end of the first motor 203, and one end of the bottom of the first threaded rod 204 is rotatably connected to the top of the AGV trolley 1, and the outside of the first threaded rod 204 is threadedly connected to one side of the slide plate 205, and the two ends of the slide plate 205 are slidably connected to the linear guide rail 202. When the spinning frame breaks, the breakage The detection device will send a signal, and the AGV trolley 1 will quickly move to the designated breaking position after receiving the signal; after reaching the position, the lifting mechanism 2 will start, and the first motor 203 will drive the slide plate 205 to move up and down along the linear guide rail 202 through the first threaded rod 204, so as to adjust the height of the robot arm 3 so that it can reach a suitable position for operation; the brake mechanism 5 under the robot arm 3 will start immediately, contact and apply pressure to the spindle through the friction mechanism, and quickly stop the spindle to ensure that the spindle remains stationary during subsequent operations; at the same time, the tube pulling mechanism 4 on the top of the robot arm 3 fixes the spindle through the positioning component, and uses the expansion of the airbag 404 to achieve a firm and non-destructive fixing effect, and then the clamping component accurately clamps The yarn end is found and the tube pulling operation is completed; the rotating mechanism 6 on the top of one end of the AGV trolley 1 is responsible for driving the spindle to rotate, providing support for subsequent operations such as the joint around the leather roller; the head finding mechanism 7 on one side of the rotating mechanism 6 pushes the guide plate 701 close to the spindle through the third cylinder 705, and uses the suction force generated by the second air pump 704 to absorb the broken yarn, so as to achieve accurate broken yarn head finding and prepare for the joint operation; after the entire device completes the joint operation, the AGV trolley 1 returns to the standby position and waits for the next broken end signal, realizing full-process automated operation, replacing manual operation with automated equipment, greatly reducing the downtime caused by broken ends, improving the operating efficiency of the spinning frame, and thus improving the overall production efficiency.

[0036] Embodiment 2:

[0037] One of the preferred embodiments of the present application is as follows: Figures 1 to 8As shown, a positioning control device for an automatic spinning robot of a spinning machine is provided, wherein a brake mechanism 5 is installed on one side of a slide plate 205, the brake mechanism 5 comprises a lifting platform 501, an adjusting mechanism and a friction mechanism, the adjusting mechanism is used to adjust the pressure of the friction mechanism, the friction mechanism is used to contact with the spindle, the lifting platform 501 is located on one side of the slide plate 205, the lifting platform 501 is connected to the slide plate 205 by bolts, the side of the lifting platform 501 is in an L-shaped structure, the adjusting mechanism is installed on one side of the bottom of the lifting platform 501, and the friction mechanism is installed on one side of the adjusting mechanism; the friction mechanism comprises a first cylinder 502, two first cylinders 502 are provided, one end of the two first cylinders 502 is embedded in the lifting platform 501, the telescopic end of the first cylinder 502 is connected to a connecting block 503, the connecting block 503 One end of the top is in sliding contact with the bottom surface of the lifting platform 501, and two second telescopic rods 508 are welded on the other side of the connecting block 503. One end of the second telescopic rod 508 is welded to both sides of the push plate 506. A rubber pad 507 is provided on one side of the push plate 506. The surfaces of the rubber pad 507 and the push plate 506 are both arc-shaped; the adjusting mechanism includes an adjusting wheel 504, and the adjusting wheel 504 is sleeved on the outside of one end of the second telescopic rod 508. The outer wall surface of one end of the second telescopic rod 508 is provided with a thread. The second telescopic rod 508 is threadedly connected to the adjusting wheel 504 through the outer wall thread. A first spring 505 is sleeved on the outside of one end of the second telescopic rod 508. The rotating mechanism 6 includes a supporting platform 602. A second motor 601 is installed at the bottom of the supporting platform 602. The output end of the second motor 601 The outside is provided with a base 603, one end of the top of the base 603 is provided with a fixed tube 604, the fixed tube 604 is vertically arranged, and one end of the bottom of the fixed tube 604 is welded to the base 603; the head-finding mechanism 7 includes a third cylinder 705, two third cylinders 705 are provided, and the third cylinders 705 are installed on the top of the support platform 602, and the outside of the telescopic end of the third cylinder 705 is welded to the guide plate 701, and the guide plate 701 is an arc-shaped structure, and the inner side of the guide plate 701 is provided with a hole groove connected to the bellows 702, and the other end of the bellows 702 is connected to the air pipe 703, and one end of the bottom of the air pipe 703 is connected to the second air pump 704. When the spinning frame breaks, the break detection device sends a signal, and the AGV trolley 1 quickly moves to the second air pump 704 after receiving the signal. The designated breaking position; after reaching the position, the lifting mechanism 2 is started, and the first motor 203 drives the slide plate 205 to move up and down along the linear guide rail 202 through the first threaded rod 204, and the height of the robot arm 3 is adjusted to a suitable position; the brake mechanism 5 under the robot arm 3 is immediately started, and the two first cylinders 502 are embedded in the lifting platform 501, and the telescopic end of the cylinder is connected to the connecting block 503, and the other side of the connecting block 503 is welded with two second telescopic rods 508, and one end of the second telescopic rod 508 is welded to both sides of the push plate 506, and an arc-shaped rubber pad 507 is provided on one side of the push plate 506; when the cylinder is extended and retracted, it pushes the connecting block 503 and the second telescopic rod 508 to move, thereby driving the push plate 506 and the rubber pad 507 to contact with the spindle, and realizing a quick brake stop;At the same time, the adjusting wheel 504 in the adjusting mechanism is sleeved on the outside of the second telescopic rod 508, and is threadedly connected. The adjusting wheel 504 can be rotated to adjust the extension and contraction amount of the second telescopic rod 508, thereby adjusting the pressure between the rubber pad 507 and the spindle to ensure that the braking process is stable and does not damage the spindle; at the same time, the tube pulling mechanism 4 on the top of the robot arm 3 fixes the spindle through the positioning component, and uses the expansion of the airbag 404 to achieve a firm and lossless fixing effect, and then the clamping component accurately clamps the yarn head to complete the tube pulling operation; the rotating mechanism 6 on the top of one end of the AGV trolley 1 is started, and the second motor 601 drives the base 603 to rotate. The fixed tube 604 on the top of the base 603 is vertically arranged and welded to the base 603, and the spindle is sleeved on the fixed tube 604. Externally, the spindle is stably rotated by the rotating mechanism 6 to provide support for subsequent operations such as the roller joint. The head-finding mechanism 7 on one side of the rotating mechanism 6 pushes the guide plate 701 close to the spindle through two third cylinders 705. The guide plate 701 is an arc-shaped structure, and a hole groove is arranged on its inner side to communicate with the bellows 702. The other end of the bellows 702 is connected to the air pipe 703, and the bottom of the air pipe 703 is connected to the second air pump 704. Under the action of the air pump, the bellows 702 generates suction, so that the surface of the guide plate 701 can absorb the broken yarn, realize accurate broken yarn head-finding, and prepare for the joint operation. After the whole device completes the joint operation, the AGV trolley 1 returns to the standby position and waits for the next broken signal to realize the full process automatic operation. ;

[0038] Embodiment 3:

[0039] One of the preferred embodiments of the present application is as follows: Figures 1 to 9As shown, a positioning control device for an automatic spinning robot of a spinning machine, the tube pulling mechanism 4 includes a positioning component and a clamping component, the positioning component is installed at one end of the top of the mechanical arm 3, the positioning component is used to fix the spindle, the clamping component is installed outside the positioning component, and the clamping component is used to fix the yarn head; the positioning component includes a sleeve 401, the top end of the sleeve 401 is connected to the top end of the mechanical arm 3 by bolts, a mounting plate 402 is welded to the outside of one side of the sleeve 401, a first air pump 403 is installed on one side of the mounting plate 402, the bottom output end of the first air pump 403 is connected to the inside of an air bag 404, the air bag 404 is a ring-shaped structure, and the air bag 404 is glued to the inner wall of the bottom end of the sleeve 401; a fixing ring 4 is installed inside the sleeve 401 05, a telescopic column 409 is welded at the bottom of the fixed ring 405, one end of the bottom of the telescopic column 409 is rotatably connected to a connecting ring 407, a rubber block 408 is glued to the bottom of the connecting ring 407, and a second spring 406 is sleeved on the outside of the telescopic column 409; the clamping assembly includes a fixed plate 410, one side of the fixed plate 410 is welded to the sleeve 401, a third motor 411 is installed on the top of the fixed plate 410, a third threaded rod 412 is sleeved on the outside of the bottom output end of the third motor 411, the outside of the third thread is threadedly connected to the lifting block 413, one side of the lifting block 413 is in sliding contact with the outer wall of the sleeve, two micro-cylinders 414 are embedded at one end of the top of the lifting block 413, and the micro-cylinder 414 is sleeved on the outside of the telescopic end. 5. The tube pulling mechanism 4 realizes accurate fixation and operation of the spindle and the yarn head through the coordinated work of the positioning component and the clamping component; the positioning component is installed on the top of the mechanical arm 3, and is used to fix the spindle, including a sleeve 401, a fixing ring 405, a telescopic column 409, a connecting ring 407, a rubber block 408 and a second spring 406; the sleeve 401 is connected to the mechanical arm 3 by bolts, and a telescopic column 409 is welded at the bottom of the internal fixing ring 405, and the bottom of the telescopic column 409 is connected to the rubber block 408 through the connecting ring 407, and the second spring 406 is sleeved on the outside of the telescopic column 409; when the spindle needs to be fixed, the first air pump 403 inflates the annular airbag 404, and the airbag 404 is inflated and fits tightly to the outer wall of the spindle. A firm and lossless fixation is achieved. At the same time, the structural design of the telescopic column 409 and the second spring 406 can adapt to spindles of different diameters, ensuring a close fit between the airbag 404 and the spindle; the clamping assembly is installed outside the positioning assembly, and is used to fix the yarn head, including a fixing plate 410, a third motor 411, a third threaded rod 412, a lifting block 413 and a micro-motion cylinder 414; the fixing plate 410 is welded to the sleeve 401, and a third motor 411 is installed on the top, and the output end of the motor is connected to the third threaded rod 412, and the threaded rod is threadedly connected to the lifting block 413, and the lifting block 413 is in sliding contact with the outer wall of the sleeve, and two micro-motion cylinders 414 are embedded on the top, and the telescopic end of the micro-motion cylinder 414 is connected to the clamping block 415;The third motor 411 drives the threaded rod to rotate, driving the lifting block 413 to move up and down, adjusting the position of the clamping block 415, and the telescopic action of the micro-cylinder 414 enables the clamping block 415 to accurately clamp the yarn end, ensuring the stability and reliability of the joint operation. ;

[0040] Working principle: During the operation of the automatic yarn spinning robot positioning control device of the spinning machine, when the broken end detection device on the spinning equipment identifies the yarn broken end, it will immediately send a signal to trigger the response of the joint robot; after receiving the signal, the AGV trolley 1 quickly moves to the specified broken end position; then, the lifting mechanism 2 of the device is started, and the first motor 203 drives the first threaded rod 204 to rotate, and drives the slide plate 205 to rise along the linear guide rail 202 through the thread transmission, thereby pushing the lifting platform 501 and the brake mechanism 5 thereon to move upward, so that the push plate 506 of the brake mechanism 5 and the rubber pad 507 are accurately aligned with the spindle; the telescopic end of the first cylinder 502 is pushed out, pushing the second telescopic rod 508 and the first spring 505, causing the rubber pad 507 to contact with the spindle and apply pressure, so as to achieve a rapid braking stop of the spindle;

[0041] After the spindle stops, the robot arm 3 moves to put the sleeve 401 on the outside of the top of the spindle; at this time, the first air pump 403 inflates the air bag 404, and the air bag 404 expands and squeezes the spindle tightly to achieve a firm and lossless fixation; then, the robot arm 3 drives the sleeve 401 to move and puts the spindle on the outside of the fixed tube 604 of the rotating mechanism 6; the first air pump 403 moves again to extract the gas in the air bag 404, so that the spindle is separated from the clamp of the air bag 404 and stably put on the fixed tube 604; the robot arm 3 continues to drive the sleeve 401 to press down, and the rubber block 408 presses the spindle outside the fixed tube 604 to ensure that the bottom of the spindle is tightly fitted with the base 603 of the rotating mechanism 6; at this time, the second motor 601 of the rotating mechanism 6 is started to drive the base 603 and the spindle to rotate;

[0042] At the same time, the third air pump of the head-finding mechanism 7 supplies air to the bellows 702 through the air pipe 703, so that the bellows 702 generates suction, and then the surface of the guide plate 701 generates adsorption force; the third cylinder 705 pushes the guide plate 701 close to the spindle, and during the rotation of the spindle, the broken heads on its surface are adsorbed to the surface of the guide plate 701; then, the third motor 411 of the clamping assembly is started, driving the third threaded rod 412 to rotate, and the lifting block 413 is moved downward through the threaded transmission, thereby driving the clamping block 415 close to the broken heads; the micro-cylinder 414 is actuated, so that the clamping block 415 accurately clamps the broken heads; finally, the robot arm 3 puts the spindle back to its original position, and drives the clamping block 415 to perform the roller joint action to complete the automatic joint operation; the entire device realizes the full-process automated operation from broken head detection to joint completion through a highly integrated automated design, which significantly improves production efficiency and reduces labor costs, while improving the joint quality and the versatility and adaptability of the equipment.

[0043] The above describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments, and the above embodiments and the specification only describe the principles of the present application. The present application may have various changes and improvements without departing from the spirit and scope of the present application, and these changes and improvements fall within the scope of the present application for which protection is sought. The scope of protection claimed by the present application is defined by the attached claims and their equivalents.

Claims

1. A positioning control device for an automatic spinning robot of a spinning frame, characterized in that: include: An AGV trolley (1), a lifting mechanism (2), a mechanical arm (3) and a rotating mechanism (6), wherein the lifting mechanism (2) is installed on the top of the AGV trolley (1), and a mechanical arm (3) is arranged on one side of the lifting mechanism (2). The lifting mechanism (2) is used for lifting the mechanical arm (3). A brake mechanism (5) is arranged below the mechanical arm (3), and the brake mechanism (5) is used for stopping the spindle. A tube pulling mechanism (4) is arranged at one end of the top of the mechanical arm (3), and the tube pulling mechanism (4) is used for pulling out the yarn tube. A rotating mechanism (6) is arranged on the top of one end of the AGV trolley (1), and a head finding mechanism (7) is arranged on one side of the rotating mechanism (6). The head finding mechanism (7) is installed on the top of the AGV trolley (1), and the head finding mechanism (7) is used for head finding when the line is broken. The AGV trolley (1) is connected to the remote control terminal signal.

2. A positioning control device for an automatic spinning robot of a spinning frame as claimed in claim 1, characterized in that: The lifting mechanism (2) comprises a bracket (201), one side of the bracket (201) is provided with a linear guide rail (202), two linear guide rails (202) are provided, the two linear guide rails (202) are connected to the bracket (201) by bolts, a first motor (203) is installed on the top of the bracket (201), the first motor (203) is connected to the top of the bracket (201) by bolts, a first threaded rod (204) is externally sleeved on the bottom output end of the first motor (203), one end of the bottom of the first threaded rod (204) is rotatably connected to the top of the AGV trolley (1), the outside of the first threaded rod (204) is threadedly connected to one side of a slide plate (205), and both ends of the slide plate (205) are slidably connected to the linear guide rail (202).

3. The automatic spinning robot positioning control device for a spinning frame according to claim 1, characterized in that: The brake mechanism (5) is installed on one side of the slide plate (205), and the brake mechanism (5) comprises a lifting platform (501), an adjustment mechanism and a friction mechanism, wherein the adjustment mechanism is used to adjust the pressure of the friction mechanism, and the friction mechanism is used to contact the spindle, the lifting platform (501) is located on one side of the slide plate (205), the lifting platform (501) is connected to the slide plate (205) by bolts, and the side of the lifting platform (501) is in an L-shaped structure, the adjustment mechanism is installed on one side of the bottom of the lifting platform (501), and the friction mechanism is installed on one side of the adjustment mechanism.

4. A positioning control device for an automatic spinning robot of a spinning frame as claimed in claim 3, characterized in that: The friction mechanism comprises a first cylinder (502), two of which are provided, one end of the two first cylinders (502) is embedded in the lifting platform (501), the telescopic end of the first cylinder (502) is connected to a connecting block (503), the top end of the connecting block (503) is in sliding contact with the bottom surface of the lifting platform (501), two second telescopic rods (508) are welded to the other side of the connecting block (503), one end of the second telescopic rod (508) is welded to both sides of the push plate (506), a rubber pad (507) is provided on one side of the push plate (506), and the surface of the rubber pad (507) and the push plate (506) are both arc-shaped.

5. A positioning control device for an automatic spinning robot of a spinning frame as claimed in claim 3, characterized in that: The adjusting mechanism comprises an adjusting wheel (504), wherein the adjusting wheel (504) is sleeved on the outside of one end of a second telescopic rod (508), a thread is arranged on the outer wall surface of one end of the second telescopic rod (508), the second telescopic rod (508) is threadedly connected to the adjusting wheel (504) via the outer wall thread, and a first spring (505) is sleeved on the outside of one end of the second telescopic rod (508).

6. The automatic spinning robot positioning control device for a spinning frame according to claim 1, characterized in that: The tube pulling mechanism (4) comprises a positioning component and a clamping component, wherein the positioning component is mounted on one end of the top of the mechanical arm (3), and is used to fix the spindle; the clamping component is mounted on the outside of the positioning component, and is used to fix the yarn head; the positioning component comprises a sleeve (401), wherein one end of the top of the sleeve (401) is connected to one end of the top of the mechanical arm (3) by bolts; a mounting plate (402) is welded to the outside of one side of the sleeve (401), and a first air pump (403) is mounted on one side of the mounting plate (402); the bottom output end of the first air pump (403) is connected to the inside of an air bag (404); the air bag (404) is in a ring-shaped structure, and the air bag (404) is glued to the inner wall of the bottom end of the sleeve (401).

7. A positioning control device for an automatic spinning robot of a spinning frame as claimed in claim 6, characterized in that: A fixing ring (405) is installed inside the sleeve (401), a telescopic column (409) is welded to the bottom of the fixing ring (405), a connecting ring (407) is rotatably connected to one end of the bottom of the telescopic column (409), a rubber block (408) is glued to the bottom of the connecting ring (407), and a second spring (406) is sleeved on the outside of the telescopic column (409).

8. A positioning control device for an automatic spinning robot of a spinning frame as claimed in claim 6, characterized in that: The clamping assembly comprises a fixing plate (410), one side of the fixing plate (410) is welded to the sleeve (401), a third motor (411) is installed on the top of the fixing plate (410), a third threaded rod (412) is sleeved on the outside of the bottom output end of the third motor (411), the outside of the third threaded rod is threadedly connected to a lifting block (413), one side of the lifting block (413) is in sliding contact with the outer wall of the sleeve, two micro-motion cylinders (414) are embedded at one end of the top of the lifting block (413), and a clamping block (415) is sleeved on the outside of the telescopic end of the micro-motion cylinder (414).

9. The automatic spinning robot positioning control device for a spinning frame as claimed in claim 1, characterized in that: The rotating mechanism (6) comprises a support platform (602), a second motor (601) is mounted at the bottom of the support platform (602), a base (603) is mounted on the outside of the output end of the second motor (601), a fixing tube (604) is arranged at one end of the top of the base (603), the fixing tube (604) is arranged vertically, and one end of the bottom of the fixing tube (604) is welded to the base (603).

10. The automatic spinning robot positioning control device for a spinning frame according to claim 1, characterized in that: The head-finding mechanism (7) includes a third cylinder (705), two of which are provided. The third cylinders (705) are connected to the top of the support platform (602). The outside of the telescopic end of the third cylinder (705) is welded to the guide plate (701). The guide plate (701) is an arc-shaped structure. The inner side of the guide plate (701) is provided with a hole groove connected to the bellows (702). The other end of the bellows (702) is connected to the air pipe (703), and the bottom end of the air pipe (703) is connected to the second air pump (704).

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