Automatic splicer scheduling method based on single spindle detection and spinning spindle speed

Abstract

The invention relates to the technical field of spinning, and discloses an automatic splicer scheduling method based on single spindle detection and spinning spindle speed, which comprises the following steps: distributing unique coordinates for each device and each spindle according to the layout of a spinning frame; the current spinning spindle speed and the number of broken ends of each device are obtained in real time through a sensor and a single spindle monitoring system; a joint mathematical model is established, a spinning frame sends spinning spindle speed and broken end number signals to a calculation system, and a joint machine sequence is generated through calculation and comparison; the spinning frame sends the detected broken end spindle number to a control system through a single spindle monitoring system, and a preliminary splicing sequence is generated; calculating time required by all joint paths, and generating a path sample population; selecting the path with the shortest time required for connecting all the broken ends to perform joint operation; and after the jointing is finished, re-determining the jointing sequence of the next cycle. The spinning speed, the end breaking time and the end breaking position are comprehensively considered, the spinning yield loss can be effectively reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of spinning, and in particular to an automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed. Background Art

[0002] "Spinning ends are an inevitable state in the spinning process of the spinning workshop. A large part of the workload of the spinning workshop operator is to make yarn joints. Spinning ends not only waste raw materials, but also reduce the output of spinning. Therefore, timely detection of spinning ends and splicing are the main tasks of the spinning operator.

[0003] Currently, yarn splicing in spinning workshops is still mainly done manually. Although many textile machinery factories are researching automatic yarn splicing technology, it has not yet been widely used in actual production. Moreover, the automatic yarn splicing machine is matched with the main machine, usually with one set for each machine, using a guide rail operation, or with two sets for each machine, one on each side of the equipment. However, according to the cotton ring spinning frame standard FZ / T93027, the broken yarn rate should be ≤40 per 1,000 spindles. Obviously, the one-to-one or one-to-two matching method is costly and the utilization rate of the automatic splicing machine is low.

[0004] Patent ZL202110012360.3 discloses a heuristic spinning piecing scheduling method based on single-spindle monitoring. This method, based on yarn breakage monitoring, considers a piecing machine scheduling mode that minimizes total end-break time. However, in actual production, spindle speeds vary between different machines, and even within the same machine, in different spinning sections. Generally speaking, small yarn sections have longer balloons and are prone to end-breaks, so a lower spindle speed is set. Large yarn sections, on the other hand, have high balloon tension and are also prone to end-breaks, so a lower spindle speed is also set. Medium yarn sections have stable balloons, making them suitable for high-speed spinning and increasing production. Depending on user spinning requirements, some spindle speeds are set to three, others to more, or even nine. Furthermore, multiple spinning frames in a spinning mill often operate in different spinning sections at the same time. Therefore, when considering automatic piecing for spinning frames, minimizing total end-break time is not the optimal approach; maximizing production yield is the key to achieving the greatest customer benefit. When multiple end-breaks occur simultaneously, the highest spindle speed results in the greatest production loss. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an automatic joint machine scheduling method based on single spindle detection and spinning spindle speed, which comprehensively considers the spinning speed, yarn break time and yarn break spindle position, and can minimize the spinning production loss.

[0006] In order to achieve the above-mentioned purpose of the invention, the technical solutions adopted are as follows:

[0007] An automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed includes the following steps:

[0008] Step 1: Establish the equipment number information and each spindle coordinate system according to the spinning frame layout, and assign unique coordinates to each spindle;

[0009] Step 2: Obtain the spinning spindle speed information and the number of broken ends of different machines in the current period according to the equipment information;

[0010] Step 3: Establish a mathematical model for piecing. The spinning frame sends the spindle speed and end-breakage number signals of several devices to the computing system, calculates the production loss coefficient caused by end-breakage of each device, and determines the order of piecing machines. Then, the piecing path is determined based on the end-breakage location, and the piecing time is minimized.

[0011]

[0012] Where, f, minW is the shortest total joint time; i is the current number of broken ends; W a The ath spindle position has a longer waiting time for splicing than the (a-1)th splicing spindle position; L a V is the distance between the (a-1)th joint spindle position and the ath joint spindle position; 接 is the travel speed of the joint trolley; t 接 The time required to complete a joint;

[0013] Step 4: The spinning frame sends the detected broken spindle number to the control system through the single spindle monitoring system. The control system converts the broken spindle number into broken spindle coordinate information according to the coordinate system. At the same time, the joint trolley sends the trolley coordinate information to the control system through the positioning system.

[0014] Step 5: Calculate the joint time used for various joint paths based on the established joint mathematical model and generate a joint path sample population;

[0015] Step 6: Use the selection operator method to select the best connection path from the population;

[0016] Step 6: Automatic splicing machine performs splicing;

[0017] Step 7: After the automatic splicing machine completes a cycle of splicing, it will repeat step 3 to determine the next cycle of splicing sequence.

[0018] As a further improvement of the present invention, step three specifically includes the following steps:

[0019] A. Establish a mathematical model for the joint and calculate the production loss as shown below:

[0020] Q max =MAXQ i =k*n i *V i (3)

[0021]

[0022] Where Q max The maximum loss of production, Q i is the loss output parameter of the i-th equipment, k is the spindle speed and output coefficient, n i is the number of broken ends of the i-th device, V i is the current spindle speed of the i-th device; T max , MAXT i is the maximum total breakage time of each spindle in the i-th equipment, t i is the sum of the breakage time of each spindle in the i-th equipment;

[0023] B. The calculation system calculates and compares according to formula (3) to find the machine number that has the greatest impact on the spun yarn output; if there are machine numbers with equal impact on the output according to formula (3), further comparison is performed according to formula (4) to determine the machine number with the greatest impact on the output;

[0024] C. In the production loss coefficient, select the unit with the greatest impact on the spun yarn production and perform the joint first. After each joint, calculate again after the unit with the greatest impact on the production.

[0025] As a further improvement of the present invention, in step A, the yield impact coefficient is calculated using the following formula:

[0026]

[0027] Replace the original formula (3) and formula (4) to determine the yield loss coefficient.

[0028] As a further improvement of the present invention, step three specifically includes the following steps:

[0029] a. Establish the mathematical model of the joint, as shown below:

[0030] Q i =k*n i *V i (6)

[0031] Where Q i is the loss output parameter of the i-th equipment, k is the spindle speed and output coefficient, n i is the number of broken ends of the i-th device, V i is the current spindle speed of the i-th device;

[0032] Arrange the machines in descending order according to the size of production loss:

[0033] SQRT(Q i , -1)(7)

[0034] In the formula, SQRT(Q i,-1) The machines that the robot is responsible for are arranged in descending order according to the loss production parameters;

[0035]

[0036] Where, T i The sum of the spindle break time from the first device to the mth device, where m is an integer greater than 0;

[0037] Sort by the length of the break time:

[0038] SQRT(T i , -1)(9)

[0039] In the formula, SQRT(T i ,-1) The machines that the robot is responsible for are arranged in descending order according to the production time loss parameter;

[0040] b. The calculation system calculates and compares the impact of each machine's production loss according to formula (6) to generate a preliminary joint machine sequence; if there are machines with equal impact on production according to formula (6), the machine numbers with equal impact on production are further compared with their breakage time according to formula (7) and then sorted to generate the joint machine sequence;

[0041] c. Sort the production loss coefficients from large to small, and determine the order of the joint machines according to the production loss from large to small. Calculate again after all machines are joined.

[0042] As a further improvement of the present invention, in step a, the yield impact coefficient is calculated using the following formula:

[0043]

[0044] Replace the original formula (6) and formula (8) to determine the yield loss coefficient.

[0045] As a further improvement of the present invention, in step 2, the current spindle speed is measured by a sensor installed on the main shaft, and the spindle speed is calculated by the transmission ratio.

[0046] As a further improvement of the present invention, in step 3, the single spindle monitoring system adopts the following detection method:

[0047] A sensor is installed in front of each spindle of the spinning frame. The sensor monitors the speed signal of the wire ring at that spindle through the induction principle. When the speed of the wire ring is zero, it is determined that the spindle has broken.

[0048] As a further improvement of the present invention, in step five, when the time taken to break the n ends is the same, a joint path with the shortest time taken to break the n-1 ends is calculated.

[0049] The present invention has the following beneficial effects: by comprehensively considering spinning speed, end-break time, and end-break location, it prioritizes the breaks that have the greatest impact on production losses, thereby effectively reducing production losses caused by end-breaks. By automatically selecting the optimal piecing path, the piecing trolley's travel distance and time are reduced, thereby improving piecing efficiency and overall production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0051] Figure 1 It is a schematic diagram of the process of the present invention;

[0052] Figure 2 This is a schematic diagram of the joint path in Example 1 of the present invention. DETAILED DESCRIPTION

[0053] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0054] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0055] Assume that an automatic piecing machine manages 5 60-count pure cotton spinning machines with 1200 spindles. The spinning spindle speeds of all the machines are set according to the 5-segment curve. The spindle speeds of each segment are set as follows:

[0056] The first section is 200 meters, 8000rpm;

[0057] The second section is 300 meters, 10,000 rpm;

[0058] The third section is 4000 meters, 16000rpm;

[0059] The fourth section is 200 meters, 10,000 rpm;

[0060] The fifth section is 100 meters, 9000 rpm;

[0061] Spinning status of each device,

[0062] Equipment No. 01, currently in the third spinning section, spindle speed 16000 rpm, 4 ends broken;

[0063] Equipment No. 02, currently in the fourth spinning section, spindle speed 12000rpm, 5 ends broken;

[0064] Equipment No. 03, currently in the first spinning section, spindle speed 8000 rpm, 7 ends broken;

[0065] Equipment No. 04, currently in the second spinning section, spindle speed 10,000 rpm, 6 ends broken;

[0066] Equipment No. 05, currently in the fifth spinning section, spindle speed 9000rpm, 5 ends broken.

[0067] Example 1

[0068] An automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed includes the following steps:

[0069] Step 1: Establish the equipment number information and each spindle coordinate system according to the spinning frame layout, and assign unique coordinates to each spindle;

[0070] Step 2: Obtain the spinning spindle speed information and the number of broken ends of different machines in the current period according to the equipment information;

[0071] Step 3: Establish a mathematical model for piecing. The spinning frame sends the spindle speed and end-breakage number signals of several devices to the computing system, calculates the production loss coefficient caused by end-breakage of each device, and determines the order of piecing machines. Then, the piecing path is determined based on the end-breakage location, and the piecing time is minimized.

[0072] The specific steps include:

[0073] A. Establish a mathematical model for the joint and calculate the production loss as shown below:

[0074] Q max =MAXQ i =k*n i *V i (3)

[0075]

[0076] Where Q max The maximum loss of production, Q i is the loss output parameter of the i-th equipment, k is the spindle speed and output coefficient, n i is the number of broken ends of the i-th device, V i is the current spindle speed of the i-th device; T max , MAXT i is the maximum total breakage time of each spindle in the i-th equipment, t i is the sum of the breakage time of each spindle in the i-th equipment;

[0077] B. The spinning frame sends the current spindle speed and end-break number signals of several devices to the calculation system. The calculation system calculates and compares according to formula (3) to find the machine number that has the greatest impact on the spinning output. If there are machine numbers with equal impact on the output according to formula (3), further comparison is performed according to formula (4) to determine the machine number with the greatest impact on the output.

[0078] Equipment No. 01, the impact value on the spinning frame output is Q1 = K × 16000 × 4 = 64000K;

[0079] Equipment No. 02, the impact value on the spinning frame output is Q2 = K × 10000 × 5 = 50000K;

[0080] Equipment No. 03, the impact value on the spinning frame output is Q3 = K × 8000 × 7 = 56000K;

[0081] Equipment No. 04, the impact value on the spinning frame output is Q4 = K × 10000 × 6 = 60000K;

[0082] Equipment No. 05, the impact value on the spinning frame output is Q5 = K × 9000 × 5 = 45000K;

[0083] Q max =MAX{Q1, Q2, Q3, Q4, Q5} = Q1 = 64000K.

[0084] C. The device with the greatest impact on production is No. 01. Connect the broken ends of No. 01 first.

[0085] Step 4: The spinning frame sends the detected broken spindle number to the control system through the single spindle monitoring system. The control system converts the broken spindle number into broken spindle coordinate information according to the coordinate system. At the same time, the joint trolley sends the trolley coordinate information to the control system through the positioning system.

[0086] Step 5: Calculate the joint time of various joint paths according to formula (3) and formula (4), and generate a sample population of 12 joint paths;

[0087] L573→L524→L235→R145;

[0088] L573→L524→R145→L235;

[0089] L573→L235→L524→R145;

[0090] L573→L235→R145→L524;

[0091] …

[0092] R145→L235→L524→L573;

[0093] Step 6: Use the selection operator method to select the shortest connection path from the population, such as Figure 2 As shown;

[0094]

[0095] Where, f, minW is the shortest total joint time; i is the current number of broken ends; W a The ath spindle position has a longer waiting time for splicing than the (a-1)th splicing spindle position; L a V is the distance between the (a-1)th joint spindle position and the ath joint spindle position; 接 is the travel speed of the joint trolley; t 接 The time required to complete a joint;

[0096] W1=(52+8+31+14+23+10+23) / v 接 +4t 接 =152 / v 接 +4t 接

[0097] W2=(52+8+31+14+23+10+23+23+10+23+14) / v 接 +4t 接 =222 / v 接 +4t 接

[0098] W3=(52+8+31+31+31+14+23+10+23) / v 接 +4t 接 =214 / v 接 +4t 接

[0099] W4=(52+8+31++31+31+14+23+10+23+23+10+23+14) / v 接 +4t 接 =284 / v 接 +4t 接

[0100] …

[0101] W 12 =(10+105+23+10+23+14+31+8) / v 接 +4t 接 =224 / v 接 +4t 接

[0102]

[0103] Step 7: Automatic splicing machine performs splicing;

[0104] Step 8: After the automatic splicing machine completes a cycle splicing, it will repeat step 3 to determine the next cycle splicing sequence.

[0105] In step A, the yield impact coefficient is calculated using the following formula:

[0106]

[0107] Replace the original formula (3) and formula (4) to determine the yield loss coefficient.

[0108] Example 2

[0109] An automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed includes the following steps:

[0110] Step 1: Establish the equipment number information and each spindle coordinate system according to the spinning frame layout, and assign unique coordinates to each spindle;

[0111] Step 2: Obtain the spinning spindle speed information and the number of broken ends of different machines in the current period according to the equipment information;

[0112] Step 3: Establish a piecing mathematical model. The spinning frame sends the spinning spindle speed and end-break number signals of several devices to the calculation system. Through calculation and comparison, the piecing machine sequence is generated. The spinning frame sends the detected end-break spindle number to the control system through the single spindle monitoring system. The control system converts the end-break spindle number into end-break coordinate information according to the coordinate system. At the same time, the piecing trolley sends the trolley coordinate information to the control system through the positioning system.

[0113] The specific steps include:

[0114] a. Establish the mathematical model of the joint, as shown below:

[0115] Q i =k*n i *V i (6)

[0116] Where Q i is the loss output parameter of the i-th equipment, k is the spindle speed and output coefficient, n i is the number of broken ends of the i-th device, V i is the current spindle speed of the i-th device;

[0117] Arrange the machines in descending order according to the size of production loss:

[0118] SQRT(Q i , -1)(7)

[0119] In the formula, SQRT(Q i,-1) The machines that the robot is responsible for are arranged in descending order according to the loss production parameters;

[0120]

[0121] Where, T i The sum of the spindle break time from the first device to the mth device, where m is an integer greater than 0;

[0122] Sort by the length of the break time:

[0123] SQRT(T i , -1)(9)

[0124] In the formula, SQRT(T i ,-1) The machines that the robot is responsible for are arranged in descending order according to the production time loss parameter;

[0125]

[0126] Where, f, minW is the shortest total joint time; i is the current number of broken ends; W a The ath spindle position has a longer waiting time for splicing than the (a-1)th splicing spindle position; L a V is the distance between the (a-1)th joint spindle position and the ath joint spindle position; 接 is the travel speed of the joint trolley; t 接 The time required to complete a joint;

[0127] b. The spinning frame sends the spindle speed and end-breakage number signals of several devices to the calculation system. The calculation system calculates and compares the impact of each device on the output loss according to formula (6) to generate a preliminary joint machine sequence; if there are machine numbers with equal impact on output according to formula (6), the machine numbers with equal impact on output are further compared with the end-breakage time according to formula (7), and then sorted to generate the joint machine sequence;

[0128] Equipment No. 01, the impact value on the spinning frame output is Q1 = K × 16000 × 4 = 64000K;

[0129] Equipment No. 02, the impact value on the spinning frame output is Q2 = K × 10000 × 5 = 50000K;

[0130] Equipment No. 03, the impact value on the spinning frame output is Q3 = K × 8000 × 7 = 56000K;

[0131] Equipment No. 04, the impact value on the spinning frame output is Q4 = K × 10000 × 6 = 60000K;

[0132] Equipment No. 05, the impact value on the spinning frame output is Q5 = K × 9000 × 5 = 45000K;

[0133] Q1>Q2>Q3>Q4>Q5;

[0134] C. According to the impact of broken ends on production at each machine, the order of joints is determined as 01-04-03-02-05;

[0135] Step 4: The spinning frame sends the broken spindle number of each machine number to the control system through the single spindle monitoring system. The control system converts the broken spindle number into broken coordinate information according to the coordinate system. At the same time, the joint trolley sends the trolley coordinate information to the control system through the positioning system.

[0136] 01(L573, L524, L235, R145)→04(L202, L300, L560, R100, R281, R506)→03(L192, L230, L506, L 596, R245, R545, R516) → 02 (L132, L220, L546, R586, R345) → 05 (L203, L504, R215, R445, R465);

[0137] Step 5: Calculate the joint time used for various joint paths according to formula (5) and formula (8) to generate the joint path sample population;

[0138] Option 1:

[0139] 01-L573→01-L524→01-L235→01-R145→04-R100→04-R281→04-R506→04-L560→04-L300→04-L202→03-R245→03-R516→03-R545→03-L 596→03-L560→03-L230→03-L192→02-R345→02-R586→02-L546→02-L220→02-L132→05-L203→05-L504→05-R465→05-R445→05-L215;

[0140] Option 2:

[0141] 01-L573→01-L524→01-L235→01-R145→04-R100→04-R281→04-R506→04-L560→04-L300→04-L202→03-R245→03-R516→03-R545→03-L 596→03-L560→03-L230→03-L192→02-R345→02-R586→02-L546→02-L220→02-L132→05-L203→05-L504→05-R465→05-L215→05-R445;

[0142] …

[0143] Plan n:

[0144] 01-L573→01-L524→01-L235→01-R145→04-R100→04-R281→04-R506→04-L560→04-L300→04-L202→03-R245→03-R516→03-R545→03-L 596→03-L560→03-L230→03-L192→02-R345→02-R586→02-L546→02-L203→02-L132→05-L220→05-L504→05-R465→05-R445→05-L215;

[0145] Step 6: Using the selection operator method, select the shortest connection path from the population to connect all n broken ends of all devices, where n is the number of connections;

[0146] 01-L573→01-L524→01-L235→01-R145→04-R100→04-R281→04-R506→04-L560→04-L300→04-L202→03-R245→03-R516→03-R545→03-L 596→03-L560→03-L230→03-L192→02-R345→02-R586→02-L546→02-L220→02-L132→05-L203→05-L504→05-R465→05-R445→05-L215;

[0147] Step 7: Automatic splicing machine performs splicing;

[0148] Step 8: After the automatic splicing machine completes a cycle splicing, it will repeat step 3 to determine the next cycle splicing sequence.

[0149] In step a, the yield impact coefficient is calculated using the following formula:

[0150]

[0151] Replace the original formula (1) and formula (3) to sort the machines that affect production.

[0152] In Example 1-2,

[0153] In step 2, the current spindle speed is measured by the current rotation speed of the sensor installed on the main shaft, and the spindle speed is calculated by the transmission ratio.

[0154] In step three, the single spindle monitoring system uses the following detection method:

[0155] A sensor is installed in front of each spindle of the spinning frame. The sensor monitors the speed signal of the wire ring at that spindle. When the speed of the wire ring is zero, it is determined that the spindle has broken.

[0156] In step 5, when the time taken to break n ends is the same, the joint path with the shortest time taken to break n-1 ends is further calculated.

[0157] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, improvements, component splits, or combinations, etc., that fall within the spirit and principles of the present invention, shall be included within the scope of protection of the present invention.

Claims

1. An automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed, characterized in that: The following steps are involved: Step 1: Establish the equipment number information and each spindle coordinate system according to the spinning frame layout, and assign unique coordinates to each spindle; Step 2: Obtain the spinning spindle speed information and the number of broken ends of different machines in the current period according to the equipment information; Step 3: Establish a mathematical model for piecing. The spinning frame sends the spindle speed and end-breakage number signals of several devices to the computing system, calculates the production loss coefficient caused by end-breakage of each device, and determines the order of piecing machines. Then, the piecing path is determined based on the end-breakage location, and the piecing time is minimized. Where, f and minW are the shortest total joint time; i is the current number of broken ends; W a The ath spindle position has a longer waiting time for splicing than the (a-1)th splicing spindle position; L a V is the distance between the (a-1)th joint spindle position and the ath joint spindle position; 接 is the travel speed of the joint trolley; t 接 The time required to complete a joint; Step 4: The spinning frame sends the detected broken spindle number to the control system through the single spindle monitoring system. The control system converts the broken spindle number into broken spindle coordinate information according to the coordinate system. At the same time, the joint trolley sends the trolley coordinate information to the control system through the positioning system. Step 5: Calculate the joint time used for various joint paths based on the established joint mathematical model and generate a joint path sample population; Step 6: Use the selection operator method to select the best connection path from the population; Step 7: Automatic splicing machine performs splicing; Step 8: After the automatic splicing machine completes a cycle splicing, it will repeat step 3 to determine the next cycle splicing sequence.

2. The automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed according to claim 1 is characterized in that: Step three specifically includes the following steps: A. Establish a mathematical model for the joint and calculate the production loss as shown below: Q max MAXQ i =k*n i *V i (3) Where Q max The maximum loss of production, Q i is the loss output parameter of the i-th equipment, k is the spindle speed and output coefficient, n i is the number of broken ends of the i-th device, V i is the current spindle speed of the i-th device; T max , MAXT i is the maximum total breakage time of each spindle in the i-th equipment, t i is the sum of the breakage time of each spindle in the i-th equipment; B. The calculation system calculates and compares according to formula (3) to find the machine number that has the greatest impact on the spun yarn output; if there are machine numbers with equal impact on the output according to formula (3), further comparison is performed according to formula (4) to determine the machine number with the greatest impact on the output; C. In the production loss coefficient, select the unit with the greatest impact on the spun yarn production and perform the joint first. After each joint, calculate again after the unit with the greatest impact on the production.

3. The method for automatic piecing machine scheduling based on single spindle detection and spinning spindle speed according to claim 2, characterized in that: In step A, the yield impact coefficient is calculated using the following formula: Replace the original formula (3) and formula (4) to determine the yield loss coefficient.

4. The method for scheduling an automatic piecing machine based on single spindle detection and spinning spindle speed according to claim 1, characterized in that: Step three specifically includes the following steps: a. Establish the mathematical model of the joint, as shown below: Q i =k*n i *V i (6) Where Q i is the loss output parameter of the i-th equipment, k is the spindle speed and output coefficient, n i is the number of broken ends of the i-th device, V i is the current spindle speed of the i-th device; Arrange the machines in descending order according to the size of production loss: SQRT(Q i ,-1)(7) In the formula, SQRT(Q i ,-1) The machines that the robot is responsible for are arranged in descending order according to the loss production parameters; Where, T i The sum of the spindle break time from the first device to the mth device, where m is an integer greater than 0; Sort by the length of the break time: SQRT(T i ,-1)(9) In the formula, SQRT(T i ,-1) The machines that the robot is responsible for are arranged in descending order according to the production time loss parameter; b. The spinning frame sends the spindle speed and end-breakage number signals of several devices to the calculation system. The calculation system calculates and compares the impact of each device on the output loss according to formula (6) to generate a preliminary joint machine sequence; if there are machine numbers with equal impact on output according to formula (6), the machine numbers with equal impact on output are further compared with the end-breakage time according to formula (7), and then sorted to generate the joint machine sequence; c. Sort the production loss coefficients from large to small, and determine the order of the connection numbers according to the production loss from large to small. Calculate again after all the numbers are connected.

5. The automatic piecing machine scheduling method based on single spindle detection and spinning spindle speed according to claim 4 is characterized in that: In step a, the yield impact coefficient is calculated using the following formula: Replace the original formula (6) and formula (8) to determine the yield loss coefficient.

6. The method for scheduling an automatic piecing machine based on single spindle detection and spinning spindle speed according to claim 1, characterized in that: In step 2, the current spindle speed is measured by the current rotation speed of the sensor installed on the main shaft, and the spindle speed is calculated by the transmission ratio.

7. The method for scheduling an automatic piecing machine based on single spindle detection and spinning spindle speed according to claim 1, characterized in that: In step three, the single spindle monitoring system uses the following detection method: A sensor is installed in front of each spindle of the spinning frame. The sensor principle monitors the speed signal of the wire ring at that spindle. When the speed of the wire ring is zero, it is determined that the spindle has broken.

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