Elasticizing workshop silk spindle conveying method and device and storage medium

Abstract

The invention relates to an elasticizing workshop silk spindle conveying method and device and a storage medium, and is applied to the technical field of silk spindle production and conveying. The method comprises the steps that an empty trolley buffer area and a full trolley buffer area of POY and DTY are designed at the two ends of a main ring respectively; when downstream backflow stalls or upstream material supplementation fluctuates, the empty vehicle pool can release empty vehicle supplementation in time, and it is guaranteed that main line carriers are supplied sufficiently; the full vehicle pool can temporarily store finished product carriers when a downstream yarn vehicle does not arrive or a batch is changed during production, so that the main line continuously runs in a full-load manner, and the yarn spindle conveying efficiency and the utilization rate of the main line are greatly improved; the branch rail corresponding to each elasticizer forms an independent small loop line; when a carrier or a robot in a certain section of small loop line breaks down, only the corresponding turnout needs to be locked on site, the fault section can be cut out of the main ring, the transportation of the wire spindles of other lines is not affected, normal operation can still be achieved, the fault influence range is accurately controlled, the risk of system paralysis is greatly reduced, and the reliability and production continuity of the transportation process are improved.

Description

Technical Field

[0001] This invention relates to the field of yarn production and conveying technology, specifically to a method, apparatus, and storage medium for conveying yarn spindles in a texturing workshop. Background Technology

[0002] In the production chain of texturing workshops in the chemical fiber industry, the conveying of yarn spindles (including POY raw yarn spindles and DTY finished yarn spindles) is a core link connecting raw yarn supply, texturing processing, finished product transfer, and empty paper tube recycling. Its conveying efficiency, continuity, and stability directly determine the overall production cycle, equipment utilization rate, and capacity expansion potential of the workshop. Currently, the yarn spindle transportation process in texturing workshops generally suffers from the following key technical pain points: Insufficient logistics continuity can easily lead to blockages or idle runs: Traditional yarn transport often uses linear tracks or simple closed-loop designs, lacking effective buffering and adjustment mechanisms. When there are sudden fluctuations in upstream raw yarn supply, downstream finished yarn carts fail to connect in time, or production batches change, fully loaded yarn carts are prone to congestion on the main track, while empty carts cannot be replaced in time, resulting in interruptions in main line logistics and idle equipment. This reduces transport efficiency and wastes production capacity resources.

[0003] The failure has a wide impact and low system reliability: Traditional transportation lines are mostly multi-directional intersections or series designs, with vehicles and robots sharing the same core track. Once a vehicle or robot on a certain section of the line fails, the failure will quickly spread to the entire transportation network, causing the entire system to be paralyzed, the equipment waiting time for repair is long, and seriously affecting the continuity of production.

[0004] The process is not well-coordinated, resulting in significant resource waste: There is a lack of coordinated scheduling mechanisms in the processes of POY raw yarn outbound, conveying, and loading, as well as DTY yarn spindle generation, transfer, and empty paper tube recycling. For example, when the POY temporary storage station has insufficient yarn spindle reserves, it cannot trigger outbound tasks in a timely manner. The transfer of DTY finished products and the recycling of empty paper tubes are not synchronized, leading to frequent equipment waiting, increased manual labor intensity, and insufficient continuity and coordination in the overall production process.

[0005] The aforementioned problems have long constrained the improvement of production efficiency, flexible expansion of production capacity, and optimization of operating costs in the texturing workshop. There is an urgent need for a solution for the silk spindle transportation process that can achieve continuous logistics, convenient expansion of production, fault isolation, and efficient collaboration. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a method, device and storage medium for conveying yarn spindles in a texturing workshop, so as to solve the problems of poor logistics continuity, wide range of failure impact and unsmooth process connection in the prior art.

[0007] According to a first aspect of the present invention, a method for conveying yarn spindles in a texturing workshop is provided, the method comprising: When any POY temporary storage station has fewer than a preset number of spindles, the PLC host computer sends a scheduling command to the POY carrier to replenish the POY temporary storage station. When all the buffer spindles on any POY yarn feeding robot are consumed, the PLC host computer sends a scheduling command to the POY yarn feeding robot to replenish yarn through the POY temporary storage station. After replenishment, the POY yarn feeding robot runs to the POY loop line to cruise and wait for tasks. When any raw yarn scaffold needs to be loaded with POY yarn, a waiting yarn loading command is sent to the PLC host computer. After receiving the waiting yarn loading command, the PLC host computer sends a scheduling command to the POY yarn loading robot loaded with raw yarn of a specified batch number. After receiving the scheduling command, the POY yarn loading robot runs from the POY loop line to the workstation of the target raw yarn scaffold to perform the raw yarn loading operation. After the POY yarn loading robot completes the yarn loading operation, it sends a tailing command to the PLC host computer. After the tailing operation is completed, the knotted and tailed POY raw yarn on the target raw yarn frame is conveyed to the texturing machine to generate DTY yarn spindles. The texturing machine stores the generated DTY yarn spindles in its own finished product temporary storage area. At the same time, the texturing machine sends a material pick-up ready signal to the PLC host computer. After the PLC host computer receives the material pick-up ready signal, If a DTY temporary storage station exists, the PLC host computer sends scheduling instructions to the DTY transfer equipment on the DTY loop and the empty DTY vehicles in the empty DTY temporary storage area. The DTY transfer equipment on the DTY loop and the empty DTY vehicles in the empty DTY temporary storage area coordinate to move the DTY spindles on the target texturing machine to the full DTY temporary storage area according to the scheduling instructions. If there is no DTY temporary storage station, the PLC host computer sends a scheduling instruction to the empty DTY vehicle in the empty DTY temporary storage area. The empty DTY vehicle in the empty DTY temporary storage area moves the DTY spindle on the target texturing machine to the full DTY temporary storage area according to the scheduling instruction. After the DTY spindles on the fully loaded DTY carrier are unloaded, the empty paper tubes are transported to the designated location to complete the handover with the DTY transfer equipment. The DTY transfer equipment transports empty paper tubes to the target texturing machine for tube return operation. After the tube return operation is completed, the DTY transfer equipment moves to the DTY loop line and waits for the next dispatch instruction.

[0008] Preferably, When any POY storage station has fewer than a preset quantity threshold of yarn spindles, the PLC host computer sends a scheduling command to the POY carrier to replenish the yarn in the POY storage station, including: When any POY temporary storage station has fewer than a preset number of spindles, the POY temporary storage station sends a spindle replenishment signal to the PLC host computer. After receiving the spindle replenishment signal, the PLC host computer sends a scheduling instruction to the empty POY vehicle in the POY empty vehicle buffer area. After receiving the scheduling instruction, the empty POY carrier moves from the empty POY buffer area to the POY carrier loading area, where the robot transfers the POY filament to the empty POY carrier. After an empty POY vehicle is fully loaded, it moves to the POY full-load buffer area to wait in line. The fully loaded POY vehicle runs from the POY full-load buffer area to the POY temporary storage station waiting for wire repair via the EMS track. After the fully loaded POY carrier arrives at the POY temporary storage station to be patched, it sends a position signal to the PLC host computer; after receiving the position signal, the PLC host computer sends a request to release the POY to be patched to the POY temporary storage station. After receiving the request to release the POY yarn, the POY temporary storage station to be replenished grabs the POY yarn spindle from the fully loaded POY carrier. After unloading, the empty POY carrier sends a return signal to the PLC host computer. After receiving the passable signal from the PLC host computer, the empty POY vehicle returns to the empty POY buffer area via the EMS track, waiting for the next scheduling instruction from the PLC host computer.

[0009] Preferably, When all the buffer spindles on any POY yarn feeding robot are consumed, the PLC host computer sends a scheduling command to the POY yarn feeding robot to replenish yarn through the POY temporary storage station, including: When all the buffer spindles on any POY yarn feeding robot are consumed, a yarn replenishment signal is sent to the PLC host computer. After receiving the yarn replenishment signal, the PLC host computer sends a scheduling command to the POY yarn feeding robot. After receiving the scheduling command, the POY yarn feeding robot runs to the target POY temporary storage station via the EMS track and sends a positioning command to the PLC host computer. After receiving the arrival command from the POY loading robot, the PLC host computer sends a handover command to the target POY temporary storage station. After receiving the handover command, the target POY temporary storage station loads its own POY spindles onto the two side hanging frames of the POY loading robot's on-board buffer position.

[0010] Preferably, After receiving the scheduling instruction, the POY yarn loading robot moves from the POY loop to the workstation of the target yarn rack to perform the yarn loading operation, including: After the POY yarn loading robot reaches the station of the target yarn rack, it uses its own robotic arm to remove the empty paper tube from the yarn rack and then performs the yarn loading operation. After the POY yarn loading operation is completed, the POY yarn loading robot returns to the POY loop to wait for the next scheduling instruction, or sends a yarn replenishment signal to the PLC host computer.

[0011] Preferably, If a DTY temporary storage station exists, the PLC host computer sends scheduling instructions to the DTY transfer equipment on the DTY loop and the empty DTY vehicles in the empty DTY temporary storage area. The DTY transfer equipment on the DTY loop and the empty DTY vehicles in the empty DTY temporary storage area coordinate to move the DTY spindles on the target texturing machine to the full DTY temporary storage area according to the scheduling instructions, including: After receiving the scheduling instruction, the DTY transfer equipment runs from the DTY loop line to the target texturing machine station, and uses the telescopic clamping forks to pick up the DTY yarn spindle from the target texturing machine and transfer the DTY yarn spindle to the DTY temporary storage station. The DTY temporary storage station sends a yarn picking signal to the PLC host computer, and the DTY transfer equipment returns to the DTY loop line to cruise and wait for the task. After receiving the yarn take-up signal, the PLC host computer sends a scheduling command to the empty DTY carrier in the empty car temporary storage area. After receiving the scheduling command, the empty DTY carrier moves from the empty car temporary storage area to the target DTY temporary storage station. After the empty DTY carrier moves into place, the DTY yarn spindle rolls from the target DTY temporary storage station onto the empty DTY carrier along a specific track. After the DTY carrier is fully loaded, it moves to the full car temporary storage area.

[0012] Preferably, If no DTY temporary storage station exists, the PLC host computer sends a scheduling command to the empty DTY vehicle in the empty DTY temporary storage area. The empty DTY vehicle in the empty DTY temporary storage area moves the DTY spindle on the target texturing machine to the full DTY temporary storage area according to the scheduling command, including: After receiving a dispatching instruction, the empty DTY carrier in the empty car temporary storage area moves to the front of the target texturing machine station. After the empty DTY carrier moves into place, the DTY spindle rolls down from the material picking position of the target texturing machine onto the empty DTY carrier along a specific track. After the DTY carrier is fully loaded, it moves to the full car temporary storage area.

[0013] Preferably, After the DTY spindles on the fully loaded DTY carrier are unloaded, the empty paper tubes are transported to a designated location to be handed over to the DTY transfer equipment, including: After the robot unloads the DTY spindles from the fully loaded DTY vehicle, it grabs the empty DTY paper tubes and puts them onto the empty DTY vehicle. After the DTY carrier is fully loaded with empty paper tubes, it sends a full load signal to the PLC host computer. After receiving the full load signal, the PLC host computer sends a scheduling command to the DTY carrier with full empty paper tubes, and at the same time sends a scheduling command to the DTY transfer equipment on the DTY loop. After receiving the dispatch instruction, the DTY carrier fully loaded with empty paper tubes moves to the DTY carrier docking point, and the DTY transfer equipment moves to the DTY transfer equipment docking point after receiving the dispatch instruction. Once the DTY carrier and DTY transfer device, fully loaded with empty paper tubes, are in place, they send a position signal to the PLC host computer. Upon receiving the position signal, the PLC host computer sends a handover signal to both the DTY carrier and the DTY transfer device, transferring the empty paper tubes from the DTY carrier to the DTY transfer device.

[0014] Preferably, The DTY transfer equipment transports empty paper tubes to the target texturing machine for tube return operations, including: The DTY transfer device, fully loaded with empty paper tubes, sends a handover completion signal to the PLC host computer. After receiving the handover completion signal, the PLC host computer sends a scheduling command to the DTY transfer device. The DTY transfer device, fully loaded with empty paper tubes, returns to the target texturing machine according to the scheduling command and releases the empty paper tubes to the paper tube position of the target texturing machine. When the target texturing machine gives a paper tube loading success signal to the PLC host computer, the PLC host computer sends a tube return completion signal to the DTY transfer device. After receiving the signal, the DTY transfer device retracts its forks and completes the tube return operation. If the PLC host computer does not receive a paper tube loading success signal within the preset time period, an alarm will be triggered.

[0015] According to a second aspect of the present invention, a spindle conveying device for a texturing workshop is provided, the device comprising: POY Outbound Module: When any POY storage station has fewer than a preset quantity threshold of yarn spindles, the PLC host computer sends a scheduling command to the POY carrier to replenish the yarn for the POY storage station. POY yarn replenishment module: When all the buffer yarn spindles on any POY yarn feeding robot are consumed, the PLC host computer sends a scheduling command to the POY yarn feeding robot, replenishes the yarn for the POY yarn feeding robot through the POY temporary storage station, and the replenished POY yarn feeding robot runs to the POY loop line to cruise and wait for tasks. Raw yarn loading module: When any raw yarn rack needs to load POY yarn, it sends a waiting yarn loading command to the PLC host computer. After receiving the waiting yarn loading command, the PLC host computer sends a scheduling command to the POY yarn loading robot loaded with raw yarn of a specified batch number. After receiving the scheduling command, the POY yarn loading robot runs from the POY loop to the workstation of the target raw yarn rack to perform the raw yarn loading operation. Tail-joining module: Used to send a tail-joining command to the PLC host computer after the POY yarn loading robot has completed the raw yarn loading operation; DTY yarn spindle generation module: After the tailing operation is completed, the knotted and tailed POY raw yarn on the target raw yarn frame is transported to the texturing machine to generate DTY yarn spindles. The texturing machine stores the generated DTY yarn spindles in its own finished product temporary storage area. At the same time, the texturing machine sends a material picking ready signal to the PLC host computer. After the PLC host computer receives the material picking ready signal, First DTY transport module: If a DTY temporary storage station exists, the PLC host computer sends scheduling instructions to the DTY transfer equipment on the DTY loop and the empty DTY vehicles in the empty DTY temporary storage area. The DTY transfer equipment on the DTY loop and the empty DTY vehicles in the empty DTY temporary storage area coordinate to move the DTY spindles on the target texturing machine to the full DTY temporary storage area according to the scheduling instructions. The second DTY transport module is used to send a scheduling instruction from the PLC host computer to the empty DTY vehicle in the empty DTY temporary storage area if there is no DTY temporary storage station. The empty DTY vehicle in the empty DTY temporary storage area moves the DTY spindle on the target texturing machine to the full DTY temporary storage area according to the scheduling instruction. The handover module is used to transport empty paper tubes to a designated location and complete the handover with the DTY transfer equipment after the DTY spindles on the fully loaded DTY carrier have been unloaded. Paper tube return module: used by the DTY transfer equipment to transport empty paper tubes to the target texturing machine for paper tube return operation. After the paper tube return operation is completed, the DTY transfer equipment runs to the DTY loop line and waits for the next scheduling instruction.

[0016] According to a third aspect of the present invention, a storage medium is provided, the storage medium storing a computer program, which, when executed by a host controller, implements the steps of the above-described method.

[0017] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects: This application achieves flexible adjustment of logistics by designing POY and DTY bidirectional reservoir-type buffer zones (including empty vehicle buffer zones and full vehicle buffer zones) at both ends of the main ring. The empty car pool can promptly release empty carriers to fill gaps when downstream return flow speed or upstream replenishment fluctuates, ensuring sufficient carrier supply on the main line. The full car pool can temporarily store finished product carriers when downstream yarn cars have not arrived or production batches change, allowing the main line to operate at full load continuously, completely eliminating "line blockage" and "idling" phenomena, achieving "uninterrupted flow" of logistics, and significantly improving the efficiency of yarn spinning and the utilization rate of the main line. Each texturing machine's corresponding branch rail forms an independent small loop (POY loop and DTY loop). When a carrier or robot in a certain section of the small loop malfunctions, the corresponding switch only needs to be locked on-site to "cut the faulty section out of the main loop." The yarn spinning of the remaining lines is not affected and can still operate normally. The scope of the fault impact is precisely controlled, greatly reducing the risk of system paralysis and improving the reliability of the transportation process and production continuity. The transportation process realizes a closed-loop collaboration of the entire chain, including POY raw yarn outbound, conveying, yarn loading, and DTY yarn spinning, transfer, and empty paper tube recycling. By monitoring the number of POY spindles in the temporary storage station in real time, the outbound task is automatically triggered to ensure a sufficient supply of raw yarn; DTY finished product transfer and empty paper tube recycling are carried out simultaneously, and the carrier and transfer equipment are precisely docked to avoid equipment waiting and resource waste. At the same time, the equipment conducts patrol inspections on the small loop when there are no tasks, and can be executed immediately when there are tasks, thus improving task efficiency.

[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] Figure 1 This is a schematic flowchart illustrating a method for conveying yarn spindles in a texturing workshop, according to an exemplary embodiment. Figure 2 This is a schematic diagram of the texturing workshop layout according to another exemplary embodiment; Figure 3 This is a schematic diagram of a texturing workshop spindle conveying device according to another exemplary embodiment; In the attached diagram: 1- POY outbound module, 2- POY yarn replenishment module, 3- Raw yarn loading module, 4- Tail-joining module, 5- DTY spindle generation module, 6- First DTY transport module, 7- Second DTY transport module, 8- Handover module, 9- Tube return module. Detailed Implementation

[0021] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0022] Example 1 Figure 1 This is a schematic flowchart illustrating a method for conveying yarn spindles in a texturing workshop, according to an exemplary embodiment. Figure 1 As shown, the method includes: S1, when any POY temporary storage station has fewer than a preset number of spindles, the PLC host computer sends a scheduling command to the POY carrier to replenish the POY temporary storage station. S2, when all the buffer spindles on any POY spinning robot are consumed, the PLC host computer sends a scheduling command to the POY spinning robot, and replenishes the POY spinning robot through the POY temporary storage station. After replenishment, the POY spinning robot runs to the POY loop line to cruise and wait for tasks. S3, when any raw yarn frame needs to be loaded with POY yarn, a waiting yarn loading command is sent to the PLC host computer. After receiving the waiting yarn loading command, the PLC host computer sends a scheduling command to the POY yarn loading robot loaded with raw yarn of a specified batch number. After receiving the scheduling command, the POY yarn loading robot runs from the POY loop line to the workstation of the target raw yarn frame to perform the raw yarn loading operation. S4, after the POY yarn loading robot completes the yarn loading operation, it sends a tailing command to the PLC host computer. S5, after the tailing operation is completed, the knotted and tailed POY raw yarn on the target raw yarn frame is conveyed to the texturing machine to generate DTY yarn spindles. The texturing machine stores the generated DTY yarn spindles in its own finished product temporary storage area. At the same time, the texturing machine sends a material picking ready signal to the PLC host computer. After the PLC host computer receives the material picking ready signal, S6. If a DTY temporary storage station exists, the PLC host computer sends a scheduling instruction to the DTY transfer equipment on the DTY loop and the empty DTY vehicle in the empty DTY temporary storage area. The DTY transfer equipment on the DTY loop and the empty DTY vehicle in the empty DTY temporary storage area work together to move the DTY spindle on the target texturing machine to the full DTY temporary storage area according to the scheduling instruction. S7. If there is no DTY temporary storage station, the PLC host computer sends a scheduling instruction to the empty DTY vehicle in the empty DTY temporary storage area. The empty DTY vehicle in the empty DTY temporary storage area moves the DTY spindle on the target texturing machine to the full DTY temporary storage area according to the scheduling instruction. S8, after the DTY spindles on the fully loaded DTY carrier are unloaded, the empty paper tube is transported to the designated location to complete the handover with the DTY transfer equipment; S9, the DTY transfer equipment transports the empty paper tube to the target texturing machine for tube return operation. After the tube return operation is completed, the DTY transfer equipment runs to the DTY loop line and waits for the next dispatch instruction. Understandably, as shown in the attached document Figure 2 As shown, one of the inventive features of this embodiment is that branch rails are extended from both sides of the main rail as needed: each branch rail forms a small loop around a set of texturing machines, allowing the DTY transfer robot to travel around it, i.e., attached... Figure 2 The DTY loop is located within the machine; each group of texturing machines has a small loop on each side of the original yarn frame for the POY yarn loading robot to rotate around, i.e., attached... Figure 2 The POY loop in the system; the branch rails and main rails intersect at fixed connection points, achieving zero-conflict track switching between robots and vehicles through a "main rail priority, branch rail yield" turnout logic; each end of the main loop has a "two-way reservoir" type buffer zone, connecting the POY main rails and DTY main rails into an interconnected network, i.e., attached... Figure 2 The system includes (POY empty car buffer area, POY full car buffer area, DTY empty car buffer area, and DTY full car buffer area). The empty car buffer area is designed to release empty vehicles when there is a sudden replenishment upstream or a return flow downstream, ensuring uninterrupted flow on the main line. The full car buffer area is designed to allow finished product vehicles to enter the pool before the downstream yarn car arrives or when a batch is changed, ensuring continuous full-load operation of the main line and preventing "line blockage" and "idling". When a new set of texturing machine is needed, a new branch rail is drawn out at the corresponding position on the main line to form a new DTY loop and POY loop, reusing the original main loop track and turnout logic without modifying the original line. Due to the loop layout, if any vehicle or robot fails in a certain section of the loop, the corresponding turnout only needs to be locked on the spot to cut the faulty section out of the main loop, and the rest of the line will not be affected and can still operate normally, greatly reducing the impact of failure on the overall conveying system.

[0023] The specific execution process includes: When the number of POY spindles in any POY temporary storage area is less than a preset threshold (which can be freely set according to the production cycle of different texturing equipment, and this embodiment does not impose any restrictions on it), the PLC host computer issues a POY outbound task to the POY temporary storage warehouse. The robot transports the POY raw yarn from the POY temporary storage warehouse to the POY carrier loading area. At the same time, a scheduling instruction is sent to the empty POY carrier in the empty car buffer area. The empty POY carrier runs to the POY carrier loading area. After arriving at the loading area, the robot in the POY carrier loading area transfers the POY raw yarn to the empty POY carrier. The fully loaded POY carrier moves to the POY full car buffer area to queue up and wait for departure. When departure is permitted, the fully loaded POY carrier runs from the POY full car buffer area to the POY temporary storage station waiting for yarn replenishment via the EMS track. After the fully loaded POY carrier arrives at the POY temporary storage station to be patched, it sends a position signal to the PLC host computer; the PLC host computer then sends a request to release the POY to the POY temporary storage station to be patched. After receiving the request to release the POY yarn, the POY temporary storage station waiting to be replenished grabs the POY yarn spindle from the fully loaded POY carrier. After unloading, the empty POY carrier sends a return signal to the PLC host computer. After receiving the passable signal from the PLC host computer, the empty POY carrier returns to the empty POY buffer area via the EMS track, waiting for the next scheduling instruction from the PLC host computer. When all the buffer spindles on any POY feeding robot are consumed, a replenishment signal is sent to the PLC host computer. After receiving the replenishment signal, the PLC host computer sends a scheduling command to the POY feeding robot. After receiving the scheduling command, the POY feeding robot runs to the target POY temporary storage station via the EMS track (it is worth noting that the target POY temporary storage station can be a temporary storage station with a remaining number of spindles greater than a certain threshold, to avoid the temporary storage station being unable to fully replenish the POY spindles for the POY feeding robot), and sends a position command to the PLC host computer. After receiving the arrival command from the POY yarn loading robot, the PLC host computer sends a handover command to the target POY temporary storage station. After receiving the handover command, the target POY temporary storage station loads its own POY yarn onto the yarn hanging racks on both sides of the POY yarn loading robot's on-board buffer position. After the yarn hanging racks on both sides of the POY yarn loading robot's on-board buffer position are fully loaded, it runs to the POY loop line to cruise and wait for tasks. When any raw yarn holder needs to be loaded with POY yarn, a waiting yarn loading command is sent to the PLC host computer. After receiving the waiting yarn loading command, the PLC host computer sends a scheduling command to the POY yarn loading robot loaded with raw yarn of the specified batch number. After receiving the scheduling command, the POY yarn loading robot runs from the POY loop to the workstation of the target raw yarn holder to perform the raw yarn loading operation. After the POY yarn loading robot reaches the station of the target yarn rack, it uses its own robotic arm to remove the empty paper tube from the yarn rack and then performs the yarn loading operation. After the filament feeding operation is completed, if the number of remaining filament spindles is greater than a certain number, i.e. no additional filament is needed, the POY filament feeding robot returns to the POY loop to wait for the next scheduling instruction. If additional filament is needed, a supplementary filament signal is sent to the PLC host computer to execute the above-mentioned POY filament feeding robot supplementary filament steps. After the POY yarn loading robot completes the raw yarn loading operation, it sends a tailing command to the PLC host computer. Based on the tailing command, the PLC host computer can either send a signal to the relevant personnel to perform manual tailing, or send a scheduling command to the tailing robot to perform automatic tailing. This embodiment does not impose any restrictions on this. It should be noted that the tailing operation is to connect the newly placed POY yarn spindle of the POY yarn loading robot with the previous POY yarn spindle. After the tailing operation is completed, the knotted and tailed POY filament on the target filament frame is conveyed to the texturing machine to generate DTY filament spindles. The texturing machine stores the generated DTY filament spindles in its own finished product temporary storage area. At the same time, the texturing machine sends a material pick-up ready signal to the PLC host computer. After the PLC host computer receives the material pick-up ready signal, There are two scenarios: whether a DTY temporary storage site exists. If a DTY temporary storage station exists, the PLC host computer sends a scheduling command to the DTY transfer equipment. After receiving the scheduling command, the DTY transfer equipment runs from the DTY loop line to the target texturing machine station, and uses its telescopic clamping forks to pick up the DTY spindles from the target texturing machine and transfer them to the DTY temporary storage station. The DTY temporary storage station sends a yarn-picking signal to the PLC host computer, and the DTY transfer equipment returns to the DTY loop line to cruise and wait for tasks. After receiving the yarn-picking signal, the PLC host computer sends a scheduling command to the empty DTY vehicle in the empty car temporary storage area. After receiving the scheduling command, the empty DTY vehicle moves from the empty car temporary storage area to the target DTY temporary storage station. After the empty DTY vehicle moves into place, the DTY spindles roll down from the target DTY temporary storage station onto the empty DTY vehicle along a specific track. After the DTY vehicle is fully loaded, it moves to the full DTY temporary storage area. If there is no DTY temporary storage station, the PLC host computer directly sends a scheduling command to the empty DTY carrier in the empty DTY temporary storage area. After receiving the scheduling command, the empty DTY carrier moves directly to the front of the target texturing machine station. After the empty DTY carrier moves into place, the DTY spindle rolls down from the material picking position of the target texturing machine onto the empty DTY carrier along a specific track. After the DTY carrier is fully loaded, it moves to the full DTY temporary storage area. After the robot in the DTY finished product buffer area unloads the DTY spindles from the fully loaded DTY carrier, it grabs the empty DTY paper tubes and puts them onto the empty DTY carrier. After the DTY carrier is fully loaded with empty paper tubes, it sends a full load signal to the PLC host computer. Upon receiving the full load signal, the PLC host computer sends a scheduling command to the DTY carrier with full empty paper tubes and simultaneously sends a scheduling command to the DTY transfer equipment on the DTY loop. After receiving the scheduling command, the DTY carrier with full empty paper tubes moves to the DTY carrier docking point, and the DTY transfer equipment moves to the DTY transfer equipment docking point after receiving the scheduling command. After the DTY carrier and DTY transfer equipment, which are fully loaded with empty paper tubes, arrive at their positions, they send an arrival signal to the PLC host computer. Upon receiving the arrival signal, the PLC host computer sends a handover signal to the DTY carrier and DTY transfer equipment, respectively, to transfer the empty paper tubes from the DTY carrier to the DTY transfer equipment. The DTY transfer equipment, fully loaded with empty paper tubes, sends a handover completion signal to the PLC host computer. After receiving the handover completion signal, the PLC host computer sends a scheduling command to the DTY transfer equipment. The DTY transfer equipment, fully loaded with empty paper tubes, returns to the target texturing machine according to the scheduling command and releases the empty paper tubes to the paper tube position of the target texturing machine. When the target texturing machine gives a paper tube loading success signal to the PLC host computer, the PLC host computer sends a tube return completion signal to the DTY transfer equipment. After receiving the signal, the DTY transfer equipment retracts its forks, completes the tube return operation, and runs to the DTY loop line, waiting for the next scheduling command. If the PLC host computer does not receive a paper tube loading success signal within the preset time period, an alarm will be triggered.

[0024] Example 2 Figure 3 This is a schematic diagram of a texturing workshop spindle conveying device according to another exemplary embodiment, the device comprising: POY Outbound Module 1: When any POY storage station has fewer than a preset quantity threshold of yarn spindles, the PLC host computer sends a scheduling command to the POY carrier to replenish the yarn for the POY storage station. POY yarn replenishment module 2: When all the buffer yarn spindles on any POY yarn feeding robot are consumed, the PLC host computer sends a scheduling command to the POY yarn feeding robot, replenishes yarn for the POY yarn feeding robot through the POY temporary storage station, and the replenished POY yarn feeding robot runs to the POY loop line to cruise and wait for tasks. Raw yarn loading module 3: When any raw yarn frame needs to load POY yarn, it sends a waiting yarn loading command to the PLC host computer. After receiving the waiting yarn loading command, the PLC host computer sends a scheduling command to the POY yarn loading robot loaded with raw yarn of a specified batch number. After receiving the scheduling command, the POY yarn loading robot runs from the POY loop to the workstation of the target raw yarn frame to perform the raw yarn loading operation. Tail-joining module 4: Used to send a tail-joining command to the PLC host computer after the POY yarn loading robot has completed the yarn loading operation; DTY yarn spindle generation module 5: After the tailing operation is completed, the knotted and tailed POY yarn on the target yarn frame is transported to the texturing machine to generate DTY yarn spindles. The texturing machine stores the generated DTY yarn spindles in its own finished product temporary storage area. At the same time, the texturing machine sends a material picking ready signal to the PLC host computer. After the PLC host computer receives the material picking ready signal, First DTY transport module 6: If a DTY temporary storage station exists, the PLC host computer sends a scheduling instruction to the DTY transfer equipment on the DTY loop and the empty DTY vehicle in the empty DTY temporary storage area. The DTY transfer equipment on the DTY loop and the empty DTY vehicle in the empty DTY temporary storage area coordinate to move the DTY spindle on the target texturing machine to the full DTY temporary storage area according to the scheduling instruction. Second DTY transport module 7: If there is no DTY temporary storage station, the PLC host computer sends a scheduling instruction to the empty DTY vehicle in the empty DTY temporary storage area, and the empty DTY vehicle in the empty DTY temporary storage area moves the DTY spindle on the target texturing machine to the full DTY temporary storage area according to the scheduling instruction. Handover Module 8: After the DTY spindles on the fully loaded DTY carrier have been unloaded, the empty paper tube is transported to the designated location to complete the handover with the DTY transfer equipment; Tube return module 9: Used by the DTY transfer equipment to transport empty paper tubes to the target texturing machine for tube return operation. After the tube return operation is completed, the DTY transfer equipment runs to the DTY loop line and waits for the next scheduling instruction.

[0025] Example 3: This embodiment provides a storage medium storing a computer program, which, when executed by a host controller, implements the various steps in the above method. It is understood that the storage medium mentioned above can be a read-only memory, a hard disk, or an optical disk, etc.

[0026] 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.

[0027] It should be noted that in the description of this invention, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means at least two.

[0028] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0029] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0030] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0031] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0032] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0033] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," 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 the invention. 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.

[0034] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method of conveying yarn spools in an elasticizer plant, characterized in that, The method comprises: When the POY temporary storage station has less than a preset number of POY spools, the PLC sends a scheduling instruction to the POY carrier to replenish POY spools to the POY temporary storage station; When the POY spooling robot has no POY spool left, the PLC sends a scheduling instruction to the POY spooling robot to replenish POY spools from the POY temporary storage station, and the POY spooling robot runs to the POY loop to wait for a task after the replenishment; When a raw yarn rack needs to be loaded with POY yarn, a waiting instruction is sent to the PLC, and the PLC sends a scheduling instruction to the POY spooling robot loaded with POY yarn of a specified batch number after receiving the waiting instruction, and the POY spooling robot runs to the target raw yarn rack to load the raw yarn after receiving the scheduling instruction; After the POY spooling robot finishes loading the raw yarn, a tail end instruction is sent to the PLC; After the tail end operation is completed, the POY yarn loaded on the target raw yarn rack is sent to a texturing machine to generate DTY spools, and the texturing machine stores the generated DTY spools in a finished product temporary storage area, and sends a material taking ready signal to the PLC, and the PLC receives the material taking ready signal; If there is a DTY temporary storage station, the PLC sends a scheduling instruction to a DTY transfer device on a DTY loop and a DTY empty carrier temporary storage area, and the DTY transfer device and the empty DTY carrier in the DTY empty carrier temporary storage area move the DTY spools on the target texturing machine to a DTY full carrier temporary storage area according to the scheduling instruction; If there is no DTY temporary storage station, the PLC sends a scheduling instruction to the empty DTY carrier in the DTY empty carrier temporary storage area, and the empty DTY carrier moves the DTY spools on the target texturing machine to the DTY full carrier temporary storage area according to the scheduling instruction; After the DTY spools on the full DTY carrier are unloaded, the empty paper tube is transported to a specified location and handed over to the DTY transfer device; The DTY transfer device transports the empty paper tube to the target texturing machine to perform a paper tube returning operation, and after the paper tube returning operation is completed, the DTY transfer device runs to the DTY loop to wait for the next scheduling instruction.

2. The method of claim 1, wherein When the POY temporary storage station has less than a preset number of POY spools, the POY temporary storage station sends a replenishment signal to the PLC, and the PLC sends a scheduling instruction to an empty POY carrier in a POY empty carrier buffer area after receiving the replenishment signal; After receiving the scheduling instruction, the empty POY carrier moves from the POY empty carrier buffer area to a POY carrier loading area, and a robot in the POY carrier loading area transfers POY yarn to the empty POY carrier. ​ The full POY carrier moves to the POY full carrier buffer area to queue after being full, and the full POY carrier runs to the POY temporary storage station for silk replenishment from the POY full carrier buffer area through the EMS track; After the full POY carrier arrives at the POY temporary storage station for silk replenishment, a signal is sent to the PLC host computer; after the PLC host computer receives the signal, a signal is sent to the POY temporary storage station for silk replenishment to request silk release; After the POY temporary storage station for silk replenishment receives the signal for silk release, the POY spool on the full POY carrier is grabbed, and the empty POY carrier after unloading sends a return signal to the PLC host computer; After the empty POY carrier receives the passable signal sent by the PLC host computer, the empty POY carrier returns to the POY empty carrier buffer area through the EMS track to wait for the next scheduling instruction of the PLC host computer.

3. The method of claim 2, wherein when all the cached spools on any POY silk feeding robot are consumed, the PLC host computer sends a scheduling instruction to the POY silk feeding robot to replenish silk through the POY temporary storage station, comprising: when all the cached spools on any POY silk feeding robot are consumed, a silk replenishment signal is sent to the PLC host computer, and after the PLC host computer receives the silk replenishment signal, a scheduling instruction is sent to the POY silk feeding robot, and after the POY silk feeding robot receives the scheduling instruction, it runs to the target POY temporary storage station through the EMS track and sends a signal to the PLC host computer to indicate that it has arrived at the target POY temporary storage station; after the PLC host computer receives the signal from the POY silk feeding robot to indicate that it has arrived at the target POY temporary storage station, an exchange instruction is sent to the target POY temporary storage station, and after the target POY temporary storage station receives the exchange instruction, the POY spools on the target POY temporary storage station are loaded onto the two side spool holders of the POY silk feeding robot.

4. The method of claim 3, wherein after the POY silk feeding robot receives the scheduling instruction, it runs to the target bobbin creel on the POY ring line to perform the primary silk feeding operation, comprising: after the POY silk feeding robot arrives at the target bobbin creel, it takes down the empty paper tube on the bobbin creel through its own mechanical arm and then performs the primary silk feeding operation; after the primary silk feeding operation is completed, the POY silk feeding robot returns to the POY ring line to wait for the next scheduling instruction or sends a silk replenishment signal to the PLC host computer.

5. The method of claim 4, wherein if there is a DTY temporary storage station, the PLC host computer sends a scheduling instruction to the DTY transfer device on the DTY ring line and the empty DTY carrier in the DTY empty carrier buffer area, and the DTY transfer device on the DTY ring line and the empty DTY carrier in the DTY empty carrier buffer area move the DTY spool on the target texturing machine to the DTY full carrier buffer area according to the scheduling instruction, comprising: ​ ​ ​ The DTY transfer device receives the scheduling instruction, runs to the front of the target draw frame station from the DTY loop line, clamps the DTY spool on the target draw frame by the telescopic fork, and transfers the DTY spool to the DTY temporary storage station, which sends a yarn taking signal to the PLC upper computer, and the DTY transfer device returns to the DTY loop line to wait for tasks; After the PLC upper computer receives the yarn taking signal, it sends a scheduling instruction to the empty DTY carrier in the DTY empty carrier temporary storage area, and the empty DTY carrier moves to the target DTY temporary storage station after receiving the scheduling instruction; after the empty DTY carrier moves to the position, the DTY spool rolls from the target DTY temporary storage station to the empty DTY carrier along a specific track, and the DTY carrier moves to the DTY full carrier temporary storage area after being fully loaded.

6. The method of claim 5, wherein, if there is no DTY temporary storage station, the PLC upper computer sends a scheduling instruction to the empty DTY carrier in the DTY empty carrier temporary storage area, and the empty DTY carrier in the DTY empty carrier temporary storage area moves the DTY spool on the target draw frame to the DTY full carrier temporary storage area according to the scheduling instruction, comprising: After the empty DTY carrier in the DTY empty carrier temporary storage area receives the scheduling instruction, it moves to the front of the target draw frame station, and after the empty DTY carrier moves to the position, the DTY spool rolls from the target draw frame picking position to the empty DTY carrier along a specific track; the DTY carrier moves to the DTY full carrier temporary storage area after being fully loaded.

7. The method of claim 6, wherein, after the DTY spool on the fully loaded DTY carrier is unloaded, the empty paper tube is transported to the designated location and the DTY transfer device is completed, comprising: After the DTY spool on the fully loaded DTY carrier is unloaded by the robot, the empty DTY paper tube is grabbed and placed on the empty DTY carrier; After the DTY carrier is fully loaded with empty paper tubes, a full load signal is sent to the PLC upper computer, and after the PLC upper computer receives the full load signal, a scheduling instruction is sent to the DTY carrier loaded with empty paper tubes, and a scheduling instruction is also sent to the DTY transfer device on the DTY loop line; After the DTY carrier loaded with empty paper tubes receives the scheduling instruction, it moves to the DTY carrier docking point, and after the DTY transfer device receives the scheduling instruction, it moves to the DTY transfer device docking point; After the DTY carrier loaded with empty paper tubes and the DTY transfer device are in place, a position signal is sent to the PLC upper computer, and after the PLC upper computer receives the position signal, an exchange signal is sent to the DTY carrier loaded with empty paper tubes and the DTY transfer device respectively, and the empty paper tube is transferred from the DTY carrier to the DTY transfer device.

8. The method of claim 7, wherein the DTY transfer device transports the empty paper tube to the target draw frame for tube replacement operation, comprising: ​ ​ ​ The DTY full-empty paper tube moving device sends a handover completion signal to the PLC host computer. After receiving the handover completion signal, the PLC host computer sends a scheduling instruction to the DTY full-empty paper tube moving device. The DTY full-empty paper tube moving device returns to the front of the target texturing machine according to the scheduling instruction, and releases the empty paper tube to the paper tube position of the target texturing machine. After the target texturing machine sends a paper tube loading success signal to the PLC host computer, the PLC host computer sends a tube loading completion signal to the DTY moving device. After receiving the signal, the DTY moving device retracts the fork to complete the tube loading operation. If the PLC host computer does not receive the paper tube loading success signal within a preset time period, an alarm is generated.

9. An elastic hosiery mill yarn spool conveying device characterized by, The device comprises: A POY warehouse-out module configured to send a scheduling instruction to a POY carrier to replenish POY spools for a POY temporary storage station when the number of POY spools in any POY temporary storage station is less than a preset threshold value; A POY spool replenishment module configured to send a scheduling instruction to a POY spool loading robot to replenish POY spools for the POY spool loading robot through a POY temporary storage station when all the POY spools in the buffer of the POY spool loading robot are consumed; A primary spool loading module configured to send a waiting spool loading instruction to a PLC host computer when any primary spool holder needs to load POY spools, and send a scheduling instruction to a POY spool loading robot loaded with POY spools of a specified batch number after the PLC host computer receives the waiting spool loading instruction, so that the POY spool loading robot runs from a POY ring line to a work station of the target primary spool holder to perform a primary spool loading operation; A tail connection module configured to send a tail connection instruction to the PLC host computer after the POY spool loading robot finishes the primary spool loading operation; A DTY spool generation module configured to deliver POY primary spools knotted and connected at the target primary spool holder to a texturing machine to generate DTY spools after the tail connection operation is completed, and store the generated DTY spools in a finished product temporary storage area of the texturing machine, and send a material taking ready signal to the PLC host computer, and send a material taking ready signal to the PLC host computer after the PLC host computer receives the material taking ready signal; A first DTY transport module configured to send a scheduling instruction to a DTY moving device on a DTY ring line and a DTY empty vehicle temporary storage area empty DTY carrier if there is a DTY temporary storage station, so that the DTY moving device on the DTY ring line and the DTY empty vehicle temporary storage area empty DTY carrier cooperatively move DTY spools on the target texturing machine to a DTY full vehicle temporary storage area according to the scheduling instruction; A second DTY transport module configured to send a scheduling instruction to a DTY empty vehicle temporary storage area empty DTY carrier if there is no DTY temporary storage station, so that the DTY empty vehicle temporary storage area empty DTY carrier moves DTY spools on the target texturing machine to the DTY full vehicle temporary storage area according to the scheduling instruction; A handover module configured to transport an empty paper tube to a specified location and complete handover with a DTY moving device after DTY spools on a full DTY carrier are unloaded. Pipe returning module: used for the DTY transfer device to transport the empty paper tube to the target elasticizer for pipe returning operation, after the pipe returning operation is completed, the DTY transfer device runs to the DTY loop line, and waits for the next dispatching instruction.

10. A storage medium, characterized by The storage medium stores a computer program, and the computer program is executed by the host computer to implement each step of the method for conveying the yarn spool in the elasticizer workshop according to any one of claims 1-8.

Images