Zero-returning identification structure, yarn feeding mechanical arm, zero-returning control method and yarn feeding robot

Abstract

The invention relates to a zeroing recognition structure, a yarn feeding mechanical arm, a zeroing control method and a yarn feeding robot. The zeroing recognition structure comprises a first-stage induction part with a central axis, and a second-stage induction part with a second-stage induction surface surrounding the central axis in the circumferential direction is formed on the outer side edge of the first-stage induction part; the second-level sensing parts are connected to one side of the first-level sensing part in the axial direction, all the second-level sensing parts are arranged at intervals in the circumferential direction of the first-level sensing part, and a second-level sensing surface is formed on the outer surface, away from the central axis, of each second-level sensing part; wherein the lengths of any two secondary sensing surfaces in the circumferential direction of the primary sensing part are different. According to the zero-returning identification structure, due to the fact that the first-stage induction face and the multiple second-stage induction faces are integrated, the mechanical arm body can complete zero-returning adjustment in the axial direction and the circumferential direction, the zero-returning identification structure is simplified, meanwhile, multiple detection units do not need to be correspondingly arranged, the production cost is effectively reduced, and the overall structure of the yarn feeding mechanical arm is simplified.

Description

Technical Field

[0001] The present application relates to the field of textile technology, and in particular to a return-to-zero recognition structure, a yarn-throwing robotic arm and a return-to-zero control method, and a yarn-throwing robot. Background Art

[0002] Existing equipment in the textile industry is gradually being automated, replacing repetitive and tedious tasks with intelligent devices. This has significantly improved production efficiency while reducing costs. Yarn-feeding robots, a key textile machinery product, can automatically retrieve bobbins, extract thread ends, and deposit yarn into the yarn storage, offering higher efficiency than manual operations.

[0003] Existing yarn-throwing robots typically feature a robotic arm for throwing the yarn. This arm can move in multiple directions to move the bobbin to different positions. Therefore, the arm also incorporates a zero-return recognition mechanism to automatically return to zero after, for example, a collision. However, achieving zero-return control at different positions requires complex zero-return adjustment, requiring multiple sensors to determine the arm's operating status. This increases the arm's production cost and complicates zero-return adjustment. Summary of the Invention

[0004] Based on this, it is necessary to provide a zero return recognition structure, a yarn throwing robot arm and a zero return control method, and a yarn throwing robot to address the problem of complex zero return adjustment of the robot arm.

[0005] A zero return recognition structure is installed on a yarn throwing robot arm, and the zero return recognition structure includes:

[0006] a primary sensing portion having a central axis, wherein an outer edge of the primary sensing portion forms a primary sensing surface circumferentially surrounding the central axis; and

[0007] A plurality of secondary sensing portions are connected to one side of the primary sensing portion in the axial direction, all of the secondary sensing portions are arranged at intervals along the circumference of the primary sensing portion, and an outer surface of each secondary sensing portion away from the central axis forms a secondary sensing surface;

[0008] Wherein, the lengths of any two secondary sensing surfaces in the circumferential direction of the primary sensing portion are different.

[0009] In one embodiment, the primary sensing surface is a cylindrical surface surrounding the central axis, the secondary sensing surface is an arc surface surrounding the central axis, and the radius of the secondary sensing surface is the same as that of the primary sensing surface.

[0010] In one embodiment, the central angles of all the secondary sensing surfaces are less than 90°.

[0011] In one embodiment, the secondary sensing surface includes a first sensing surface, a second sensing surface, and a third sensing surface, and the first sensing surface, the second sensing surface, and the third sensing surface are sequentially spaced apart along the circumference of the primary sensing portion.

[0012] In one embodiment, the central angle of the first sensing surface is 30°, the central angle of the second sensing surface is 60°, and the central angle of the third sensing surface is 90°.

[0013] In one embodiment, an angle formed by an edge of the first sensing surface close to the second sensing surface and an edge of the second sensing surface close to the first sensing surface is 30°;

[0014] An angle formed by an edge of the second sensing surface close to the third sensing surface and an edge of the third sensing surface close to the second sensing surface is 60°;

[0015] An angle formed by an edge of the third sensing surface close to the first sensing surface and an edge of the first sensing surface close to the third sensing surface is 90°.

[0016] A yarn throwing robot arm includes the above-mentioned zero return recognition structure, and the yarn throwing robot arm also includes:

[0017] Mounting seat;

[0018] A robot arm body is mounted on the mounting seat, the robot arm body can be controlled to rotate around the central axis and move along the extension direction of the central axis, and the zero return recognition structure is mounted on the robot arm body;

[0019] A clamping device, mounted on an axial end of the robotic arm body;

[0020] a detection unit, mounted on the mounting base, for detecting the primary sensing surface and the secondary sensing surface; and

[0021] A control unit is communicatively connected to the detection unit and is used to control the motion state of the robotic arm body according to the detection result of the detection unit.

[0022] A zero return control method for the yarn throwing robot arm comprises the following steps:

[0023] Controlling the main body of the robotic arm to drive the zero return identification structure to move along the extension direction of the central axis to approach the detection unit;

[0024] When the primary sensing surface of the return-to-zero recognition structure triggers the detection unit, the robot arm body is controlled to move a preset distance along the extension direction of the central axis, so that the return-to-zero recognition structure moves to the zero position in the axial direction;

[0025] When the return-to-zero recognition structure moves to the zero position in the axial direction, controlling the robot arm body to drive the return-to-zero recognition structure to rotate around the central axis relative to the detection unit;

[0026] During the rotation of the robot arm body around the central axis, identifying the secondary sensing surface that has completely passed through the detection unit for the first time, and obtaining the real-time angle of the robot arm body;

[0027] According to the real-time angle, the robot arm body is controlled to rotate around the central axis to a zero angle.

[0028] In one embodiment, the step of identifying the secondary sensing surface that has completely passed through the detection unit for the first time includes:

[0029] Obtaining the actual time duration for all secondary sensing surfaces to pass through the detection unit for the first time;

[0030] Comparing the actual duration with the preset duration;

[0031] A secondary sensing surface corresponding to the preset duration whose difference from the actual duration is zero is obtained.

[0032] A yarn throwing robot comprises the above-mentioned yarn throwing mechanical arm.

[0033] The above-mentioned return to zero identification structure integrates a primary sensing surface and multiple secondary sensing surfaces, so that the robot arm body can complete the return to zero adjustment in both the axial and circumferential directions. Therefore, while simplifying the return to zero identification structure, there is no need to set up multiple detection units accordingly, thereby effectively reducing production costs and simplifying the overall structure of the yarn throwing robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 Schematic diagram of the structure of a yarn throwing robot arm according to an embodiment of the present application.

[0037] Figure 2 for Figure 1The schematic diagram of the structure of the zero return recognition structure of the yarn throwing robot arm is shown.

[0038] Figure 3 for Figure 2 The front view of the zero return recognition structure is shown.

[0039] Figure 4 for Figure 2 Angle diagram of the return to zero recognition structure shown.

[0040] Figure 5 Flowchart of a zero return control method for a yarn throwing robot arm according to an embodiment of the present application.

[0041] Description of reference numerals:

[0042] 100. Yarn throwing robot arm; 120. Mounting seat; 140. Robot arm body; 160. Clamping device; 180. Zero return recognition structure; 181. Primary sensing part; 1812. Primary sensing surface; 183. Secondary sensing part; 1832. Secondary sensing surface; 1832a. First sensing surface; 1832b. Second sensing surface; 1832c. Third sensing surface; 190. Detection unit. DETAILED DESCRIPTION

[0043] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0044] In the description of this application, it should be understood that if 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", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does 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 therefore cannot be understood as a limitation on this application.

[0045] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0046] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0047] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this 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 intermediate medium. Furthermore, when a first feature is described as being "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 described as being "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.

[0048] It should be noted that if 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. If 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. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0049] See Figure 1 An embodiment of the present application provides a yarn throwing robot, including a loading device, a large and small end recognition device, a yarn throwing robot arm 100 and other structures. The loading device is used to transport the bobbin yarn, the large and small end recognition device is used to identify the large and small ends of the bobbin yarn so that it can be dropped in an orderly manner, and the yarn throwing robot arm 100 is used to grab and throw the bobbin yarn.

[0050] The yarn throwing robot 100 includes a mounting base 120, a robot body 140, a clamping device 160, and a control unit (not shown). The mounting base 120 is used to fix and support the robot. The robot body 140 is mounted on the mounting base 120. The robot body 140 has a vertically extending central axis. The robot body 140 can rotate around the central axis in a controlled manner and move along the extension direction of the central axis. The clamping device 160 is mounted on an axial end of the robot body 140. The clamping device 160 is used to clamp the bobbin and can move synchronously with the robot body 140. The control unit is mounted on the mounting base 120 or other locations of the yarn throwing robot. The control unit is used to control the working status of the robot body 140 and the clamping device 160.

[0051] Please combine Figure 1 、 Figure 2 As shown, in order to automatically return the yarn throwing robot arm 100 to its zero position and zero angle in the event of an impact or when adjustment is required, the yarn throwing robot arm 100 of the present application further includes a return-to-zero recognition structure 180 and a detection unit 190. In the following embodiments, the zero position is the zero position in the vertical direction (i.e., in the direction of the central axis of the robot arm body 140), and the zero angle is the zero angle about the central axis of the robot arm body 140.

[0052] The zero return recognition structure 180 is installed at one end of the robot body 140 and located on one side of the clamping device 160. The zero return recognition structure 180 has a primary sensing surface 1812 for achieving position zero return and a secondary sensing surface 1832 for achieving angle zero return.

[0053] The detection unit 190 is fixedly mounted on the mounting base 120 and is located on one radial side of the robot body 140. The detection unit 190 is used to detect the primary sensing surface 1812 and the secondary sensing surface 1832 of the return-to-zero recognition structure 180. The control unit is in communication with the detection unit 190 and is used to control the motion state of the robot body 140 based on the detection results of the detection unit 190.

[0054] Specifically, the return-to-zero recognition structure 180 is formed of a metal material, and the detection unit 190 is a metal proximity sensor. When the distance between the detection unit 190 and the primary sensing surface 1812 or the secondary sensing surface 1832 is less than a preset distance, the detection unit 190 is triggered by the primary sensing surface 1812 or the secondary sensing surface 1832, and the detection unit 190 outputs a high-level signal to the control unit. When the distance between the detection unit 190 and both the primary sensing surface 1812 and the secondary sensing surface 1832 is greater than the preset distance, the detection unit 190 cannot detect the primary sensing surface 1812 or the secondary sensing surface 1832, and thus outputs a low-level signal to the control unit.

[0055] Please combine Figures 2 to 3As shown, in some embodiments, the return-to-zero recognition structure 180 includes a primary sensing portion 181 and a plurality of secondary sensing portions 183 .

[0056] Specifically, the first-level sensing part 181 has a central axis, and the central axis of the first-level sensing part 181 coincides with the central axis of the robotic arm body 140 . The outer edge of the first-level sensing part 181 away from the central axis forms a first-level sensing surface 1812 circumferentially surrounding the central axis.

[0057] All secondary sensing portions 183 are connected to one side of the primary sensing portion 181 in the axial direction, and are spaced apart along the circumference of the primary sensing portion 181. The outer surface of each secondary sensing portion 183, away from the central axis, forms a secondary sensing surface 1832. Any two secondary sensing surfaces 1832 have different lengths along the circumference of the primary sensing portion 181.

[0058] When the return-to-zero recognition structure 180 moves along the extension direction of the central axis under the drive of the robot arm body 140, the return-to-zero recognition structure 180 can be positioned axially by identifying the primary sensing surface 1812, thereby enabling axial return-to-zero adjustment. When the return-to-zero recognition structure 180 rotates around the central axis under the drive of the robot arm body 140, the actual circumferential angle of the return-to-zero recognition structure 180 can be determined by identifying the secondary sensing surface 1832 of varying lengths, thereby enabling circumferential return-to-zero adjustment.

[0059] Since the return-to-zero identification structure 180 integrates the primary sensing surface 1812 and multiple secondary sensing surfaces 1832, the robot arm body 140 can complete the return-to-zero adjustment in both the axial and circumferential directions. Therefore, while simplifying the return-to-zero identification structure 180, there is no need to set up multiple detection units 190 accordingly, thereby effectively reducing production costs and simplifying the overall structure of the yarn throwing robot arm 100.

[0060] Please continue reading Figure 2 、 Figure 3 The primary sensing portion 181 has a hollow annular structure. The primary sensing surface 1812 is formed on the outer circumference of the primary sensing portion 181 and is a cylindrical surface surrounding the central axis. Multiple secondary sensing portions 183 are arranged at intervals along the edge of the primary sensing portion 181. Each secondary sensing portion 183 has an arc-shaped structure. The outer circumference of each secondary sensing portion 183 forms a secondary sensing surface 1832, which is an arc surface surrounding the central axis. The radius of the secondary sensing surface 1832 is the same as that of the primary sensing surface 1812.

[0061] As a preferred embodiment, the central angles of all secondary sensing surfaces 1832 are less than 90°, thereby preventing the zero return identification structure 180 from rotating at too large an angle, causing the pipeline connected to the yarn throwing robot arm 100 to get stuck or even damaged during the rotation of the zero return identification structure 180.

[0062] Specifically in one embodiment, please combine Figure 3 、 Figure 4 As shown, the secondary sensing surface 1832 includes a first sensing surface 1832a, a second sensing surface 1832b and a third sensing surface 1832c. The first sensing surface 1832a, the second sensing surface 1832b and the third sensing surface 1832c are arranged in sequence along the circumference of the primary sensing surface 1812. The central angle α1 of the first sensing surface 1832a is 30°, the central angle α2 of the second sensing surface 1832b is 60°, and the central angle α3 of the third sensing surface 1832c is 90°.

[0063] Furthermore, the angle β1 formed by the side edge of the first sensing surface 1832a close to the second sensing surface 1832b and the side edge of the second sensing surface 1832b close to the first sensing surface 1832a is 30°, the angle β2 formed by the side edge of the second sensing surface 1832b close to the third sensing surface 1832c and the side edge of the third sensing surface 1832c close to the second sensing surface 1832b is 60°, and the angle β3 formed by the side edge of the third sensing surface 1832c close to the first sensing surface 1832a and the side edge of the first sensing surface 1832a close to the third sensing surface 1832c is 90°.

[0064] It can be understood that the number of secondary sensing surfaces 1832 and the value of the central angle of each secondary sensing surface 1832 are not limited thereto. In other embodiments, they can be set as needed to meet different recognition requirements.

[0065] like Figure 5 As shown, the present application also provides a zero return control method for the yarn throwing robot arm 100, which is used to return the yarn throwing robot arm 100 to the zero position in the axial direction and to the zero angle in the circumferential direction. The zero return control method specifically includes the following steps:

[0066] Step S110: controlling the robot arm body to move relative to the detection unit along the extension direction of the central axis.

[0067] Specifically, when the automatic return to zero procedure is started, the control unit controls the robot arm body 140 to slowly rise along the extension direction of its own central axis.

[0068] Step S120: When the primary sensing surface triggers the detection unit, the robot arm body is controlled to move a preset distance along the extension direction of the central axis, so that the zero return recognition structure moves to the zero position in the axial direction.

[0069] Specifically, when the first-level sensing surface 1812 moves to one side of the detection unit 190, the distance between the detection unit 190 and the first-level sensing surface 1812 is less than the preset distance, and the first-level sensing surface 1812 triggers the detection unit 190 to generate a high-level signal, indicating that the detection unit 190 is aligned with the edge of the first-level sensing surface 1812 away from the second-level sensing surface 1832. Therefore, the control unit controls the robotic arm body 140 to continue moving the preset distance along the extension direction of the central axis so that the detection unit 190 is located on the radial side of the second-level sensing surface 1832 and reaches the zero position in the axial direction.

[0070] Step S130: After the zero return identification structure moves to the zero position in the axial direction, the robot arm body is controlled to rotate around the central axis relative to the detection unit.

[0071] Specifically, after the return-to-zero recognition structure 180 moves axially to the zero position, the detection unit 190 is located on one side of the secondary sensing surface 1832, and the control unit controls the robot arm body 140 to rotate about the central axis relative to the detection unit 190. Because different secondary sensing surfaces 1832 have different circumferential lengths, the detection unit 190 can identify different secondary sensing surfaces 1832 and determine the real-time angle of the robot arm body 140.

[0072] Step S140: During the rotation of the robot arm body around the central axis, the secondary sensing surface that completely passes through the detection unit for the first time is identified to obtain the real-time angle of the robot arm body.

[0073] Specifically, during the rotation of the robot arm body 140 about the central axis, because different secondary sensing surfaces 1832 have different circumferential lengths, the detection unit 190 can obtain the real-time angle of the robot arm body 140 by identifying the secondary sensing surface 1832 that first completely passes through the detection unit 190. A secondary sensing surface 1832 that completely passes through the detection unit 190 means that the secondary sensing surface 1832 continuously passes through the detection unit 190 from one side to the other in the circumferential direction, causing the detection unit 190 to maintain a high-level signal output during this process.

[0074] Step S150: According to the real-time angle, the robot arm body is controlled to rotate around the rotation axis to a zero angle.

[0075] Specifically, based on the real-time angle of the robot body 140 , the control unit can calculate the angle difference between the robot body 140 and the zero angle, and then control the robot body 140 to rotate around the rotation axis by a certain angle until the zero angle is reached.

[0076] In some embodiments, the step of identifying the secondary sensing surface that has completely passed through the detection unit for the first time includes:

[0077] S141: Obtaining the actual time duration of the secondary sensing surface that completely passes through the detection unit for the first time.

[0078] Specifically, when the detection unit 190 switches from not detecting the secondary sensing surface 1832 to detecting the secondary sensing surface 1832 for the first time, the signal output by the detection unit 190 switches from a low-level signal to a high-level signal. After all the secondary sensing surfaces 1832 have passed through the detection unit 190, the signal output by the detection unit 190 switches from a high-level signal to a low-level signal, and the control unit can calculate the duration between the two switching times.

[0079] Specifically, in one embodiment, after the return-to-zero recognition structure 180 moves axially to the zero position, the detection unit 190 may align with the first sensing surface 1832a and maintain an output high-level signal. After the return-to-zero recognition structure 180 rotates a certain angle, the detection unit 190 moves away from the first sensing surface 1832a and outputs a low-level signal. As the return-to-zero recognition structure 180 continues to rotate a certain angle, the signal output by the detection unit 190 switches from a low-level signal to a high-level signal, indicating that the detection unit 190 is aligned with the second sensing surface 1832b. As the return-to-zero recognition structure 180 continues to rotate a certain angle, the signal output by the detection unit 190 switches from a high-level signal to a low-level signal, indicating that the entire second sensing surface 1832b has passed through the detection unit 190. Based on the time intervals of the two signal switching times, the control unit can determine the duration of time that the entire second sensing surface 1832b has passed through the detection unit 190.

[0080] In another embodiment, after the return-to-zero recognition structure 180 moves axially to the zero position, the detection unit 190 aligns between the first sensing surface 1832a and the second sensing surface 1832b and outputs a low-level signal. As the return-to-zero recognition structure 180 continues to rotate a certain angle, the signal output by the detection unit 190 switches from a low-level signal to a high-level signal, indicating that the detection unit 190 is aligned with a side edge of the second sensing surface 1832b. As the return-to-zero recognition structure 180 continues to rotate a certain angle, the signal output by the detection unit 190 switches from a high-level signal to a low-level signal, indicating that the entire second sensing surface 1832b has passed through the detection unit 190. The control unit can determine the duration of time that the entire second sensing surface 1832b has passed through the detection unit 190 based on the time between the two signal switching times.

[0081] S142: Compare the actual duration with the preset duration.

[0082] Specifically, the control unit may compare the actual duration with the preset duration for each secondary sensing surface 1832 to completely pass through the detection unit 190 .

[0083] S143: Obtain a secondary sensing surface corresponding to a preset duration whose difference from the actual duration is zero.

[0084] When the control unit determines that the actual duration is equal to the preset duration of a certain secondary sensing surface 1832 , the secondary sensing surface 1832 that completely passes through the detection unit 190 for the first time can be obtained.

[0085] The above-mentioned return-to-zero identification structure 180, yarn throwing robot arm 100, return-to-zero control method, and yarn throwing robot, through the cooperation of the return-to-zero identification structure 180 and the detection unit 190, only need to set up one detection unit 190 to realize return-to-zero control in the axial direction and the circumferential direction, thereby simplifying the structure and control process of the yarn throwing robot arm 100.

[0086] 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.

[0087] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A zero return recognition structure, installed on a yarn throwing robot arm, characterized in that: The return-to-zero recognition structure includes: a primary sensing portion having a central axis, wherein an outer edge of the primary sensing portion forms a primary sensing surface circumferentially surrounding the central axis; and A plurality of secondary sensing portions are connected to one side of the primary sensing portion in the axial direction, all of the secondary sensing portions are arranged at intervals along the circumference of the primary sensing portion, and an outer surface of each secondary sensing portion away from the central axis forms a secondary sensing surface; Wherein, the lengths of any two secondary sensing surfaces in the circumferential direction of the primary sensing portion are different.

2. The zero return recognition structure according to claim 1, characterized in that: The primary sensing surface is a cylindrical surface surrounding the central axis, the secondary sensing surface is an arc surface surrounding the central axis, and the radius of the secondary sensing surface is the same as that of the primary sensing surface.

3. The zero return recognition structure according to claim 2, characterized in that: The central angles of all the secondary sensing surfaces are less than 90°.

4. The zero return recognition structure according to claim 2, characterized in that: The secondary sensing surface includes a first sensing surface, a second sensing surface, and a third sensing surface. The first sensing surface, the second sensing surface, and the third sensing surface are sequentially spaced apart along the circumference of the primary sensing portion.

5. The zero return recognition structure according to claim 4, characterized in that: The central angle of the first sensing surface is 30°, the central angle of the second sensing surface is 60°, and the central angle of the third sensing surface is 90°.

6. The zero return recognition structure according to claim 5, characterized in that: An angle formed by an edge of the first sensing surface close to the second sensing surface and an edge of the second sensing surface close to the first sensing surface is 30°; An angle formed by an edge of the second sensing surface close to the third sensing surface and an edge of the third sensing surface close to the second sensing surface is 60°; An angle formed by an edge of the third sensing surface close to the first sensing surface and an edge of the first sensing surface close to the third sensing surface is 90°.

7. A yarn throwing robot arm, characterized in that: The yarn throwing robot arm comprises the zero return recognition structure according to any one of claims 1 to 6, and further comprises: Mounting seat; A robot arm body is mounted on the mounting seat, the robot arm body can be controlled to rotate around the central axis and move along the extension direction of the central axis, and the zero return recognition structure is mounted on the robot arm body; A clamping device, mounted on an axial end of the robotic arm body; a detection unit, mounted on the mounting base, the detection unit being used to detect the primary sensing surface and the secondary sensing surface; and A control unit is communicatively connected to the detection unit and is used to control the motion state of the robotic arm body according to the detection result of the detection unit.

8. A zero return control method for a yarn throwing robot arm according to claim 7, characterized in that: The following steps are involved: Controlling the main body of the robotic arm to drive the zero return identification structure to move along the extension direction of the central axis to approach the detection unit; When the primary sensing surface of the return-to-zero recognition structure triggers the detection unit, the robot arm body is controlled to move a preset distance along the extension direction of the central axis, so that the return-to-zero recognition structure moves to the zero position in the axial direction; When the return-to-zero recognition structure moves to the zero position in the axial direction, controlling the robot arm body to drive the return-to-zero recognition structure to rotate around the central axis relative to the detection unit; During the rotation of the robot arm body around the central axis, identifying the secondary sensing surface that has completely passed through the detection unit for the first time, and obtaining the real-time angle of the robot arm body; According to the real-time angle, the robot arm body is controlled to rotate around the central axis to a zero angle.

9. The return-to-zero control method according to claim 8, characterized in that: The step of identifying the secondary sensing surface that has completely passed through the detection unit for the first time includes: Obtaining the actual time duration for all secondary sensing surfaces to pass through the detection unit for the first time; Comparing the actual duration with the preset duration; A secondary sensing surface corresponding to the preset duration whose difference from the actual duration is zero is obtained.

10. A yarn throwing robot, characterized in that: It comprises the yarn throwing robot arm as described in claim 7.

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