Automatic DTY (Draw Texturing Yarn) falling robot for elasticizing workshop and DTY transfer system and method

Abstract

The invention provides a draw texturing workshop DTY automatic doffing robot and a DTY transfer system and method.The doffing robot comprises a transfer unit, a walking unit and a doffing controller, the transfer unit comprises a transfer frame, a grabbing device and an auxiliary supporting device, the grabbing device comprises a telescopic clamping fork and is used for clamping DTY silk spindles and empty paper tubes, and the auxiliary supporting device is used for supporting the auxiliary supporting device; an automatic grabbing function is realized; the auxiliary supporting device comprises a guide mechanism or a telescopic ground supporting mechanism which forms a stable contact state with the ground after reaching a station, and the transfer frame is connected with the ground through the guide mechanism and provides an accurate guide effect for movement of the wire falling robot; the walking unit is arranged on the transferring frame so as to drive the transferring unit to move between the receiving position and the placing position of the DTY filament spindles and the empty paper tubes, and the automatic conveying function is achieved. Automatic grabbing and conveying of materials are achieved, manual operation is reduced, the production automation degree is improved, the grabbing and conveying time is shortened, and the overall production efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of chemical fiber technology, and in particular to an automatic DTY doffing robot, a DTY transfer system and method in a texturing workshop. Background Technology

[0002] The lack of automated equipment in the yarn spindle handling and conveying process in texturing workshops presents a significant market gap and has become a key obstacle to the intelligent upgrading of the chemical fiber industry. Specific pain points are reflected in the following aspects: 1. Low efficiency of manual operation Currently, DTY production still relies on manual yarn unwinding: after the forming yarn is fully wound, it is manually unwound and hung onto a carrier. As texturing machines become increasingly high-speed, manual operation is difficult to keep up with the production pace, and the labor intensity is extremely high. Moreover, manual operation cannot achieve 24-hour continuous operation like automated equipment, which greatly limits the improvement of overall production efficiency and has become a bottleneck for breakthroughs in production efficiency.

[0003] 2. Product quality is difficult to guarantee consistently. Manual handling can easily lead to damage, contamination, or improper placement of the spindles, affecting product quality. These human factors negatively impact product quality, resulting in poor consistency in DTY products and making it difficult to meet market demands for high-quality products.

[0004] 3. High labor costs and high labor intensity The chemical fiber industry is facing labor shortages and rising costs. In the DTY spindle grabbing and conveying process, the overall labor demand remains high due to reliance on manual operation.

[0005] 4. Difficulty in adapting to product differentiation and flexible production requirements The market demand for differentiated DTY products is growing, requiring production lines to frequently switch between product types. However, existing production methods lack automated gripping equipment, making it difficult to quickly adapt to the gripping needs of different specifications of wire spindles, unable to effectively collaborate with intelligent MES systems, hindering flexible manufacturing, and failing to meet diverse market demands.

[0006] 6. Limited technological upgrades and unsatisfactory returns on investment The increased configuration density and surge in single-machine capacity of the new generation of texturing machines are driving the need for downstream automation. However, the lack of automated equipment in the spindle handling and conveying process hinders the integration of these machines with the new generation, limiting the overall technological upgrade of the production line. Consequently, the return on investment for companies building smart factories primarily based on automated production lines is not ideal.

[0007] The aforementioned problems caused by the lack of DTY spindle gripping equipment not only affect the normal operation of individual processes, but also hinder the chemical fiber industry's progress in moving away from a labor-intensive model, coping with fierce market competition, and implementing low-carbon and differentiated strategies. Therefore, the development of DTY spindle gripping and conveying equipment is urgently needed.

[0008] The existing process for DTY finished product shedding, collection, and conveying, while partially replacing manual operation and bringing certain conveniences to production, mainly includes the following steps: S1. After the texturing machine group processes the POY yarn into DTY yarn, the finished product enters the DTY doffing station to wait for doffing. S2. The overhead trolley transports the empty DTY car carrier from the empty DTY car storage area to the texturing machine where the yarn needs to be dropped. The ejection device on the texturing machine ejects the DTY yarn spindle, causing it to roll onto the carrier. S3. When the DTY empty vehicle is fully loaded, the fully loaded DTY vehicle is transported to the DTY spindle unloading area by an overhead trolley.

[0009] Although the existing DTY finished product doffing and collection conveying process has achieved partial automation, the requirements for the positioning accuracy of the DTY carrier and the structural design of the doffing block are extremely stringent. Positioning deviations of the DTY carrier can cause the initial position of the yarn spindle to be inaccurate, thus affecting the rolling trajectory and final landing point. An unreasonable doffing block structure can create obstacles during yarn spindle release, causing problems such as jamming, yarn falling, and reel misalignment, preventing the DTY yarn spindle from rolling accurately into place. Once a deviation occurs, it can easily trigger a chain reaction, not only causing doffing failures and increased yarn spindle damage rates, but also compromising production efficiency and product quality stability, significantly increasing overall operating costs.

[0010] In view of this, the present invention is hereby proposed. Summary of the Invention

[0011] The purpose of this invention is to provide an automatic DTY doffing robot, DTY transfer system, and method for texturing workshops, to solve the technical problems in the existing technology where the DTY spindle gripping and conveying process lacks automatic gripping equipment, and the requirements for carrier positioning accuracy and doffing block structure design are too high, leading to various faults and deviations during production, affecting production efficiency and product quality. The various technical effects of the preferred technical solutions provided by this invention are detailed below.

[0012] To achieve the above objectives, the present invention provides the following technical solution: This invention provides an automatic DTY (Dystyrene) doffing robot for a texturing workshop, comprising a transfer unit, a walking unit, and a doffing controller. The transfer unit includes a transfer frame, a gripping device, and an auxiliary support device disposed on the transfer frame. The gripping device includes a telescopic clamping fork for gripping DTY yarn spindles and empty paper tubes. The auxiliary support device includes a guiding mechanism or a telescopic ground support mechanism. The transfer frame is connected to the ground through the guiding mechanism, and the telescopic ground support mechanism is used to form a stable contact state with the ground after reaching the workstation. The walking unit is disposed on the transfer frame to drive the transfer unit to move between the receiving position and the placement position of the DTY yarn spindle and the empty paper tube. The transfer unit and the walking unit are electrically connected to the doffing controller.

[0013] Preferably, the telescopic clamping fork includes a fork assembly and a gripping drive assembly, wherein the gripping drive assembly can drive the fork assembly to slide synchronously in both directions and the forks on both sides to move relative to or away from each other.

[0014] Preferably, the end fork is provided with a clamp, the outer wall of which is inclined to cooperate with the inner wall of the paper tube; a pressure sensor is provided inside the clamp.

[0015] Preferably, the guiding mechanism includes a guide wheel that slides with the track pair, the track pair being respectively disposed in front of the texturing machine, and the guide wheel being disposed at the bottom of the transfer frame.

[0016] Preferably, the traveling unit includes an EMS monorail suspension trolley, an overhead double-rail suspension trolley, or a ground-rail trolley.

[0017] Preferably, a DTY transfer system for a texturing workshop includes the aforementioned automated DTY doffing robot, and further includes a conveyor track, DTY carriers, a DTY storage station, a scheduling system, and a MES system. The traveling unit includes an EMS monorail suspension trolley, the power unit of which is mounted on the trolley body. A sliding contact line is continuously arranged along the side of the conveyor track, and the onboard current collector brush of the EMS monorail suspension trolley contacts the sliding contact line to provide power to the power unit. The conveyor track includes a main track and branch tracks. The main track is a single-loop circuit running through the texturing workshop. Multiple branch tracks are respectively arranged between the texturing machine and the raw yarn frame, and connected to the main track via track dividers. A storage area is provided at the end of the main track for storing empty and / or fully loaded DTY carriers. The DTY temporary storage station is located at the end of the texturing machine and is used to temporarily store DTY yarn spindles. The DTY temporary storage station includes a temporary storage frame, and a rolling track, a stop mechanism, a photoelectric sensor, and a temporary storage controller disposed on the temporary storage frame. The rolling track is installed at an angle on the temporary storage frame and is arranged in pairs parallel to each other. The stop mechanism includes a stop plate and a stop drive assembly connected to the stop plate. The stop plate is disposed on the outside of the rolling track, and the stop drive assembly drives the stop plate to switch between a locked position and a flat position. The photoelectric sensor is used to detect whether the yarn spindle is in place. The stop drive assembly and the photoelectric sensor are electrically connected to the temporary storage controller. The yarn doffing robot, the DTY carrier, the DTY temporary storage station, and the scheduling system are electrically connected to the MES system.

[0018] Preferably, an automated DTY transfer method in a texturing workshop, employing the aforementioned DTY transfer system, includes the following steps: S1. Determine whether there are DTY yarn spindles in the finished product temporary storage area of ​​the texturing machine. If there are, the PLC controller of the texturing machine sends a material pick-up ready signal, the scheduling system generates a handling task and assigns a priority, and sends it to the doffing robot. S2. The wire-feeding robot arrives at the target machine according to the path planned by the MES system, sends a position request signal to the PLC controller of the target machine, and locks its own position after receiving the permission to operate response. S3. The fork assembly of the wire-feeding robot extends horizontally to the preset stroke. The two forks move synchronously towards the DTY wire spindle paper tube. After the clamp contacts the paper tube, the pressure sensor monitors the contact force. When the pressure reaches the preset threshold, the servo system of the gripper drive assembly switches to torque holding mode. After stabilization, the fork assembly retracts to the initial position to complete the gripping. S4. The fully loaded doffing robot drives into the DTY temporary storage station according to the planned path and automatically puts the DTY spindles into the warehouse for temporary storage. After the task is completed, it drives to the next work point or returns to the standby area to wait for the release of resources and enters the idle waiting scheduling state according to the scheduling instructions. The S5 and MES systems dispatch empty DTY carriers to the DTY storage station as needed. After the DTY carrier arrives and sends a signal, the stop plate flattens out, causing the yarn spindle to roll off. The photoelectric sensor of the DTY carrier determines that it is full and sends a full signal. The DTY carrier then moves to the DTY yarn spindle unloading area. After the robot in the DTY yarn spindle unloading area unloads the DTY yarn spindle, it grabs an empty paper tube. After the DTY carrier receives the empty paper tube, its photoelectric sensor again determines that it is full and sends a full signal. The DTY carrier then returns to the docking position with the yarn-feeding robot, which then goes to dock to prepare to receive the empty paper tube. S6. When both devices are in position, a signal is given. The telescopic gripping fork moves to grab the empty paper tube. When the pressure reaches the preset threshold, it switches to torque holding mode. After stabilization, the fork assembly retracts. After receiving the grabbing completion signal, the paper-feeding robot drives back to the texturing machine to release the empty paper tube. The photoelectric sensor of the texturing machine determines that the paper tube loading is successful and then retracts the fork assembly. If no signal is given, an alarm is triggered. S7. If the wire-feeding robot has no subsequent tasks, it will switch to cruise self-check; if there are new tasks, it will accept and repeat steps S1-S6.

[0019] Preferably, an automated DTY transfer method in a texturing workshop, employing the aforementioned DTY transfer system, includes the following steps: S1. Determine whether there are DTY yarn spindles in the finished product temporary storage area of ​​the texturing machine. If there are, the PLC controller of the texturing machine sends a material pick-up ready signal, the scheduling system generates a handling task and assigns a priority, and sends it to the doffing robot. S2. The wire-feeding robot arrives at the target machine according to the path planned by the MES system, sends a position request signal to the target machine PLC controller, and locks its own position after receiving the permission to operate response. S3. The fork assembly extends horizontally to the preset stroke, and the two forks move synchronously toward the paper tube. After the clamp contacts the paper tube, the pressure sensor monitors the contact force. When the pressure reaches the preset threshold, the servo system of the gripper drive assembly switches to torque holding mode. After stabilization, the fork assembly retracts to the initial position to complete the gripping. S4. The wire-feeding robot carrying the wire spindle travels along the planned path to the designated docking point. The MES system synchronously instructs the empty DTY vehicle to go to the corresponding docking point to pick up the material. After both parties are in position, they send out a standby signal. The infrared photoelectric switch confirms the position alignment and completes the interlock, releasing the right to occupy the docking point. S5. The fork assembly extends horizontally to the preset position, and the two forks move synchronously in opposite directions to release the DTY spindle, so that the DTY spindle falls onto the tray of the DTY carrier; after the photoelectric sensor of the DTY carrier confirms that the DTY spindle is in place, it sends back a signal that the spinning is completed. The spinning robot retracts the fork assembly and sends a task node completion message to the MES system. S6. After the task is completed, the doffing robot will move to the next task point or return to the standby area to release resources and enter the idle waiting state according to the scheduling instructions; at the same time, the fully loaded DTY vehicle will move to the DTY spindle unloading area and update the WMS storage location status simultaneously. After the robot in the S7 DTY spindle unloading area unloads the DTY spindle, it grabs an empty paper tube. After the DTY carrier receives the empty paper tube, its photoelectric sensor again determines and gives a full signal. The DTY carrier returns to the docking position with the wire-feeding robot, and the wire-feeding robot goes to dock to prepare to receive the empty paper tube. When both devices are in place, a signal is given, and the telescopic clamping forks move to grab the empty paper tube. When the pressure reaches the preset threshold, it switches to torque holding mode. After stabilization, the fork assembly retracts. After receiving the grabbing completion signal, the wire-feeding robot drives back to the texturing machine to release the empty paper tube. After the photoelectric sensor of the texturing machine determines and gives a successful paper tube loading signal, it retracts the fork assembly. If no signal is given, an alarm is triggered. S8. If the wire-feeding robot has no subsequent tasks, it will switch to cruise self-check; if there are new tasks, it will accept and repeat steps S1-S7.

[0020] The preferred technical solution of the present invention can also produce at least the following technical effects: This invention effectively solves the technical problems in the existing technology of DTY spindle gripping and conveying process, which lack automatic gripping equipment, have excessively high requirements for carrier positioning accuracy and the structure design of the falling wire block, and are prone to various faults and deviations in the production process, thus affecting production efficiency and product quality.

[0021] This invention provides an automatic DTY doffing robot for a texturing workshop, comprising a transfer unit, a walking unit, and a doffing controller. The transfer unit includes a transfer frame, a gripping device, and an auxiliary support device disposed on the transfer frame. The gripping device includes a telescopic clamping fork for gripping DTY spindles and empty paper tubes. The auxiliary support device includes a guiding mechanism or a telescopic ground support mechanism. The transfer frame is connected to the ground through the guiding mechanism, and the telescopic ground support mechanism is used to form a stable contact state with the ground after reaching the workstation. The walking unit is disposed on the transfer frame to drive the transfer unit to move between the receiving position and the placement position of the DTY spindles and empty paper tubes. The transfer unit and the walking unit are electrically connected to the doffing controller.

[0022] The telescopic clamping fork of this invention can accurately grip DTY yarn spindles or empty paper tubes through telescopic and clamping actions, achieving automated gripping function, reducing manual operation, and improving the automation level of production. Because the guiding mechanism provides precise guidance for the movement of the yarn-feeding robot, it improves the positional accuracy of the transfer frame during operation, enabling the gripping device to accurately reach the designated position for gripping or placement operations. This improves the accuracy of gripping and placement operations, avoiding problems such as yarn spindle damage or improper placement caused by inaccurate manual operation, improving product quality stability, reducing the defect rate, and improving the overall quality level of the product. Furthermore, the auxiliary support device can also adopt a telescopic ground support mechanism. After the yarn-feeding robot is in place, the support legs of the ground support mechanism extend and lock into the pre-embedded seat, allowing the guide mechanism's track pair to be directly removed, reducing civil engineering costs. The telescopic methods of the ground support mechanism include, but are not limited to, pneumatic, hydraulic, or electric methods. The traveling unit drives the transfer unit to move between the receiving position and the placement position of the DTY filament spindle and the empty paper tube, so that the transfer unit can accurately transport the gripped DTY filament spindle or empty paper tube from the receiving position to the placement position, realizing automatic material conveying, shortening the time of DTY filament spindle and empty paper tube in the gripping and conveying process, making the entire production process smoother and more efficient, thereby improving the overall production efficiency. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a structural schematic diagram of a DTY automatic doffing robot for a texturing workshop provided by the present invention; Figure 2 This is a schematic diagram of another gripping device of the DTY automatic doffing robot in the texturing workshop provided by the present invention; Figure 3 This is a schematic diagram of an automatic DTY doffing robot in a texturing workshop, provided by the present invention, transferring DTY yarn spindles from the texturing machine; Figure 4 This is a schematic diagram of the end fork of a DTY automatic doffing robot in a texturing workshop, provided by the present invention, showing the spindle being removed from the texturing machine. Figure 5 This is a schematic diagram of the end fork of a DTY automatic doffing robot in a texturing workshop, provided by the present invention, removing the yarn spool from the texturing machine; Figure 6This is a schematic diagram of an automatic DTY doffing robot in a texturing workshop transferring DTY yarn spindles to a DTY temporary storage station, as provided by the present invention. Figure 7 This is a schematic diagram of the DTY temporary storage station provided by the present invention transferring DTY spindles onto a DTY carrier; Figure 8 This is a schematic diagram of an automatic DTY doffing robot in a texturing workshop transferring DTY yarn spindles onto a DTY carrier, provided by the present invention. Figure 9 This is a schematic diagram of a DTY transfer system for a texturing workshop provided by the present invention; Figure 10 This is a partial flowchart of the first automated DTY transfer method in a texturing workshop provided by the present invention; Figure 11 This is another part of the process of the first automated DTY transfer method in the texturing workshop provided by the present invention; Figure 12 This is a flowchart of the second automated DTY transfer method in the texturing workshop provided by the present invention.

[0025] In the picture: 1. Transfer unit; 11. Transfer frame; 111. Left and right uprights; 112. Front and rear tie rod assembly; 113. Upper connecting plate assembly; 114. Lower connecting plate assembly; 12. Telescopic clamping forks; 121. Fork assembly; 1211. End forks; 122. Clamp; 123. Guide wheels; 124. Fixing assembly; 2. EMS monorail suspension trolley; 3. Conveying track; 31. Main track; 32. Branch track; 33. Track divider; 34. Carrier docking point; 35. Transfer docking point; 36. Empty car temporary storage area; 37. Full car temporary storage area; 38. DTY spindle unloading area; 4. DTY vehicles; 5. DTY temporary storage station; 51. Temporary storage frame; 52. Rolling track; 53. Stop plate; 6. Texturing machine; 61. Track pair; 62. Fixed arresting hook; 7. Raw wire frame; 8. Paper tubes. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0027] Example 1: like Figures 1 to 5 As shown, the present invention provides an automatic DTY doffing robot for a texturing workshop, comprising a transfer unit 1, a walking unit, and a doffing controller. The transfer unit 1 includes a transfer frame 11, and a gripping device and an auxiliary support device disposed on the transfer frame 11. The gripping device includes a pair of telescopic clamping forks 12 for gripping DTY spindles and empty paper tubes 8. The auxiliary support device includes a guide mechanism or a telescopic ground support mechanism. The transfer frame 11 is connected to the ground through the guide mechanism, and the telescopic ground support mechanism is used to form a stable contact state with the ground after reaching the workstation. The walking unit is disposed on the transfer frame 11 to drive the transfer unit 1 to move between the receiving position and the placement position of the DTY spindles and empty paper tubes 8. The transfer unit 1 and the walking unit are electrically connected to the doffing controller.

[0028] The gripping device of this invention is used for the integrated "grip-and-place" operation of DTY yarn spindles, ensuring zero damage and zero positioning deviation of the paper tube 8. Specifically, the telescopic clamping fork 12 can accurately grip DTY yarn spindles or empty paper tubes 8 through telescopic and clamping actions, realizing automated gripping function, reducing manual operation, and improving the degree of automation in production. Because the guiding mechanism provides precise guidance for the movement of the yarn-feeding robot, it improves the positional accuracy of the transfer frame 11 during operation, enabling the gripping device to accurately reach the designated position for gripping or placement operations. This improves the accuracy of gripping and placement operations, avoids problems such as yarn spindle damage or improper placement caused by inaccurate manual operation, improves product quality stability, reduces the defect rate, and improves the overall quality level of the product. The traveling unit drives the transfer unit 1 to move between the receiving position and the placement position of the DTY filament spindle and the empty paper tube 8, so that the transfer unit 1 can accurately transport the gripped DTY filament spindle or empty paper tube 8 from the receiving position to the placement position, realize the automatic material conveying, shorten the time of gripping and conveying DTY filament spindle and empty paper tube 8, make the whole production process smoother and more efficient, and thus improve the overall production efficiency.

[0029] In addition, the auxiliary support device can also adopt a telescopic ground support mechanism. After the wire-feeding robot is in place, the support legs of the ground support mechanism extend and lock into the pre-embedded seat, allowing the guide mechanism's track pair to be directly removed, reducing civil engineering costs. The telescopic methods of the ground support mechanism include, but are not limited to, pneumatic, hydraulic, or electric methods.

[0030] To ensure the DTY automated wire-feeding robot remains stable in the gripping position, the auxiliary support device also includes a plug-in limiting assembly. This assembly consists of a plug-in base and a limiting block. The plug-in base can be fixed to the ground or other object. When the wire-feeding robot reaches its position, it extends, inserts into the plug-in base fixed to the ground or other object, and is locked by the limiting block, immediately achieving rigid anti-wobbling.

[0031] Furthermore, the transfer frame 11 bears the load and supports the entire machine and serves as the connecting base for each functional unit. The transfer frame 11 includes left and right uprights 111, front and rear tie rod assemblies 112, upper connecting plate assembly 113, lower connecting plate assembly 114, and reinforcing plates. The left and right uprights 111, upper connecting plate assembly 113, and lower connecting plate assembly 114 are connected to form the main frame. The front and rear tie rod assemblies 112 connect the two left and right uprights 111. The reinforcing plates are arranged sequentially on the front and rear tie rod assemblies 112 along their length to enhance their torsional and bending stiffness. The upper connecting plate assembly 113 has mounting holes for the traveling unit. The lower connecting plate assembly 114 has mounting holes for the guide mechanism. The front and rear tie rod assemblies 112 have mounting holes for the telescopic clamping forks 12. The transfer frame 11 achieves integrated installation of various functional components through modular design, resulting in a compact structure that is easy to assemble.

[0032] Preferably, the telescopic clamping fork 12 includes a fork assembly 121 and a gripping drive assembly 124. The gripping drive assembly 124 can drive the fork assembly 121 to slide synchronously in both directions and the forks on both sides to move relative to or away from each other.

[0033] The gripper drive assembly 124 serves as the power source, providing the necessary power for the extension and retraction of the fork assembly 121 and the lateral translational movement of the forks on both sides, precisely controlling the movement process. The fork assembly 121 includes a multi-section telescopic fork structure, which can be selected according to usage requirements. The extension direction of the fork assembly 121 can be flexibly selected according to different working environments and handling needs, enabling the end fork 1211 to reach the target position and achieve bidirectional material handling. At the same time, the forks on both sides can perform synchronous relative or opposite movements, enabling rapid and accurate coordinated execution of gripping, picking up, and releasing actions on the wire spindle and empty paper tube 8, achieving efficient and flexible handling of DTY wire spindles.

[0034] Furthermore, the telescopic clamping forks 12 are mounted on the front and rear tie rod assemblies 112 via the fixing assembly 124 to ensure structural stability.

[0035] It should be noted that the gripping device includes, but is not limited to, the telescopic clamping fork 12 or the electric gripping structure. If the spindle can tolerate slight bumps, the electric push rod structure can be used to directly push or move the spindle onto the DTY carrier 4 or the DTY storage station 5, eliminating the need for gripping.

[0036] Preferably, a clamp 122 is provided on the end fork 1211, the outer wall surface of the clamp 122 is inclined to cooperate with the inner wall surface of the paper tube 8; a pressure sensor is provided inside the clamp 122.

[0037] Furthermore, the number of clamps 122 can be one or two, and they are respectively set at both ends of the end forks 1211. For example... Figure 1 As shown, the clamp 122 can be a complete hollow frustum shape. For example... Figure 2 As shown, the shape of the clamp 122 can also be a conical block.

[0038] like Figures 4 to 5 As shown, when the end fork 1211 clamps the spindle, the spindle moves upward along the clamp 122. At this time, the paper tube 8 will be higher than the fixed blocking hook 62 on the texturing machine 6, so that the fork assembly 121 is not obstructed by the fixed blocking hook 62 during the retraction process. The fork assembly 121 continues to retract, and the spindle is lifted as a whole and removed from the picking position, so that the clamping action can be completed smoothly, so that the spindle is stably gripped. There is no additional clamping in this process, and only the wedge self-locking is used to prevent slippage.

[0039] The appropriate size clamp 122 can be replaced according to the size specification of paper tube 8.

[0040] Preferably, the guiding mechanism includes a track pair 61 and a guide wheel 123 that slides with the track pair 61. The track pair 61 is positioned in front of the texturing machine 6, and the guide wheel 123 is correspondingly positioned at the bottom of the transfer frame 11. The real-time vibration suppression achieved through the cooperation of the track pair 61 and the guide wheel 123 can help improve the positioning accuracy of the terminal.

[0041] Preferably, the traveling unit includes, but is not limited to, the existing EMS monorail suspension trolley 2, the overhead double-rail suspension trolley, or the ground rail trolley, as long as it can provide the traveling power for the transfer unit 1. It can be flexibly selected according to the actual layout and space conditions of the texturing workshop. Among them, the ground rail trolley can adopt a rail-guided type or a trackless navigation method such as laser SLAM or QR code to achieve flexible path.

[0042] By adding a DTY automatic doffing robot, the DTY yarn bobbin feeding and empty paper tube 8 loading operations are automated, replacing the traditional manual feeding mode, reducing repetitive labor, and eliminating the standby time of the texturing machine 6 caused by the delay of manual feeding, thereby improving production efficiency.

[0043] Example 2: like Figures 1 to 9As shown, the present invention provides a DTY transfer system for a texturing workshop, including an automatic DTY doffing robot for a texturing workshop as described in Embodiment 1, and also includes a conveying track 3, a DTY carrier 4, a DTY temporary storage station 5, a scheduling system and a MES system.

[0044] The traveling unit includes an EMS monorail suspension trolley 2. The power unit of the EMS monorail suspension trolley 2 is mounted on the trolley body. The side of the conveying track 3 is continuously provided with a sliding contact line. The on-board current collector brush of the EMS monorail suspension trolley 2 contacts the sliding contact line to provide power to the power unit.

[0045] Most existing technologies use OCS (Optical Characteristic System) for conveying, with a transmission method of "rail rotation → friction wheel passively driving the equipment." The equipment itself has no power, and once oil stains, lint, or wear appear on the rail surface, slippage, stopping, or even reverse slippage can easily occur, requiring manual repositioning. This invention, however, uses an EMS (Electronic Management System) architecture. The conveying rail 3 is fixed, and the power component is located on the body of the EMS monorail suspension trolley 2. The power component is a motor, with stable output torque unaffected by the condition of the rail surface. This avoids slippage, stopping, or even reverse slippage caused by oil stains, lint, or wear on the rail, improving operational stability and reliability.

[0046] Furthermore, the OCS vehicle body has no power supply, and all photoelectric and other actuators must be powered through tow cables or slip rings. The tow chains are prone to tangling and core breakage, resulting in a high maintenance downtime rate. Once the rotary track's own reduction motor or friction belt fails, that section becomes a "dead zone": no power is available for passage, and subsequent vehicles must detour; the silk spindle tasks assigned in that area are forced to be suspended, and manual re-issuance of instructions is required after repair. Moreover, because the entire vehicle has no power supply, obstacle avoidance sensors cannot be installed, and it cannot identify people or foreign objects encountered during operation, posing a high safety risk. In this invention, all actuators such as photoelectric sensors are self-powered, eliminating the need for long tow cables. If any vehicle fails and goes offline, it only affects itself, while the remaining vehicles automatically detour around obstacles or continue operating, eliminating the risk of system-level line stoppage. In addition, obstacle avoidance detection structures are set on both sides of the transfer frame 11, realizing "people leave, vehicle stops; objects remain, vehicle detours," achieving both safety and cycle time.

[0047] Furthermore, the speed of the OCS system is affected by the load and the coefficient of friction, and the speed cannot be changed. The positioning accuracy is poor (≥±30mm), requiring secondary correction with additional mechanical stops. This invention uses signal-assisted speed adjustment to achieve higher positioning accuracy without the need for additional secondary positioning.

[0048] The conveyor track 3 includes a main track 31 and branch tracks 32. The main track 31 is a single-loop circuit running through the texturing workshop, adopting a "single-loop, unidirectional" design, with the DTY carrier 4 continuously flowing in one direction on the main track 31. The main track 31 is equipped with carrier docking points 34 and transfer docking points 35. When the DTY carrier 4 moves to carrier docking point 34, the doffing robot moves to transfer docking point 35, and the two can dock and perform doffing operations. Multiple branch tracks 32 are respectively located between the texturing machine 6 and the raw yarn frame 7, and are connected to the main track 31 via track dividers 33. A temporary storage area is provided at the end of the main track 31 for storing empty and / or fully loaded DTY carriers 4. The temporary storage area includes an empty car temporary storage area 36 and a full car temporary storage area 37. The empty car temporary storage area 36 can buffer empty DTY carriers 4, providing rapid replenishment to the texturing machine 6 and ensuring continuous operation capability. The full vehicle storage area has 37 spaces and can cache fully loaded vehicles.

[0049] The DTY automated doffing robot normally resides on the branch tracks 32 of each zone. When receiving or delivering yarn spindles, it briefly enters the main track 31, completes the docking, and immediately returns to the branch track 32. Specifically, when the DTY automated doffing robot needs to go to the DTY temporary storage station 5 to store DTY yarn spindles, it will briefly occupy the main track 31. It enters the main track 31 from the branch track 32 through the track divider 33, completes the docking with the DTY temporary storage station 5, stores the yarn spindle, and immediately returns to the branch track 32. This setup satisfies the operational needs of the automated doffing robot while minimizing interference with the transportation of the DTY carrier 4 on the main track 31.

[0050] Leveraging the relatively slow production cycle of DTY spindles, the doffing robot can be scheduled along the entire loop formed by the main track 31 and the branch track 32. Simultaneously, through zoned management, the operation of the doffing robots and DTY carriers 4 in different areas is planned, avoiding track conflicts and achieving a high degree of track reuse between the DTY carriers 4 and the DTY automated doffing robot. This simplifies the number of tracks and significantly reduces construction costs.

[0051] DTY temporary storage station 5 is located at the end of the texturing machine. The doffing robot can unload DTY spindles to DTY temporary storage station 5 without waiting for the carrier to arrive, shortening the operation cycle and freeing up DTY carrier 4 resources. When the spindles in DTY temporary storage station 5 accumulate to full load, they are transported in a unified manner, further optimizing the configuration of DTY carrier 4 and improving transportation efficiency.

[0052] DTY temporary storage station 5 includes a temporary storage frame 51, as well as a rolling track 52, a stop mechanism, a photoelectric sensor, and a temporary storage controller mounted on the temporary storage frame 51. The temporary storage frame 51 serves as the base of the overall structure, fixed to the ground between the machine tools by anchor bolts, and is used to support and integrate various functional modules.

[0053] The rolling track 52 is installed at an angle on the temporary storage frame 51, allowing the DTY spindles to roll smoothly down along the inclined direction of the rolling track 52 by their own weight. Furthermore, each spindle storage position is equipped with two sets of parallel rolling tracks 52, improving the stability of the conveying process.

[0054] The stopping mechanism includes a stop plate 53 and a stop drive assembly connected to the stop plate 53. The stop plate 53 is located on the outside of the rolling track 52. The stop drive assembly drives the stop plate 53 to switch between a locked position and a flat position. A photoelectric sensor is used to detect whether the spindle is in position. The stop drive assembly and the photoelectric sensor are electrically connected to the temporary storage controller. Under normal conditions, the stop plate 53 is in a flat position and does not intrude into the rolling track 52, nor does it obstruct the normal passage of the track. The spindle can roll freely on the rolling track 52.

[0055] The process of storing the yarn spindle: When the yarn-feeding robot places the DTY yarn spindle on the rolling track 52, the fork assembly 121 is still clamped. The photoelectric sensor on the temporary storage frame 51 can detect the presence of the DTY yarn spindle. The stop plate 53 first moves to the locking position. After it is in position, the fork assembly 121 is released, and the DTY yarn spindle falls onto the rolling track 52. When the DTY yarn spindle rolls along the rolling track 52 into the designated station, the photoelectric sensor can accurately detect that the yarn spindle has arrived. The stop drive assembly drives the stop plate 53 to lift from the flat position to the locking position. When the stop plate 53 is lifted, it will make close contact with the end face of the yarn spindle paper tube 8. By generating sufficient friction and resistance, instantaneous braking is achieved to lock the yarn spindle in the station.

[0056] Release process of the spindle: When a release signal is received, the stop drive assembly drives the stop plate 53 to rotate from the locked position to the flat position. After the stop plate 53 is flattened, it no longer obstructs the spindle. The spindle continues to roll down along the rolling track 52 by its own gravity, thereby achieving controlled release.

[0057] The wire-feeding robot, DTY carrier 4, DTY temporary storage station 5, and scheduling system are electrically connected to the MES system.

[0058] Compared to simultaneously debugging multiple texturing machines 6, the precision debugging of a single DTY storage station 5 offers greater controllability. Through optimized design of the DTY storage station 5, the DTY spindle is ensured to roll more smoothly and precisely, accurately reaching the designated position of the DTY carrier 4.

[0059] DTY temporary storage station 5 has the function of temporarily storing DTY spindles. During the transfer of DTY spindles, it can play a buffering role. When the production flow is large and the DTY carrier 4 cannot handle it in time, the DTY temporary storage station 5 can temporarily store the spindles to avoid production interruption or chaos caused by flow mismatch and ensure the smooth operation of the production process.

[0060] When DTY carrier 4 experiences a brief congestion or a batch change gap, the system can automatically buffer the spindles in the temporary storage station. Once the carrier resumes normal operation, the spindles are released precisely according to a "first-in, first-out" cycle. This method effectively handles peak flow during production, eliminates spindle blockages caused by overloaded carriers, and avoids secondary manual handling, further improving production efficiency and automation.

[0061] By replanning the travel path of DTY vehicle 4 and continuing the one-way travel mode, the total circular transport distance of the original wire frame 7 area is shortened while effectively avoiding intersection waiting. This significantly reduces the average transport time of DTY vehicle 4 and improves the efficiency of the transport process.

[0062] Example 3: like Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 10 , Figure 11 As shown, this invention provides an automated DTY transfer method in a texturing workshop, employing a DTY transfer system from Embodiment 2, comprising the following steps: S1. Task Triggering and Information Distribution When any temporary storage position in the finished product storage area of ​​texturing machine 6 contains DTY yarn spindles, the PLC controller of texturing machine 6 sends a "material ready" signal to the MES system and simultaneously uploads key data such as machine number, temporary storage position coordinates, yarn spindle specifications, paper tube 8 dimensions, and timestamp. After receiving the data, the scheduling system generates a material handling task, assigns a priority, and sends it to the doffing robot.

[0063] S2, Path Execution and Precise Positioning The wire-feeding robot travels to the target machine according to the optimal path planned by the scheduling system. Upon arrival, it sends a "positioning request" to the machine's PLC controller and locks its position after receiving a "permission to operate" response.

[0064] S3, Take the silk like Figure 3 , Figure 4 , Figure 5 As shown, the fork assembly 121 of the wire-feeding robot extends horizontally to a preset stroke, and the two forks move synchronously relative to each other and retract toward the wire-spindle paper tube 8. After the clamp 122 contacts the paper tube 8, the built-in pressure sensor monitors the contact force. When the pressure reaches a preset threshold, the servo system of the gripper drive assembly 124 switches to torque holding mode, and after stabilization, the fork assembly 121 retracts horizontally to the initial position.

[0065] S4. Transfer and temporary storage station entry. like Figure 6As shown, the fully loaded doffing robot drives into DTY temporary storage station 5 according to the planned path and automatically puts DTY yarn into storage; after completing the task, the doffing robot receives a new scheduling instruction and drives to the next work point; if there is no task, it returns to the standby area to wait for the next task, releases resources and enters the "idle waiting for scheduling" state.

[0066] S5, feed the wire spindle and connect the empty tube. like Figure 7 As shown, the MES dispatches an empty DTY carrier 4 to the DTY storage station 5 according to carrier requirements. Once the empty carrier arrives, it sends a "arrival" signal to the PLC controller of the DTY storage station 5. At this time, the stop plate 53 on the buffer position of the DTY storage station 5 is flattened, and the yarn spindle rolls down along the rolling track 52 onto the DTY carrier 4. After receiving the yarn spindle, the photoelectric sensor of the DTY carrier 4 determines its load and issues a full-load signal. The fully loaded DTY carrier 4 then proceeds to the DTY yarn spindle unloading area 38. After the robot in the DTY yarn spindle unloading area 38 unloads the DTY yarn spindles from the DTY carrier 4, it picks up the empty DTY paper tube 8 and places it onto the previously empty DTY carrier 4. After receiving the empty paper tube 8, the photoelectric sensor of the DTY carrier 4 determines its load and issues a full-load signal. The DTY carrier 4, now full of empty paper tubes 8, returns to its docking position with the yarn-feeding robot. Simultaneously, the yarn-feeding robot receives a signal and proceeds to its corresponding docking position to prepare to receive the empty paper tube 8.

[0067] S6, also manage After both devices are in position, they both issue a "positioned" signal. The fork assembly 121 of the wire-feeding robot extends horizontally to a preset stroke, and the two forks move synchronously relative to each other, retracting towards the paper tube 8. After the clamp 122 contacts the paper tube 8, the built-in pressure sensor monitors the contact force. When the pressure reaches a preset threshold, the servo system of the gripper drive assembly 124 switches to torque holding mode, and after stabilization, the fork assembly 121 retracts horizontally to the initial position. After receiving the "gripping complete" signal, the fully loaded wire-feeding robot returns to the texturing machine 6, which just unloaded the DTY yarn, and extends the fork assembly 121 horizontally to the preset stroke again. The two forks move synchronously in opposite directions, moving away from the paper tube 8, releasing the empty paper tube 8 to the paper tube placement position of the texturing machine 6. After the photoelectric sensor on the texturing machine 6 determines and issues a "paper tube 8 successfully loaded" signal, the wire-feeding robot retracts the fork assembly 121, completing the loading; if no signal is issued, an alarm is triggered.

[0068] S7, End If the wire-feeding robot has no subsequent tasks, it will switch to cruise self-check; if there are new tasks, it will accept and repeatedly execute steps S1-S6.

[0069] Example 4: like Figure 3 , Figure 4 , Figure 5 , Figure 12As shown, this invention provides another automated DTY transfer method in a texturing workshop, employing a DTY transfer system from Example 2, comprising the following steps: S1. Task Triggering and Information Distribution When any temporary storage position in the finished product storage area of ​​texturing machine 6 contains DTY yarn spindles, the PLC controller of texturing machine 6 sends a "material ready" signal to the MES system and simultaneously uploads key data such as machine number, temporary storage position coordinates, yarn spindle specifications, paper tube 8 dimensions, and timestamp. After receiving the data, the scheduling system generates a material handling task, assigns a priority, and sends it to the doffing robot.

[0070] S2, Path Execution and Precise Positioning The wire-feeding robot travels to the target machine according to the optimal path planned by the scheduling system. Upon arrival, it sends a "positioning request" to the machine's PLC controller and locks its position after receiving a "permission to operate" response.

[0071] S3, Intelligent Clamping and Force Control Recycling like Figure 3 , Figure 4 , Figure 5 As shown, the fork assembly 121 of the wire-feeding robot extends horizontally to a preset stroke. The two end forks 1211 move synchronously toward the wire-spindle paper tube 8. After the clamp 122 contacts the paper tube 8, the pressure sensor monitors the contact force. When the pressure reaches a preset threshold, the servo system of the gripper drive assembly 124 switches to torque holding mode. After stabilization, the fork assembly 121 retracts to the initial position to complete the gripping. S4. Collaborative transfer and docking in place. like Figure 8 As shown, the doffing robot carrying the spool travels along the preset path to the transfer docking point 35. The scheduling system synchronously instructs the empty DTY vehicle 4 to go to the vehicle docking point 34 to pick up the material. After both parties are in position, they send out a standby signal. The infrared photoelectric switch confirms the alignment of the positions and completes the interlock, releasing the right to occupy the docking point. S5. Safe wire dropping and status confirmation The fork assembly 121 of the wire-feeding robot extends horizontally to a preset position, and the two forks move synchronously in opposite directions to release the DTY wire spindle, so that the DTY wire spindle falls onto the pallet of the DTY carrier 4; after the photoelectric sensor of the DTY carrier 4 confirms that it is in place, it sends a wire-feeding completion signal to the wire-feeding robot; the wire-feeding robot retracts the fork assembly 121 and sends a "task node completed" message to the scheduling system.

[0072] S6, Task Closed Loop and Equipment Energy Release After completing its task, the doffing robot proceeds to the next task location according to the schedule; if there is no task, it returns to the standby area, releases its occupancy, and enters the "idle and awaiting scheduling" state. The fully loaded DTY vehicle 4 proceeds to the DTY spindle unloading area 38, and the WMS storage location status is updated synchronously.

[0073] S7, also manage After unloading the DTY spindles from the DTY carrier 4, the robot in the DTY spindle unloading area 38 picks up empty DTY paper tubes 8 and places them onto the previously empty DTY carrier 4. Upon receiving the empty paper tubes 8, the DTY carrier 4's photoelectric sensor determines its full load and issues a signal. The DTY carrier 4, now filled with empty paper tubes 8, returns to its docking position with the wire-feeding robot. Simultaneously, the wire-feeding robot receives a signal and proceeds to its corresponding docking position to receive the empty paper tubes 8. Both devices issue a "positioned" signal upon reaching their positions. The wire-feeding robot's fork assembly 121 extends horizontally to a preset stroke, and the two forks move synchronously relative to each other, retracting towards the paper tubes 8. After the clamp 122 contacts the paper tubes 8, its built-in pressure sensor monitors the contact force. When the pressure reaches a preset threshold, the servo system of the gripper drive assembly 124 switches to torque holding mode, and after stabilization, the fork assembly 121 retracts horizontally to its initial position. After receiving the "grabbing complete" signal, the fully loaded wire doffing robot returns to the texturing machine 6, which has just unloaded the DTY wire spindles. It then extends the fork assembly 121 horizontally to the preset stroke, and the two forks move synchronously in opposite directions, moving away from the paper tube 8. The empty paper tube 8 is released to the paper tube placement position of the texturing machine 6. After the photoelectric sensor on the texturing machine 6 determines and gives the "paper tube 8 successfully loaded" signal, the wire doffing robot retracts the fork assembly 121 to complete the loading. If no signal is given, an alarm is triggered.

[0074] S8, End If the wire-feeding robot has no subsequent tasks, it will switch to cruise self-check; if there are new tasks, it will accept and repeatedly execute steps S1-S7.

[0075] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0076] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0077] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0078] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "a particular example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0079] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A DTY automatic doffing robot in a texturing workshop, characterized in that, The device includes a transfer unit, a walking unit, and a doffing controller. The transfer unit includes a transfer frame, a gripping device, and an auxiliary support device mounted on the transfer frame. The gripping device includes a telescopic clamping fork for gripping DTY yarn spindles and empty paper tubes. The auxiliary support device includes a guide mechanism or a telescopic ground support mechanism. The transfer frame is connected to the ground through the guide mechanism, and the telescopic ground support mechanism is used to form a stable contact with the ground after reaching the workstation. The walking unit is mounted on the transfer frame to move the transfer unit between the receiving position and the placement position of the DTY yarn spindles and empty paper tubes. The transfer unit and the walking unit are electrically connected to the doffing controller.

2. The automatic doffing robot for texturing workshops according to claim 1, characterized in that, The telescopic clamping fork includes a fork assembly and a gripper drive assembly. The gripper drive assembly can drive the two sets of fork assemblies to slide synchronously in both directions and the forks on both sides to move relative to or away from each other.

3. A DTY automatic doffing robot for a texturing workshop according to claim 2, characterized in that, The end fork of the fork assembly is provided with a clamp, the outer wall of which is inclined to cooperate with the inner wall of the paper tube; a pressure sensor is provided inside the clamp.

4. A DTY automatic doffing robot for a texturing workshop according to claim 1, characterized in that, The guiding mechanism includes a guide wheel that slides with the track pair. The track pair is respectively located in front of the texturing machine, and the guide wheel is located at the bottom of the transfer frame.

5. A DTY automatic doffing robot for a texturing workshop according to claim 1, characterized in that, The traveling unit includes an EMS monorail suspension trolley, an overhead double-rail suspension trolley, or a ground-rail trolley.

6. A DTY transfer system for a texturing workshop, characterized in that, The texturing workshop automatic DTY doffing robot, including any one of claims 1-5, further includes a conveying track, a DTY carrier, a DTY temporary storage station, a scheduling system, and a MES system. The walking unit includes an EMS monorail suspension trolley, the power component of which is mounted on the trolley body. A sliding contact line is continuously arranged on the side of the conveying track, and the onboard current collector brush of the EMS monorail suspension trolley contacts the sliding contact line to provide power to the power component. The conveying track includes a main track and branch tracks. The main track is a single-loop circuit running through the texturing workshop. Multiple branch tracks are respectively arranged between the texturing machine and the raw yarn frame and connected to the main track via track dividers. A temporary storage area is provided at the end of the main track for storing empty and / or fully loaded DTY carriers. The Y-type temporary storage station is located at the end of the texturing machine and is used to temporarily store DTY yarn spindles. The DTY temporary storage station includes a temporary storage frame, and rolling tracks, a stop mechanism, photoelectric sensors, and a temporary storage controller mounted on the temporary storage frame. The rolling tracks are installed at an angle on the temporary storage frame and are arranged in pairs parallel to each other. The stop mechanism includes a stop plate and a stop drive assembly connected to the stop plate. The stop plate is located on the outside of the rolling track, and the stop drive assembly drives the stop plate to switch between a locked position and a flat position. The photoelectric sensor is used to detect whether the yarn spindle is in place. The stop drive assembly and the photoelectric sensor are electrically connected to the temporary storage controller. The yarn doffing robot, the DTY carrier, the DTY temporary storage station, and the scheduling system are electrically connected to the MES system.

7. An automated transfer method for DTY (Dry Texturing Technology) in a texturing workshop, characterized in that, The DTY transfer system for a texturing workshop according to claim 6 includes the following steps: S1. Determine whether there are DTY yarn spindles in the finished product temporary storage area of ​​the texturing machine. If there are, the PLC controller of the texturing machine sends a material pick-up ready signal, the scheduling system generates a handling task and assigns a priority, and sends it to the doffing robot. S2. The wire-feeding robot arrives at the target machine according to the path planned by the MES system, sends a position request signal to the PLC controller of the target machine, and locks its own position after receiving the permission to operate response. S3. The fork assembly of the wire-feeding robot extends horizontally to the preset stroke. The two forks move synchronously towards the DTY wire spindle paper tube. After the clamp contacts the paper tube, the pressure sensor monitors the contact force. When the pressure reaches the preset threshold, the servo system of the gripper drive assembly switches to torque holding mode. After stabilization, the fork assembly retracts to the initial position to complete the gripping. S4. The fully loaded doffing robot drives into the DTY temporary storage station according to the planned path and automatically puts the DTY spindles into the warehouse for temporary storage. After the task is completed, it drives to the next work point or returns to the standby area to wait for the release of resources and enters the idle waiting scheduling state according to the scheduling instructions. The S5 and MES systems dispatch empty DTY carriers to the DTY storage station as needed. After the DTY carrier arrives and sends a signal, the stop plate flattens out, causing the yarn spindle to roll off. The photoelectric sensor of the DTY carrier determines that it is full and sends a full signal. The DTY carrier then moves to the DTY yarn spindle unloading area. After the robot in the DTY yarn spindle unloading area unloads the DTY yarn spindle, it grabs an empty paper tube. After the DTY carrier receives the empty paper tube, its photoelectric sensor again determines that it is full and sends a full signal. The DTY carrier then returns to the docking position with the yarn-feeding robot, which then goes to dock to prepare to receive the empty paper tube. S6. When both devices are in position, a signal is given. The telescopic gripping fork moves to grab the empty paper tube. When the pressure reaches the preset threshold, it switches to torque holding mode. After stabilization, the fork assembly retracts. After receiving the grabbing completion signal, the paper-feeding robot drives back to the texturing machine to release the empty paper tube. The photoelectric sensor of the texturing machine determines that the paper tube loading is successful and then retracts the fork assembly. If no signal is given, an alarm is triggered. S7. If the wire-feeding robot has no subsequent tasks, it will switch to cruise self-check; if there are new tasks, it will accept and repeat steps S1-S6.

8. An automated transfer method for DTY (Dry Texturing Technology) in a texturing workshop, characterized in that, The DTY transfer system for a texturing workshop according to claim 6 includes the following steps: S1. Determine whether there are DTY yarn spindles in the finished product temporary storage area of ​​the texturing machine. If there are, the PLC controller of the texturing machine sends a material pick-up ready signal, the scheduling system generates a handling task and assigns a priority, and sends it to the doffing robot. S2. The wire-feeding robot arrives at the target machine according to the path planned by the MES system, sends a position request signal to the target machine PLC controller, and locks its own position after receiving the permission to operate response. S3. The fork assembly extends horizontally to the preset stroke, and the two forks move synchronously toward the paper tube. After the clamp contacts the paper tube, the pressure sensor monitors the contact force. When the pressure reaches the preset threshold, the servo system of the gripper drive assembly switches to torque holding mode. After stabilization, the fork assembly retracts to the initial position to complete the gripping. S4. The wire-feeding robot carrying the wire spindle travels along the planned path to the designated docking point. The MES system synchronously instructs the empty DTY vehicle to go to the corresponding docking point to pick up the material. After both parties are in position, they send out a standby signal. The infrared photoelectric switch confirms the position alignment and completes the interlock, releasing the right to occupy the docking point. S5. The fork assembly extends horizontally to the preset position, and the two forks move synchronously in opposite directions to release the DTY spindle, so that the DTY spindle falls onto the tray of the DTY carrier; after the photoelectric sensor of the DTY carrier confirms that the DTY spindle is in place, it sends back a signal that the spinning is completed. The spinning robot retracts the fork assembly and sends a task node completion message to the MES system. S6. After the task is completed, the doffing robot will move to the next task point or return to the standby area to release resources and enter the idle waiting state according to the scheduling instructions; at the same time, the fully loaded DTY vehicle will move to the DTY spindle unloading area and update the WMS storage location status simultaneously. After the robot in the S7 DTY spindle unloading area unloads the DTY spindle, it grabs an empty paper tube. After the DTY carrier receives the empty paper tube, its photoelectric sensor again determines and gives a full signal. The DTY carrier returns to the docking position with the wire-feeding robot, and the wire-feeding robot goes to dock to prepare to receive the empty paper tube. When both devices are in place, a signal is given, and the telescopic clamping forks move to grab the empty paper tube. When the pressure reaches the preset threshold, it switches to torque holding mode. After stabilization, the fork assembly retracts. After receiving the grabbing completion signal, the wire-feeding robot drives back to the texturing machine to release the empty paper tube. After the photoelectric sensor of the texturing machine determines and gives a successful paper tube loading signal, it retracts the fork assembly. If no signal is given, an alarm is triggered. S8. If the wire-feeding robot has no subsequent tasks, it will switch to cruise self-check; if there are new tasks, it will accept and repeat steps S1-S7.

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