Intelligent batch pipe borrowing method for yarn changing of doffing trolley

Abstract

The invention provides an intelligent batched bobbin borrowing method for yarn change of a doffing trolley. The intelligent batched bobbin borrowing method is characterized in that a state queue module, an intelligent bobbin borrowing module, an action control module, a fault alarm module, an upper computer module and a multi-variety batching module are included; the intelligent batch borrowing and management method comprises the following steps: completing doffing priority arrangement of trolleys by a state queue module; the intelligent borrowing and management module completes a current working condition borrowing and management mode decision; the action control module is used for finishing a series of yarn changing actions such as tube separation, tube grabbing, support arm lifting and tube releasing; the fault alarm module is used for alarming and displaying when a fault occurs; the upper computer module completes setting of intelligent batch borrowing and management parameters; and the multi-variety batching module is used for completing the intelligent batch borrowing and management logic decision of the doffing trolley. Equipment cost is not increased, a single doffing trolley is adopted, the intelligent bobbin borrowing function of a single-variety automatic bobbin winder is achieved, meanwhile, intelligent batched bobbin borrowing of multiple-variety automatic bobbins is compatible, and the intelligent level of the automatic bobbin winder is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of textile machinery manufacturing, and relates to technical improvement of a bobbin car on a winder, in particular to a yarn changing intelligent batch borrowing method of a bobbin car. BACKGROUND

[0002] The bobbin car is an intelligent mechanism in an automatic winder that completes full bobbin falling, yarn changing and other intelligent control, which effectively improves the production efficiency and stability of the automatic winder and reduces the labor intensity.

[0003] Yarn changing refers to the function of placing an empty bobbin between the single spindle support arms by the bobbin car according to the multi-sensor signal and the cylinder joint action, which completes the initial winding single spindle or the full bobbin falling single spindle. The Chinese patent "A bobbin car head device and a head method original bobbin car" (authorized publication number: CN108439072B), "A bobbin car pipe device and a pipe method" (authorized publication number: CN111410093B) and "Automatic bobbin car" (authorized publication number: CN102491126B) have these patent technologies in the use process, such as when the empty bobbin in the storage pipe is not detected, the single spindle is skipped until the manual pipe is completed. When the manual pipe is not timely, it will affect the production efficiency of the automatic winder. The bobbin library can solve the problem of manual pipe not in time, but will increase the cost. At the same time, with the market popularization of multi-variety automatic winder, such as: "A tray conveying device and conveying method of a double-variety automatic winder" (authorized publication number: CN112938647B) and "A tray conveying device and conveying method of a multi-variety automatic winder" (authorized publication number: CN113148768B), the intelligent upgrading of the multi-variety yarn changing of the bobbin car is also a challenge. Therefore, the current technical problems in the field are mainly as follows: For production efficiency, the original bobbin car skips the single spindle when the empty bobbin in the storage pipe is not detected, until the manual pipe is completed. When the manual pipe is not timely, it will affect the production efficiency of the automatic winder; For manufacturing cost, the bobbin library can solve the problem of manual pipe not in time, but will increase the cost; and when the multi-variety automatic winder is spinning, such as equipped with multiple bobbin cars, it will also increase the cost; For functional upgrading, the single-variety borrowing function designed for multi-variety automatic winder upgrading requires that the empty bobbin of different varieties cannot be borrowed incorrectly when the bobbin car is designed to borrow the function, so the intelligent upgrading of multi-variety yarn changing is a challenge.

[0004] How to provide a yarn changing intelligent batch borrowing method of a doffer trolley, solve the problem of yarn changing efficiency decline caused by manual pipe supplement of an automatic winder storage robot not in time, and not increase equipment cost, adopt a single doffer trolley, not only realize the intelligent borrowing function of a single variety automatic winder, but also compatible with the intelligent batch borrowing of a multi-variety automatic winder, effectively improve the intelligent level of the automatic winder. This is the problem that needs to be solved in the technical field at present. SUMMARY

[0005] The present application provides a yarn changing intelligent batch borrowing method of a doffer trolley to solve the problems and deficiencies of the prior art, solve the problem of yarn changing efficiency decline caused by manual pipe supplement of an automatic winder storage robot not in time, and not increase equipment cost, adopt a single doffer trolley, not only realize the intelligent borrowing function of a single variety automatic winder, but also compatible with the intelligent batch borrowing of a multi-variety automatic winder, effectively improve the intelligent level of the automatic winder.

[0006] The purpose of the present application is realized by the following technical solutions: A yarn changing intelligent batch borrowing method of a doffer trolley, characterized in that it comprises a state queue module, an intelligent borrowing module, an action control module, a fault alarm module, an upper computer module and a multi-variety batch module; the state queue module is used for doffer trolley priority arrangement; the intelligent borrowing module is used for current working condition borrowing mode decision; the action control module is used for a series of yarn changing actions such as pipe distribution, pipe grabbing, arm lifting and pipe placing; the fault alarm module is used for fault alarm and display; the upper computer module is used for intelligent batch borrowing parameter setting; and the multi-variety batch module is used for intelligent batch borrowing logic decision of the doffer trolley. The intelligent batch borrowing method comprises the following steps: the state queue module completes doffer trolley priority arrangement; the intelligent borrowing module completes current working condition borrowing mode decision; the action control module completes a series of yarn changing actions such as pipe distribution, pipe grabbing, arm lifting and pipe placing; the fault alarm module alarms and displays when a fault occurs; the upper computer module completes intelligent batch borrowing parameter setting; and the multi-variety batch module completes intelligent batch borrowing logic decision of the doffer trolley.

[0007] Further improvement of the above technical solution: the state queue module is composed of state queue register I, state queue register II, state queue register III, state queue register IV and state queue register V, each state queue register is composed of a word register, and the data type is "0" or "1"; The state queue module comprises a full pipe queue unit, an empty pipe queue unit, a waiting position queue unit and an un-dofferable pipe queue unit. ① full tube queue unit: store the information of the full tube single spindle of the current automatic tube falling machine, "1" represents that the single spindle is full, and "0" represents that the single spindle is not full; ② empty tube queue unit: store the information of the empty tube of the single spindle tube accumulator of the current automatic tube falling machine, "1" represents that the single spindle tube accumulator has an empty tube, and "0" represents that the single spindle tube accumulator has no empty tube; ③ waiting position queue unit: store the information of the full tube yarn stored in the waiting position of the current automatic tube falling machine, "0" represents that the single spindle waiting position has full tube yarn, and "1" represents that the single spindle waiting position has no full tube yarn; ④ non-falling tube queue unit: store the information of the non-falling tube single spindle of the current automatic tube falling machine, "1" represents that the single spindle is not falling, and "0" represents that the single spindle is falling.

[0008] The state queue module performs the following falling tube priority judgment principles: ① case one: the full tube queue register is "1", the empty tube queue register is "1", the waiting position queue register is "1", and the non-falling tube queue is "0"; ② case two: the full tube queue register is "1", the empty tube queue register is "0", the waiting position queue register is "1", and the non-falling tube queue is "0"; ③ case three: the full tube queue register is "1", the waiting position queue register is "0", and the non-falling tube queue is "0"; ④ case four: the full tube queue register is "0", and the empty tube queue register is "1"; ⑤ case five: the full tube queue register is "0", and the empty tube queue register is "0"; ⑥ case six: the non-falling tube queue is "1"; ⑦ in the falling tube priority, case one is better than case two, and case two is better than case three; ⑧ the closer the target single spindle is to the current single spindle in the same case, the higher the priority; ⑨ case four, case five, and case six are other states, and have no priority.

[0009] Further improvement of the above technical solution: the intelligent tube borrowing module corresponds to the following tube borrowing mode according to the falling tube priority judgment decision: ① for case one single spindle, the tube falling car does not need to borrow a tube, and directly performs a yarn changing action, after the action is completed, the empty tube queue register is "1", the single spindle is updated to case four, and the empty tube queue register is "1", the single spindle is updated to case five; ② for case two single spindle, the tube falling car needs to borrow a tube, searches the empty tube queue, searches the closest case four single spindle, and performs a tube borrowing action, after the tube borrowing is completed, it returns to the original single spindle to perform a yarn changing action, after the action is completed, the empty tube queue register is "1", the single spindle is updated to case four, and the empty tube queue register is "1", the single spindle is updated to case five; ③For the single spindle of working condition three, the doffer car reaches the single spindle to make a second judgment. If the case is true, the state of the single spindle is changed to working condition six. If the case is not true, the doffer car refreshes the state; ④For the single spindle of working condition four, the doffer car refreshes the state; ⑤For the single spindle of working condition five, the doffer car refreshes the state; ⑥For the single spindle of working condition six, the doffer car will not access the single spindle for at least one minute after the state is set to "1".

[0010] Further improvement of the above technical solution: the doffer car comprises a grabbing arm mechanism, a grabbing hand mechanism, a tube separating mechanism and a tube storage device, position sensors are arranged on the grabbing arm mechanism, the grabbing hand mechanism and the tube separating mechanism, and the control method of the action control module is as follows: The doffer car walks from the target single spindle to the single spindle of working condition four, the tube separating mechanism separates the empty tube in the tube storage device, the grabbing arm mechanism moves the grabbing hand mechanism to the position of the empty tube, and the empty tube is grabbed; After the grabbing arm mechanism drives the grabbing hand mechanism, the tube separating mechanism returns to the original position, and the doffer car walks from the single spindle of working condition four to the target single spindle; The doffer car meets the doffing requirement through the judgment condition and enters the doffing cycle.

[0011] Further improvement of the above technical solution: the fault alarm module completes the alarm and display of the occurred faults, including action alarm, walking alarm, communication alarm and alarm display of the occurred faults; ①The action alarm includes action alarm of the grabbing arm mechanism, the grabbing hand mechanism and the tube separating mechanism. When there is no signal of the corresponding position sensor, i.e. the corresponding position is not reached within the specified time, it is judged that the action is abnormal and an alarm is given.

[0012] ②The walking alarm includes walking resistance, single spindle positioning failure and single spindle code reading error alarm.

[0013] ③The communication alarm refers to the alarm when the communication with the upper computer module is abnormal.

[0014] Further improvement of the above technical solution: the intelligent batch tube borrowing parameters are set on the interface of the upper computer module, and the upper computer module works as follows: ①When the tube borrowing is "on", the intelligent tube borrowing function is started, and the intelligent tube borrowing interval interface appears. The intelligent tube borrowing interval interface includes the starting single spindle number and the terminal single spindle number of the corresponding group. When the tube borrowing is "off", the intelligent tube borrowing function is not started, and the intelligent tube borrowing interval interface does not appear; ②After the appearance of the intelligent borrowing interval interface, grouping is carried out, when the interval between the starting single spool and the terminal single spool is equal to the number of single spools of the whole machine, it is indicated that it is single variety intelligent borrowing, then the intelligent batch borrowing interval interface does not appear, the intelligent batch borrowing interval interface contains the starting single spool number and the terminal single spool number corresponding to the grouping; when the interval between the starting single spool and the terminal single spool is less than the number of single spools of the whole machine, it is indicated that it is multi-variety batch intelligent borrowing, then the intelligent batch borrowing interval interface appears; ③The number of single spools is set to be mutually restricted, the starting single spool number must be greater than or equal to 1 and less than the terminal single spool number, the terminal single spool number must be less than or equal to the total number of single spools and greater than the starting single spool number; the partition of the first group is less than that of the second group, and so on; the total interval of all groups is the number of single spools of the whole machine.

[0015] Further improvement of the above technical solution: the multi-variety batch module makes decisions according to the batch logic and the parameters set by the upper computer module, groups the state queue module according to the parameters set by the upper computer module and demarcates the interval range, and shields the registers outside the interval of the current group, that is, all the shielding zones are changed to the working condition six state, at this time, when the working condition two borrows, it cannot retrieve the working condition four single spool of other groups in the original logic of the intelligent borrowing module, and the multi-variety batch borrowing function of the new type of doffing trolley yarn changing intelligent batch borrowing method is realized in turn.

[0016] The advantages and positive effects of the present application compared with the prior art are: 1. For production efficiency, when the empty tube yarn in the storage tube is not timely supplemented by manual, the new type of doffing trolley yarn changing intelligent batch borrowing method can select the optimal strategy to borrow from the nearby storage tube according to the current working condition, thereby ensuring the production efficiency. 2. For manufacturing cost, the new type of doffing trolley yarn changing intelligent batch borrowing method still uses a single doffing trolley, and all functions are upgraded through the method, effectively controlling the manufacturing cost. 3. For function upgrade, the new type of doffing trolley yarn changing intelligent batch borrowing method still uses a single doffing trolley, which not only realizes the intelligent borrowing function of single variety automatic winder, but also is compatible with the intelligent batch borrowing of multi-variety automatic winder, effectively improving the intelligent level of the automatic winder. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structure diagram of the state queue register in the doffing trolley yarn changing intelligent batch borrowing method of the present application; Figure 2 It is a structure diagram of the state queue in the doffing trolley yarn changing intelligent batch borrowing method of the present application; Figure 3 It is a flow chart of the intelligent borrowing module in the doffing trolley yarn changing intelligent batch borrowing method of the present application; Figure 4 It is the action process schematic view of the action control module in the yarn changing intelligent batch borrowing method of the drum car; Figure 5 It is the structure schematic view of the fault alarm module in the yarn changing intelligent batch borrowing method of the drum car; Figure 6 It is the structure schematic view of the host computer module in the yarn changing intelligent batch borrowing method of the drum car.

[0018] In the figure, 1, arm mechanism; 2, grabbing mechanism; 3, pipe distribution mechanism; 4, pipe storage device; 5, empty drum; 6, intelligent pipe borrowing interval interface; 7, intelligent batch borrowing interval interface. DETAILED DESCRIPTION

[0019] The application will be further described in detail below in combination with the drawings: Reference Figures 1-6 , the embodiment of the yarn changing intelligent batch borrowing method of the drum car, including state queue module, intelligent pipe borrowing module, action control module, fault alarm module, host computer module, multi-variety batch module; the state queue module: for car drum priority arrangement; the intelligent pipe borrowing module: for current working condition borrowing mode decision; the action control module: for a series of yarn changing actions such as pipe distribution, pipe grabbing, arm lifting and pipe placing; the fault alarm module is used for alarm and display of the occurred fault; the host computer module: for the setting of intelligent batch borrowing parameters; the multi-variety batch module: for the intelligent batch borrowing logic decision of the drum car; The intelligent batch borrowing method includes the following steps: the car drum priority arrangement is completed by the state queue module; the current working condition borrowing mode decision is completed by the intelligent pipe borrowing module; a series of yarn changing actions such as pipe distribution, pipe grabbing, arm lifting and pipe placing are completed by the action control module; the alarm and display when the fault occurs are completed by the fault alarm module; the setting of intelligent batch borrowing parameters is completed by the host computer module; the intelligent batch borrowing logic decision of the drum car is completed by the multi-variety batch module.

[0020] Further, the above-mentioned state queue module is composed of state queue register I, state queue register II, state queue register III, state queue register IV and state queue register V, each state queue register is composed of a word register, and at most 15 single-in state queue data are stored, and the data type is "0" or "1"; The above-mentioned state queue module includes full-drum queue unit, empty pipe queue unit, waiting bit queue unit and un-fallable drum queue unit; ① full tube queue unit: store the information of the full tube single spindle of the current automatic tube falling machine, "1" represents that the single spindle is full, and "0" represents that the single spindle is not full; ② empty tube queue unit: store the information of the empty tube of the single spindle tube accumulator of the current automatic tube falling machine, "1" represents that there is an empty tube in the single spindle tube accumulator, and "0" represents that there is no empty tube in the single spindle tube accumulator; ③ waiting position queue unit: store the information of the full tube yarn stored in the waiting position of the current automatic tube falling machine, "0" represents that there is full tube yarn in the single spindle waiting position, and "1" represents that there is no full tube yarn in the single spindle waiting position; ④ non-falling tube queue unit: store the information of the non-falling tube single spindle of the current automatic tube falling machine, "1" represents that the single spindle is not falling, and "0" represents that the single spindle is falling; The state queue module performs the following falling tube priority judgment principles: ① case one: the full tube queue register is "1", the empty tube queue register is "1", the waiting position queue register is "1", and the non-falling tube queue is "0"; ② case two: the full tube queue register is "1", the empty tube queue register is "0", the waiting position queue register is "1", and the non-falling tube queue is "0"; ③ case three: the full tube queue register is "1", the waiting position queue register is "0", and the non-falling tube queue is "0"; ④ case four: the full tube queue register is "0", and the empty tube queue register is "1"; ⑤ case five: the full tube queue register is "0", and the empty tube queue register is "0"; ⑥ case six: the non-falling tube queue is "1"; ⑦ in the falling tube priority, case one is better than case two, and case two is better than case three; ⑧ the closer the target single spindle is to the current single spindle in the same case, the higher the priority; ⑨ case four, case five, and case six are other states, and there is no priority.

[0021] Further, the above-mentioned intelligent tube borrowing module corresponds to the following tube borrowing mode according to the falling tube priority judgment decision: ① for case one single spindle, the tube falling car does not need to borrow a tube, and directly performs a yarn changing action, after the action is completed, the empty tube queue register is "1", the single spindle is updated to case four, and the empty tube queue register is "1", the single spindle is updated to case five; ② for case two single spindle, the tube falling car needs to borrow a tube, searches the empty tube queue, searches the closest case four single spindle, and performs a tube borrowing action, after the tube borrowing is completed, it returns to the original single spindle to perform a yarn changing action, after the action is completed, the empty tube queue register is "1", the single spindle is updated to case four, and the empty tube queue register is "1", the single spindle is updated to case five; ③ For the single spindle of working condition three, the doff trolley reaches the single spindle to make a second judgment. If the case is true, the state of the single spindle is changed to working condition six. If the case is not true, the doff trolley refreshes the state; ④ For the single spindle of working condition four, the doff trolley refreshes the state; ⑤ For the single spindle of working condition five, the doff trolley refreshes the state; ⑥ For the single spindle of working condition six, the doff trolley will not access the single spindle for at least one minute after the state is set to "1".

[0022] Further, the doff trolley includes a grabbing arm mechanism 1, a grabbing hand mechanism 2, a pipe separating mechanism 3, and a pipe storage device 4. Position sensors are arranged on the grabbing arm mechanism 1, the grabbing hand mechanism 2, and the pipe separating mechanism 3. The control method of the action control module is as follows: The doff trolley walks from the target single spindle to the single spindle of working condition four, the pipe separating mechanism separates the empty pipe 5 in the pipe storage device, the grabbing arm mechanism moves the grabbing hand mechanism to the position of the empty pipe, and the empty pipe 5 is grabbed. After the grabbing arm mechanism 1 drives the grabbing hand mechanism 2, the pipe separating mechanism 3 returns to the original position, and the doff trolley walks from the single spindle of working condition four to the target single spindle. The doff trolley meets the doffing requirement through the judgment condition and enters the doffing cycle.

[0023] Further, the fault alarm module completes the alarm and display of the occurred faults, including action alarm, walking alarm, and communication alarm for the occurred faults. ① The action alarm includes action alarm of the grabbing arm mechanism 1, the grabbing hand mechanism 2, and the pipe separating mechanism 3. When there is no signal of the corresponding position sensor, i.e., the corresponding position is not reached within the specified time, it is judged that the action is abnormal and the alarm is given.

[0024] ② The walking alarm includes walking resistance, single spindle positioning failure, and single spindle code error alarm.

[0025] ③ The communication alarm refers to the alarm when the communication with the upper computer module is abnormal.

[0026] Specific description of the upper computer module: the intelligent batch pipe borrowing parameters are set on the interface of the upper computer module. The upper computer module works as follows: ① When the pipe borrowing is enabled, the intelligent pipe borrowing function is started, and the intelligent pipe borrowing interval interface 6 appears. The intelligent pipe borrowing interval interface 6 includes the starting single spindle number and the ending single spindle number of the corresponding group. When the pipe borrowing is not enabled, the intelligent pipe borrowing function is not started, and the intelligent pipe borrowing interval interface 6 does not appear. ②The grouping is performed after the appearance of the intelligent borrowing and managing interval interface 6. When the interval between the starting single spool and the ending single spool is equal to the number of single spools of the whole machine, it is indicated that the intelligent borrowing and managing is for single variety, and the intelligent batch borrowing and managing interval interface 7 does not appear. The intelligent batch borrowing and managing interval interface 7 contains the starting single spool number and the ending single spool number corresponding to the grouping. When the interval between the starting single spool and the ending single spool is less than the number of single spools of the whole machine, it is indicated that the intelligent borrowing and managing is for multi-variety batch, and the intelligent batch borrowing and managing interval interface 7 appears. ③The single spool numbers are set to be mutually restricted. The starting single spool number must be greater than or equal to 1 and less than the ending single spool number. The ending single spool number must be less than or equal to the total number of single spools and greater than the starting single spool number. The interval of the first group is less than the interval of the second group, and so on. The total interval of all groups is the number of single spools of the whole machine.

[0027] Specific description of the multi-variety batch module: The multi-variety batch module makes decisions on the intelligent batch borrowing and managing logic according to the parameters set by the upper computer module. The multi-variety batch module groups the state queue module and demarcates the interval range according to the parameters set by the upper computer module. The registers outside the interval of the current group are shielded, that is, all the shielding zones are changed to the working condition six state. At this time, when the working condition two performs borrowing and managing, it will not be able to search for the working condition four single spool of other groups in the original logic of the intelligent borrowing and managing module. In turn, the multi-variety batch borrowing and managing function of a new type of spooler car yarn changing intelligent batch borrowing and managing method is realized.

[0028] Of course, the above description is not a limitation of the present application, and the present application is not limited to the above examples. Within the essential scope of the present application, changes, modifications, additions or replacements made by ordinary skilled in the art should also be within the protection scope of the present application.

Claims

1. A method for intelligent batching and pipe borrowing of a doffing trolley yarn change, characterized in that, The state queue module, the intelligent borrowing module, the action control module, the fault alarm module, the host computer module and the multi-variety batch module are included. The intelligent batch borrowing method comprises the following steps: the state queue module is used to arrange the priority of the trolley; the intelligent borrowing module is used to make a decision on the current working condition borrowing mode; the action control module is used to complete a series of yarn changing actions such as pipe sharing, pipe grabbing, arm lifting and pipe placing; the fault alarm module is used to alarm and display the fault; the host computer module is used to set the intelligent batch borrowing parameters; and the multi-variety batch module is used to make a decision on the intelligent batch borrowing logic of the trolley.

2. The intelligent batching of yarn transfer method for a trolley changer according to claim 1, characterized in that, The state queue module is composed of state queue registers I, II, III, IV and V, each of which is composed of a word register, and the data type is "0" or "1". The state queue module comprises a full pipe queue unit, an empty pipe queue unit, a waiting position queue unit and an un-fallable pipe queue unit. ① The full pipe queue unit stores the information of the full pipe single spindle of the current automatic pipe falling machine, "1" indicating that the single spindle is full, and "0" indicating that the single spindle is not full; ② The empty pipe queue unit stores the information of the empty pipe of the single spindle pipe accumulator of the current automatic pipe falling machine, "1" indicating that the single spindle accumulator has an empty pipe, and "0" indicating that the single spindle accumulator has no empty pipe; ③ The waiting position queue unit stores the information of the full pipe yarn in the waiting position of the current automatic pipe falling machine, "0" indicating that the single spindle waiting position has full pipe yarn, and "1" indicating that the single spindle waiting position has no full pipe yarn; and ④ The un-fallable pipe queue unit stores the information of the un-fallable single spindle of the current automatic pipe falling machine, "1" indicating that the single spindle is un-fallable, and "0" indicating that the single spindle is fallable.

3. The intelligent batching method for yarn changing of the winding trolley according to claim 2, characterized in that, The state queue module performs the following priority judgment principles for pipe falling: ① Condition one: the full pipe queue register is "1", the empty pipe queue register is "1", the waiting position queue register is "1", and the un-fallable pipe queue is "0"; ② Condition two: the full pipe queue register is "1", the empty pipe queue register is "0", the waiting position queue register is "1", and the un-fallable pipe queue is "0"; ③ Condition three: the full pipe queue register is "1", the waiting position queue register is "0", and the un-fallable pipe queue is "0"; ④ Condition four: the full pipe queue register is "0", and the empty pipe queue register is "1"; ⑤ Condition five: the full pipe queue register is "0", and the empty pipe queue register is "0"; ⑥ Condition six: the un-fallable pipe queue is "1"; ⑦ In the pipe falling priority, condition one is better than condition two, and condition two is better than condition three; ⑧ The closer the target single spindle is to the current single spindle in the same condition, the higher the priority is. The fourth, fifth and sixth working conditions are other states, and have no priority.

4. The intelligent batching method for yarn change of the winding trolley according to claim 3, characterized in that, The corresponding borrowing mode of the intelligent borrowing module according to the decision of the falling tube priority judgment is as follows: ① For the single spindle of the first working condition, the falling tube trolley does not need to borrow a tube, directly performs a yarn changing action, and after the action is completed, the empty tube queue register is "1", the single spindle is updated to the fourth working condition, and the empty tube queue register is "1", the single spindle is updated to the fifth working condition; ② For the single spindle of the second working condition, the falling tube trolley needs to borrow a tube, searches the empty tube queue, searches the nearest single spindle of the fourth working condition, and performs a borrowing action, returns to the original single spindle to perform a yarn changing action after the borrowing is completed, and after the action is completed, the empty tube queue register is "1", the single spindle is updated to the fourth working condition, and the empty tube queue register is "1", the single spindle is updated to the fifth working condition; ③ For the single spindle of the third working condition, the falling tube trolley reaches the single spindle to perform a second judgment, if the condition is true, the state of the single spindle is changed to the sixth working condition, and if the condition is not true, the falling tube trolley refreshes the state; ④ For the single spindle of the fourth working condition, the falling tube trolley refreshes the state; ⑤ For the single spindle of the fifth working condition, the falling tube trolley refreshes the state; ⑥ For the single spindle of the sixth working condition, the falling tube trolley will not access the single spindle for at least one minute after the state of the single spindle is set to "1".

5. The intelligent batching method for yarn change of the winding trolley according to any one of claims 1-4, characterized in that, The falling tube trolley includes a grabbing arm mechanism, a grabbing hand mechanism, a tube separating mechanism and a tube storage device, position sensors are arranged on the grabbing arm mechanism, the grabbing hand mechanism and the tube separating mechanism, and the control method of the action control module is as follows: The falling tube trolley walks from the target single spindle to above the single spindle of the fourth working condition, the tube separating mechanism separates the empty tubes in the tube storage device, the grabbing arm mechanism moves the grabbing hand mechanism to the position of the empty tubes, and the empty tubes are grabbed; After the grabbing arm mechanism drives the grabbing hand mechanism, the tube separating mechanism returns to the original position, and the falling tube trolley walks from the single spindle of the fourth working condition to the target single spindle; The falling tube trolley meets the falling tube demand through a judgment condition, and enters a falling tube cycle.

6. The intelligent batching method for yarn change of the winding trolley according to claim 5, characterized in that, The fault alarm module completes alarm and display of the occurred faults, including action alarm, walking alarm and communication alarm alarm and display of the occurred faults; ① The action alarm includes action alarm of the grabbing arm mechanism, the grabbing hand mechanism and the tube separating mechanism, when there is no signal of the corresponding position sensor, i.e. the corresponding position is not reached within a specified time, it is judged that the action is abnormal and alarm is given; ② The walking alarm includes walking resistance, single spindle positioning failure and single spindle code error alarm; ③ The communication alarm refers to alarm when communication with the upper computer module is abnormal.

7. The intelligent batching method for yarn change of the winding trolley according to any one of claims 1-4, characterized in that, The intelligent batch borrowing parameters are set on the interface of the upper computer module, and the upper computer module works as follows: ① When the borrowing is enabled, the intelligent borrowing function is started, and the intelligent borrowing interval interface appears, the intelligent borrowing interval interface includes the starting single spindle number and the ending single spindle number of the corresponding group; when the borrowing is not enabled, the intelligent borrowing function is not started, and the intelligent borrowing interval interface does not appear; ②The intelligent borrowing interval interface appears after grouping, when the start single spool and the end single spool interval is equal to the total number of single spools, it indicates single variety intelligent borrowing, and the intelligent batch borrowing interval interface does not appear, the intelligent batch borrowing interval interface contains the start single spool and the end single spool of the corresponding group; when the start single spool and the end single spool interval is less than the total number of single spools, it indicates multi-variety batch intelligent borrowing, and the intelligent batch borrowing interval interface appears; ③The single spool numbers are mutually restricted, the start single spool must be greater than or equal to 1 and less than the end single spool, the end single spool must be less than or equal to the total number of single spools and greater than the start single spool; the first group has a smaller partition than the second group, and so on; the total interval of all groups is the total number of single spools.

8. The intelligent batching method for yarn change of the winding trolley according to claim 6, characterized in that, The intelligent batch borrowing parameters are set on the interface of the host computer module, and the host computer module works as follows: ①When the borrowing is on, the intelligent borrowing function is opened, and the intelligent borrowing interval interface appears, which contains the start single spool and the end single spool of the corresponding group; when the borrowing is off, the intelligent borrowing function is not opened, and the intelligent borrowing interval interface does not appear; ②The intelligent borrowing interval interface appears after grouping, when the start single spool and the end single spool interval is equal to the total number of single spools, it indicates single variety intelligent borrowing, and the intelligent batch borrowing interval interface does not appear, the intelligent batch borrowing interval interface contains the start single spool and the end single spool of the corresponding group; when the start single spool and the end single spool interval is less than the total number of single spools, it indicates multi-variety batch intelligent borrowing, and the intelligent batch borrowing interval interface appears; ③The single spool numbers are mutually restricted, the start single spool must be greater than or equal to 1 and less than the end single spool, the end single spool must be less than or equal to the total number of single spools and greater than the start single spool; the first group has a smaller partition than the second group, and so on; the total interval of all groups is the total number of single spools.

9. The intelligent batching method for yarn change of the winding trolley according to any one of claims 1-4, characterized in that, The multi-variety batch module makes decisions on the batch logic according to the parameters set by the host computer module, groups the state queue module according to the parameters set by the host computer module and marks the interval range, and shields the registers outside the current group interval, that is, all the shielding areas are changed to the sixth state, at this time when the second state borrows, it cannot retrieve the fourth single spool of the other group interval in the original logic of the intelligent borrowing module, and the multi-variety batch borrowing function of the new type of single spool car change yarn intelligent batch borrowing method is realized.

10. The intelligent batching method for yarn change of the winding trolley according to claim 8, characterized in that, The multi-variety batch module makes decisions on the batch logic according to the parameters set by the host computer module, groups the state queue module according to the parameters set by the host computer module and marks the interval range, and shields the registers outside the current group interval, that is, all the shielding areas are changed to the sixth state, at this time when the second state borrows, it cannot retrieve the fourth single spool of the other group interval in the original logic of the intelligent borrowing module, and the multi-variety batch borrowing function of the new type of single spool car change yarn intelligent batch borrowing method is realized.

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