Blended yarn stepped blowing-carding layered plucking control method

Abstract

The invention discloses a blended yarn stepped blowing-carding layered plucking control method which comprises the following steps: determining at least two fiber layers according to raw material components and proportions of blended yarns; the bale plucker is controlled to execute the grabbing operation of the first fiber layer, the bale plucker is controlled to move to the initial position of the second fiber layer along the grabbing path, and the grabbing operation of the second fiber layer is executed; and the grabbed fibers are conveyed to a blowing-carding system for subsequent treatment. According to the blended yarn stepped blowing-carding layered plucking control method, different fiber components are independently layered in the physical space, the plucking path and area of each layer are accurately planned according to the preset blending ratio, preliminary opening and mixing are achieved by adjusting and controlling technological parameters in the conveying process, and the blended yarn is subjected to multi-layer blowing-carding layering plucking control. Therefore, different fibers are finely and mildly mixed before entering the main cotton mixing equipment.

Description

Technical Field

[0001] This invention relates to the field of textile technology, and in particular to a step-by-step combing and cleaning method for controlling cotton picking in blended yarns. Background Technology

[0002] In the textile industry, blended yarn technology, by mixing two or more fibers with different properties, greatly enriches the performance and function of yarns and their final fabrics, and has become the mainstream in modern spinning. For example, blends of cotton and polyester can balance comfort and durability, while blends of natural and functional fibers can endow fabrics with various properties such as moisture wicking and antibacterial properties. However, the core challenge in blended yarn production lies in achieving a uniform distribution of different fiber components throughout the entire yarn length and cross-section. Any uneven mixing will directly lead to quality problems such as yarn dryness deterioration, uneven strength, and color difference in dyeing, seriously affecting the quality and value of the final product.

[0003] As the starting point of the modern spinning process, the cotton-grabbing stage in the carding and combing process is the first and crucial step in determining the fiber blending effect. Currently, the automatic cotton-grabbing machines commonly used in the industry typically grab the entire cotton pile containing various fibers, which has already been manually laid out or pre-mixed by a blending machine. This "one-pot" layup and grabbing method has significant limitations. First, during the layup stage, fibers of different densities, lengths, and coefficients of friction are prone to stratification and aggregation under gravity and mechanical action, resulting in uneven initial distribution. Second, when the cotton-grabbing machine grabs the entire surface and depth of the cotton pile uniformly, it is difficult to ensure that the composition ratio of the fibers grabbed at every moment is strictly consistent with the preset blending ratio, easily causing instantaneous fluctuations in the ratio. These fluctuations at the source are transmitted and amplified through subsequent processes, ultimately manifesting as persistent blending unevenness in the yarn.

[0004] Furthermore, existing technologies lack precise grasping strategies for the different characteristics of various fibers. For example, it is clearly unreasonable to use the same beater speed and carriage speed for high-strength, long-fiber polyester and relatively fragile, impurity-containing cotton fibers. Excessive beating will damage the cotton fibers, producing short fibers; while insufficient opening will fail to effectively separate the polyester fiber bundles. This "one-size-fits-all" approach to process parameters either leads to fiber damage or insufficient opening, both of which are detrimental to subsequent blending and carding.

[0005] To address the aforementioned issues, while some technologies have attempted to enhance blending in subsequent blending machines or multi-compartment blending machines, this is merely a "post-hoc remedy" and cannot fundamentally solve the problem of uneven fiber grasping at the source. Other solutions have proposed using multiple compartments to separately feed different fibers before merging, but these are complex, costly, and still difficult to precisely add and control small proportions of fibers. Therefore, the textile industry urgently needs a blended yarn production method that enables precise control from the source of fiber grasping, is intelligent, and highly adaptable, in order to fundamentally improve the quality consistency and stability of blended yarns.

[0006] Therefore, it is necessary to provide a new step-by-step combing and cleaning method for controlling cotton picking in blended yarns to solve the above-mentioned technical problems. Summary of the Invention

[0007] To solve the above-mentioned technical problems, the present invention provides a step-by-step cleaning and carding method for controlling cotton picking in blended yarn.

[0008] This invention provides a step-by-step, layered cotton-grabbing control method for blended yarns, comprising the following steps:

[0009] S1: Based on the raw material composition and ratio of the blended yarn, at least two fiber layers are determined, and the grabbing path of the cotton grabbing machine is planned. The grabbing path is configured to grab different fiber layers in a step-down manner.

[0010] S2: Control the cotton grabber to perform the grabbing operation of the first fiber layer. During the grabbing process, monitor the current grabbing position and grabbing depth of the cotton grabber in real time.

[0011] S3: After completing the preset grasping amount of the first fiber layer, control the cotton grabber to move along the grasping path to the starting position of the second fiber layer and perform the grasping operation of the second fiber layer;

[0012] S4: Repeat step S3 until all planned fiber layers are grasped, and then transport the grasped fibers to the combing and cleaning system for further processing.

[0013] Preferably, in step S1, the planned grabbing path of the cotton grabber includes:

[0014] Calculate the required gripping area or gripping time for each fiber layer based on the preset blending ratio of the blended yarn.

[0015] Based on the grasping area or grasping time, a corresponding grasping area is divided for each fiber layer along the walking path of the cotton grasper.

[0016] Preferably, the stepped descent method is as follows:

[0017] After completing the grabbing of one fiber layer, the grabbing beater of the cotton grabbing machine rises to a safe height, moves to the starting point of the grabbing of the next fiber layer, and then descends to the grabbing depth of that fiber layer to grab the cotton.

[0018] Preferably, in steps S2 and S3, the current grasping position and grasping depth are monitored in real time by a laser rangefinder or encoder installed on the cotton grasper.

[0019] Preferably, in step S2, when grasping the first fiber layer, the rotation speed of the cotton-grabbing beater and the travel speed of the cotton-grabbing trolley are controlled within a first preset range; in step S3, when grasping the second fiber layer, the rotation speed of the cotton-grabbing beater and / or the travel speed of the cotton-grabbing trolley are adjusted to a second preset range according to the fiber characteristics of the second fiber layer.

[0020] Preferably, in step S4, before conveying the grasped fibers to the combing and cleaning system for subsequent processing, the method further includes: initially opening and mixing the fibers grasped from different fiber layers to form a preliminary mixed fiber stream.

[0021] Preferably, the initial opening and mixing are achieved by controlling the rotation speed of the cotton grabber and the negative pressure airflow at the cotton drop outlet in a coordinated manner.

[0022] Preferably, the method further includes a feedback adjustment step:

[0023] At the outlet of the combing and cleaning system, the weight unevenness of the sliver or the uniformity of fiber mixing is detected online.

[0024] Based on the test results, adjust the gripping path planned in step S1, or the gripping amount in steps S2 / S3, or the process parameters of the cotton gripper in reverse.

[0025] Compared with related technologies, the step-by-step cleaning and carding method for controlling cotton picking in blended yarns provided by this invention has the following beneficial effects:

[0026] This invention provides a stepped, combing-and-cleaning layered cotton-grabbing control method for blended yarns. By independently layering different fiber components in physical space and precisely planning the grabbing path and area of ​​each layer according to a preset blending ratio, this method ensures that the input amount of each fiber is precisely controlled from the beginning of grabbing. The "layered planning and sequential grabbing" mode fundamentally eliminates the instantaneous ratio fluctuation problem inherent in traditional blended cotton pile grabbing methods, laying the foundation for obtaining an accurate and stable blending ratio. The "stepped descent" grabbing strategy, combined with the initial opening and mixing achieved by adjusting process parameters during the conveying process, ensures that different fibers begin a fine and gentle mixing process before entering the main blending equipment. The mixing mechanism, initiated at the very beginning of the process, ensures more thorough fiber dispersion, creating conditions for achieving excellent uniformity in yarn length and cross-section. This significantly improves yarn evenness and effectively avoids fabric defects such as color difference and horizontal stripes caused by uneven mixing. A closed-loop feedback adjustment mechanism is introduced, which intelligently adjusts the grasping path, grasping amount, or process parameters at the front end by online monitoring of the final product's quality indicators, forming a self-optimizing and self-correcting intelligent production system. This not only dynamically compensates for disturbances caused by batch differences in raw materials or changes in equipment status but also enables the entire production process to continuously improve quality and stability, greatly reducing reliance on manual experience. By independently setting cotton-grabbing process parameters that match the characteristics of different fiber layers, this method achieves "tailor-made" grasping of various fibers. Whether it's strong synthetic fibers or fragile natural fibers, they can be grasped and opened efficiently and with low damage under optimal process parameters, ensuring the blending effect while maximizing the protection of the original fiber quality and broadening the range of blendable products that can be produced. Attached Figure Description

[0027] Figure 1 The flowchart of the step-type combing and cleaning layered cotton-grabbing control method for blended yarn provided by the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the stepped cleaning and carding layered cotton-grabbing system for blended yarn provided by the present invention. Detailed Implementation

[0029] The technical solution of the present invention will now be clearly and completely described in conjunction with the preferred embodiments thereof. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0030] This invention provides a stepped, combing-and-cleaning integrated method for controlling the layered cotton handling in blended yarn production, solving the problems of inaccurate raw cotton handling, poor mixing uniformity, and the inability to achieve refined automatic control in traditional blended yarn production. This method significantly improves the quality and production efficiency of blended yarn through integrated control of "layered planning, stepped handling, process monitoring, and feedback adjustment."

[0031] Example 1

[0032] like Figures 1 to 2 As shown, this embodiment uses the production of T / C 65 / 35 (65% polyester, 35% cotton) blended yarn as an example to illustrate the implementation process of this method in detail. See also Figure 1 The system implemented using this method mainly includes: a cotton grabber (including a cotton grabber beater, a cotton grabber trolley, a lifting device, etc.), a laser rangefinder, an encoder, a PLC (programmable logic controller), and a cotton cleaning and carding system (including a cotton opener, a cotton blender, a cotton carder, etc.). The PLC serves as the control core and is connected to the sensors and actuators.

[0033] Step S101: Fiber layer determination and grasping path planning.

[0034] Based on the T / C 65 / 35 blending ratio, two fiber layers are required: the first fiber layer is polyester fiber, and the second fiber layer is cotton fiber. On the cotton loading table of the cotton grabber, the polyester fiber is piled up to form the first fiber layer, and the cotton fiber is piled up to form the second fiber layer, with the two layers arranged one in front of the other in space.

[0035] The PLC calculates the required gripping area for each fiber layer based on a preset blending ratio. Specifically, the system pre-stores the total effective area of ​​the cotton table. Based on the blending ratio, it calculates that the gripping area required for the polyester layer is approximately 65% ​​of the total cotton table area, and the gripping area required for the cotton layer is approximately 35%. Based on this area ratio, the PLC divides the walking path of the cotton table into corresponding gripping areas for each fiber layer. For example, the first 65% of the cotton-gripping trolley's walking path is planned as the gripping area for the first fiber layer (polyester), and the last 35% is planned as the gripping area for the second fiber layer (cotton).

[0036] Next, a "step-down" grasping path is planned. The logic of this path is as follows: the cotton grabber first reciprocates across the entire grasping area of ​​the first fiber layer (polyester layer). After each reciprocation or a set stroke, the grabber descends a small, set depth (e.g., 1-2 mm) until the entire fiber layer is grasped. Then, the cotton grabber moves to the starting position of the second fiber layer (cotton layer) and, in the same manner, begins its step-down grasping motion from the surface of that layer until it is completely grasped. This path planning ensures that only one type of fiber is grasped at a time, avoiding uneven mixing of different fibers at the grasping source.

[0037] Step S102: Grasping and monitoring of the first fiber layer (polyester layer).

[0038] Control the cotton grabber to move to the starting position for grabbing the first fiber layer (polyester layer). Start the cotton grabber, and the cotton grabbing trolley begins to move along the planned path, while the cotton grabbing beater rotates to perform the grabbing operation.

[0039] During this process, a laser rangefinder installed on the cotton grabber monitors the height of the grabber relative to the cotton table reference surface in real time, thereby accurately calculating the current grabbing depth. At the same time, an encoder installed on the walking motor of the cotton grabbing trolley provides real-time feedback on the trolley's current position, ensuring that the grabbing operation is strictly carried out within the preset polyester layer area.

[0040] Considering the characteristics of polyester fibers (such as their relatively long length and high strength), when grasping this layer, the rotation speed of the grasping beater is set to a first preset range, such as 800-1000 rpm, and the travel speed of the grasping carriage is set to another first preset range, such as 10-15 m / min. This combination of parameters aims to achieve effective grasping and initial loosening of the polyester fibers, while avoiding excessive impact that could damage the fibers.

[0041] Step S103: Grasping and switching of the second fiber layer (cotton layer).

[0042] Once the monitoring of the grasping depth and position determines that the first fiber layer (polyester layer) has been grasped according to the preset grasping amount (i.e., the cotton grabber has descended to the bottom preset depth of the polyester layer), the PLC issues a command to control the cotton grabber to perform a "step-down" switching action:

[0043] First, the cotton grabber stops rotating and rises to a safe height (e.g., 150 mm above the cotton table surface), which is sufficient to ensure that the cotton grabber will not collide with the cotton pile during movement.

[0044] Next, the cotton-grabbing trolley moves to the starting position for grabbing the second fiber layer (cotton layer).

[0045] Then, the cotton grabber descends to the top surface of the second fiber layer (cotton layer) to prepare to grab the cotton.

[0046] Finally, the cotton-grabbing beater is started to rotate, and the second fiber layer grabbing operation begins.

[0047] Cotton fibers have different characteristics (such as shorter length and impurities) compared to polyester, so process parameters need to be adjusted. When grasping the second fiber layer (cotton layer), the PLC adjusts the rotation speed of the cotton-grabbing beater to a second preset range according to the preset process formula, such as 600-800 rpm (slightly lower than polyester to reduce damage to cotton fibers and the generation of short fibers), and adjusts the traveling speed of the cotton-grabbing carriage to another second preset range, such as 8-12 m / min (slightly slower to ensure sufficient grasping and impurity removal of the cotton layer).

[0048] Step S104: Fiber conveying and preliminary mixing.

[0049] During the grasping process, the grasped fibers are transported to the carding and cleaning system via airflow through pipes. In step S104, preliminary opening and mixing are performed before the fibers enter the carding and cleaning unit. This is achieved by coordinating the speed of the grasping beater of the cotton grabber and the negative pressure airflow at the cotton drop outlet.

[0050] Specifically, a higher beater speed (such as when picking up polyester) combined with a higher negative pressure airflow can more strongly open the fiber bundles and quickly suck away the opened fibers to prevent entanglement. When different fibers (such as polyester and cotton) are picked up successively and enter the same conveying pipe, because they are conveyed in a small, open state in the airflow, preliminary and random mixing begins during the conveying process, forming a preliminary mixed fiber flow. This mixing, which begins at the front end of the process, lays a good foundation for more uniform mixing later.

[0051] Subsequently, the initially mixed fiber stream enters the subsequent equipment of the cleaning and carding system (such as multi-bin cotton blender, cotton opener, carding machine, etc.) for further opening, mixing, impurity removal and sliver forming.

[0052] This embodiment achieves precise extraction of blended components through accurate layering and path planning, combined with process parameters for different fibers, ensuring the accuracy of the blending ratio from the source and effectively avoiding component fluctuations that may occur in traditional cotton blending methods.

[0053] Example 2

[0054] This embodiment is an optimization based on Embodiment 1, focusing on the application of the feedback adjustment mechanism to further improve the stability of product quality. This embodiment uses the production of a blended yarn of Modal / cotton / Lycra 50 / 45 / 5 fibers as an example.

[0055] Step S201: Determination of multi-layer fiber layers and fine path planning.

[0056] Based on the blending ratio of 50% Modal, 45% cotton, and 5% Lycra, three fiber layers are required. On a cotton worktable, the first fiber layer (Modal), the second fiber layer (cotton), and the third fiber layer (Lycra) are layered sequentially. Because Lycra has a low content and is an elastic fiber, its layer thickness is much thinner than the other two.

[0057] The PLC precisely calculates and divides the gripping area of ​​each layer based on the blending ratio of the three fibers. For the Lycra layer, which accounts for only 5%, its gripping area is planned as a narrow strip. The step-down gripping path is accordingly adjusted to grip the Modal layer, the cotton layer, and finally the Lycra layer in sequence.

[0058] Step S202: Layered crawling and parameter adaptation.

[0059] The grasping process is similar to that in Example 1, but the process parameters are adjusted more precisely when switching fiber layers.

[0060] When handling Modal fibers: due to their high wet strength and softness, the beater speed should be set to a medium-high range, and the trolley speed should be moderate, aiming for gentle loosening.

[0061] When grasping cotton: Similar to Example 1, a rotation speed and rotational speed that facilitates impurity removal are adopted.

[0062] When gripping Lycra: Due to its high elasticity, to prevent excessive stretching and tangling, the speed of the gripper is set to a low range (e.g., 400-600 rpm), and the negative pressure airflow at the drop outlet is also adjusted accordingly to ensure that the elastic fibers can be transported smoothly and steadily.

[0063] Step S203: Closed-loop feedback adjustment.

[0064] At the final output end of the carding and combing system—the sliver outlet of the carding machine—an online detection device is installed, such as a sliver evenness meter: used to detect the weight unevenness (CV value) of the sliver online.

[0065] Near-infrared spectrometer or multi-CCD camera vision system: used for online assessment of the blending uniformity of fibers in sliver (i.e., the uniformity of the distribution of different fibers in the cross-section and length direction of the sliver).

[0066] The online inspection device transmits real-time collected data (such as raw strip weight CV value and mixing uniformity index) to the PLC. The PLC's built-in control algorithm compares this real-time data with preset quality target values ​​(such as target CV value and target mixing uniformity).

[0067] Based on the comparison results, the PLC automatically and in reverse fine-tunes the front-end cotton-grabbing process, forming a closed-loop control. Specific adjustment strategies include, but are not limited to:

[0068] Adjusting the grasping path: If the Modal component is detected to be too high, the system may slightly reduce the grasping area planned for the Modal layer in step S201, or terminate the grasping of the Modal layer in advance.

[0069] Adjusting the gripping amount: If the sliver weight unevenness (CV value) exceeds the standard, the system may fine-tune the descent depth of each "step" in steps S102 / S103, that is, change the gripping amount of each layer in each cycle to make the gripping more precise and uniform.

[0070] Adjusting process parameters: If the mixing uniformity is not ideal, the system may optimize the beater speed and / or carriage travel speed in steps S102 / S103 to improve the fiber distribution in the initial mixing stage by changing the opening intensity and action mode. For example, slightly increasing the beater speed can make the fibers open more finely, which is beneficial for subsequent mixing.

[0071] Through this real-time feedback and front-end control linkage, the method in this embodiment can dynamically compensate for quality deviations caused by factors such as raw material fluctuations and equipment status changes, ensuring that the final blended sliver has excellent weight uniformity and component mixing uniformity, and significantly improving the quality stability of high-grade blended yarns.

[0072] Example 3

[0073] This embodiment focuses on illustrating the adaptability of the method to complex proportions and special fibers. An example is the production of a blended yarn of three different colored fibers (A / B / C 40 / 35 / 25) with a color-spun effect.

[0074] Step S301: Path optimization for visual effects.

[0075] Three colored fibers (e.g., A-white, B-blue, C-black) constitute three fiber layers. The path planning considers not only the proportions (40 / 35 / 25) but also the final fabric color effect. To avoid noticeable color banding or stripes, this embodiment optimizes the stepped descent path. Instead of simply grabbing layer A and then layer B in one go, each fiber layer is divided into multiple smaller, alternating "sub-regions" along the grabbing path. For example, the path is planned as: A1 region (grabbing some A fibers) -> B1 region (grabbing some B fibers) -> C1 region (grabbing some C fibers) -> A2 region (grabbing the remaining A fibers) -> ... and so on. The area of ​​each sub-region is determined by its blending ratio. The cotton grabber, following this optimized path, grabs these alternating sub-regions layer by layer in a "stepped descent" manner.

[0076] Step S302: Stable control under high-frequency switching.

[0077] Due to frequent fiber layer switching along the path, higher demands are placed on the response speed and control precision of the lifting and moving system of the cotton grabber. In this embodiment, a high-precision servo motor and ball screw are used to replace the traditional motor-chain drive to achieve rapid and precise lifting of the cotton grabber and positioning of the trolley. Each time a sub-area is switched, a stepped motion of "rise -> move -> fall" is executed. However, due to the small distance between sub-areas, the entire process is completed within seconds, ensuring production continuity. Sensors (laser rangefinder and encoder) sample at a higher frequency to ensure precise control of position and depth during high-speed switching.

[0078] Step S303: Fine-tuning of parameters based on fiber color.

[0079] Although both are cotton fibers, their coefficient of friction and softness may change after dyeing. Therefore, when picking up different colored fiber sub-regions, the PLC will call up different preset process parameters. For example, when picking up darker C fibers (black) (which may have more dye), the beater speed will be slightly reduced to reduce dye dust and fiber damage.

[0080] Step S304: Effect evaluation and path re-optimization.

[0081] In this embodiment, the feedback adjustment, in addition to monitoring sliver uniformity, can also perform image analysis of sliver color uniformity using a high-speed camera installed at the sliver outlet. If the analysis results indicate an aggregation of fibers of a certain color, the feedback system will automatically adjust the sub-region division scheme or the grasping order in step S301 to optimize the mixing effect. This dynamic optimization enables the method to adapt to small-batch, multi-variety, and high-requirement colored yarn production.

[0082] This invention provides a highly automated, intelligent, and precise method for controlling cotton picking in blended yarns. It fundamentally changes the traditional extensive cotton blending model, ensuring the accuracy of the blending ratio and the uniformity of the mixture through precise layered control, adjustable process parameters, and a closed-loop feedback system. It is suitable for the production of blended fibers with various complex ratios and different properties.

[0083] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for controlling cotton picking in a stepped cleaning and carding process for blended yarns, characterized in that, Includes the following steps: S1: Based on the raw material composition and ratio of the blended yarn, at least two fiber layers are determined, and the grabbing path of the cotton grabbing machine is planned. The grabbing path is configured to grab different fiber layers in a step-down manner. S2: Control the cotton grabber to perform the grabbing operation of the first fiber layer. During the grabbing process, monitor the current grabbing position and grabbing depth of the cotton grabber in real time. S3: After completing the preset grasping amount of the first fiber layer, control the cotton grabber to move along the grasping path to the starting position of the second fiber layer and perform the grasping operation of the second fiber layer; S4: Repeat step S3 until all planned fiber layers are grasped, and then transport the grasped fibers to the combing and cleaning system for further processing.

2. The method for controlling layered cotton picking in a stepped cleaning and carding process for blended yarn according to claim 1, characterized in that, In step S1, the planned grabbing path of the cotton grabber includes: Calculate the required gripping area or gripping time for each fiber layer based on the preset blending ratio of the blended yarn. Based on the grasping area or grasping time, a corresponding grasping area is divided for each fiber layer along the walking path of the cotton grasper.

3. The method for controlling layered cotton picking in a stepped cleaning and carding process for blended yarn according to claim 2, characterized in that, The stepped descent method is as follows: After completing the grabbing of one fiber layer, the grabbing beater of the cotton grabbing machine rises to a safe height, moves to the starting point of the grabbing of the next fiber layer, and then descends to the grabbing depth of that fiber layer to grab the cotton.

4. The method for controlling layered cotton picking in a stepped cleaning and carding process for blended yarn according to claim 1, characterized in that, In steps S2 and S3, the current gripping position and gripping depth are monitored in real time by a laser rangefinder or encoder installed on the cotton gripper.

5. The method for controlling layered cotton picking in a stepped cleaning and carding process for blended yarn according to claim 1, characterized in that, In step S2, when grasping the first fiber layer, the rotation speed of the cotton-grabbing beater and the travel speed of the cotton-grabbing trolley are controlled within a first preset range; in step S3, when grasping the second fiber layer, the rotation speed of the cotton-grabbing beater and / or the travel speed of the cotton-grabbing trolley are adjusted to a second preset range according to the fiber characteristics of the second fiber layer.

6. The method for controlling layered cotton picking in a stepped cleaning and carding process for blended yarn according to claim 1, characterized in that, In step S4, before the grasped fibers are transported to the combing and cleaning system for subsequent processing, the process further includes: initially opening and mixing the fibers grasped from different fiber layers to form a preliminary mixed fiber stream.

7. The method for controlling layered cotton picking in a stepped cleaning and carding process for blended yarn according to claim 6, characterized in that, The initial opening and mixing are achieved by controlling the rotation speed of the cotton grabber and the negative pressure airflow at the cotton drop outlet.

8. The method for controlling layered cotton picking in a stepped cleaning and carding process for blended yarn according to claim 1, characterized in that, The method also includes a feedback adjustment step: At the outlet of the combing and cleaning system, the weight unevenness of the sliver or the uniformity of fiber mixing is detected online. Based on the test results, adjust the gripping path planned in step S1, the gripping amount in steps S2 / S3, or the process parameters of the cotton gripper in reverse.

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