Polyester pre-oriented yarn (POY) automatic feeding robot for elasticizing workshop and POY transfer system and method

Abstract

The invention provides an elasticizing workshop POY automatic feeding robot and a POY transfer system and method.The feeding robot comprises a feeding unit, a walking unit and a feeding controller, and a feeding frame of the feeding unit is provided with a feeding grabbing device, a temporary storage device, a supporting device and an empty paper tube temporary storage device. The upper wire grabbing driving mechanism drives the upper wire grabbing mechanism to move in the X direction, the Y direction and the Z direction, and grabbing placement of wire spindles and empty paper tubes is achieved. The temporary storage device can rotate by at least 90 degrees and is used for storing the silk ingots; the supporting device comprises a guide mechanism for providing movement guide for the robot or a telescopic ground supporting mechanism which forms a stable contact state with the ground after the robot reaches a station; the empty paper tube temporary storage device collects empty paper tubes. The walking unit drives the yarn feeding unit to take yarn from the POY temporary storage station, and the elasticizing machine set supplements yarn. The robot integrates multiple functions, the three-dimensional moving capacity and accurate positioning of the robot are achieved, operation is rapid and accurate, the temporary storage device operates efficiently, and automatic carrying of silk spindles and empty paper tubes is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of chemical fibers, in particular to a POY automatic silk feeding robot in a texturing workshop, a POY transfer system and a method. BACKGROUND

[0002] In the production process of the texturing workshop, the original silk spool conveying, paper tube lowering, and original silk feeding links are key parts of the production process, but they are still in the original state of "manual moving and trolley pushing". There is no mature full-automatic silk feeding complete system on the market, which leads to the biggest blank and bottleneck of the "last mile" of the intelligent upgrading of the chemical fiber industry. The specific pain points are mainly reflected in: 1. High risk of manual silk hanging quality The POY cake weighs 10-20 kg alone, and the paper tube is brittle and the silk layer is loose. Frequent manual feeding and unloading can easily cause "scratches, edge collapse, and lint"; the side of the silk spool is easily knocked when moved, forming "lint" or oil stains, which becomes the root cause of the later broken head and lint, affecting product quality.

[0003] 2. High labor cost, high labor intensity, and low efficiency In the past ten years, China's chemical fiber production capacity has doubled, but the number of front-line operators has continued to decline. POY original silk handling has high labor intensity and low efficiency, and 24-hour continuous production puts higher requirements on shift changes, leading to the intensification of the contradictions of "difficulty in recruiting workers, high turnover, and rising costs". It is urgent to replace manual handling and feeding with full-process automation to achieve cost reduction, quality improvement, and stable production.

[0004] 3. Limited technical upgrade The production capacity of the new generation of texturing machines has doubled, and the frequency of POY original silk feeding has increased. Manual silk feeding cannot match the machine rhythm and cannot meet the construction needs of "automatic production line as the core" intelligent factory, limiting the realization of the long-term technical upgrade goal of reducing energy consumption and improving comprehensive efficiency of enterprises.

[0005] 4. On-site safety hazards Due to the stacking of silk cars occupying the passageway, the width of the passageway is compressed to 0.8m (the specification requires ≥1.2m), which not only affects the cleanliness of the workshop, but also causes difficulties in fire evacuation, bringing serious safety hazards to the texturing workshop.

[0006] In summary, POY silk feeding is still in the "semi-automatic + physical" stage, with efficiency bottlenecks, quality risks, and cost waste coexisting, which has become the primary point of attack for the digitalization and few-person transformation of the texturing workshop.

[0007] The existing POY conveying and original silk feeding process, although to some extent, realizes the replacement of manual operation, brings certain convenience to production. The process mainly includes the following steps: S1, the worker transports the POY spool to the POY loading area by the POY spool trolley; S2, the POY empty car lifting appliance is transported from the POY empty car temporary storage area to the POY loading area by the overhead suspension trolley, and the worker transfers the spool on the POY spool trolley to the POY empty car lifting appliance; S3, when the POY empty car lifting appliance is fully loaded with POY spools, the fully loaded POY lifting appliance is transported to the POY full car temporary storage area by the overhead suspension trolley; S4, the fully loaded POY lifting appliance is transported from the POY full car temporary storage area to the front of the PS station in the elasticizing area where POY is needed by the overhead suspension trolley, and the POY spool is unloaded to the PS station by the hook of the PS station for temporary storage; S5, the POY spool is transferred to the front of the bobbin by the POY spool trolley, and the POY bobbin is unloaded and loaded on the bobbin; S6, the POY spool is manually knotted and connected to the standby spool when the POY spool is almost used up, and the POY production distribution and spooling are completed.

[0008] However, the introduction of the POY original yarn automatic feeding test line aims to improve production efficiency and reduce manual intervention, but the production process still has obvious limitations. Each row of original yarn frame can only be equipped with one PS station and two POY feeding machines, which, although achieving automation to some extent, makes the production process more complicated and increases the production time. At the same time, the additional equipment requirement significantly increases the production cost, which brings challenges to the cost control of enterprises, and the overall benefit needs to be improved.

[0009] Therefore, the present application is proposed. SUMMARY

[0010] The POY automatic yarn feeding robot, the POY transfer system and the method provided by the present application can solve the technical problems in the prior art that the design of the current POY original yarn automatic feeding line has defects, each row of original yarn frame can only be equipped with one PS station and two feeding machines, which leads to complicated production process, increases production time, and has low production efficiency, and the additional equipment requirement significantly increases the production cost. The preferred technical solutions in the technical solutions provided by the present application can produce the technical effects described below.

[0011] To achieve the above-mentioned purpose, the present application provides the following technical solutions: The POY automatic yarn feeding robot provided by the present application comprises a yarn feeding unit, a walking unit and a yarn feeding controller, The yarn feeding unit comprises a yarn feeding frame, a yarn feeding grabbing device, a buffer device, a supporting device and an empty paper tube buffer device arranged on the yarn feeding frame, The upper wire grabbing device comprises an upper wire grabbing mechanism and an upper wire grabbing driving mechanism connected with the upper wire grabbing mechanism, and the upper wire grabbing driving mechanism drives the upper wire grabbing mechanism to move along the X direction, Y direction and Z direction respectively relative to the upper wire frame, so as to grab and place the wire spool and the empty paper tube; The buffer device comprises two groups of vehicle-mounted buffer wire racks located on both sides of the upper wire grabbing device, and the vehicle-mounted buffer wire racks are rotatable structures capable of rotating at least 90 degrees on the horizontal plane relative to the upper wire frame, so as to store the wire spool. The support device comprises a guide mechanism or a telescopic ground support mechanism, and the upper wire frame is connected with the ground through the guide mechanism, and the ground support mechanism is used to form a stable contact state with the ground after reaching the work station. The empty paper tube buffer device is used to collect and buffer the empty paper tube. The walking unit drives the upper wire unit to move to the POY temporary storage station for wire taking operation and to the elasticizer machine station group for wire supplementing operation. The upper wire unit and the walking unit are electrically connected with the upper wire controller respectively.

[0012] Preferably, the upper wire grabbing driving mechanism comprises a lifting driving structure and a three-axis articulated mechanical arm, the lifting driving structure is connected with the upper wire frame, and the three-axis articulated mechanical arm is connected with the lifting driving structure and the upper wire grabbing mechanism; or the upper wire grabbing driving mechanism comprises a collaborative mechanical arm, the collaborative mechanical arm is connected with the upper wire frame and the upper wire grabbing mechanism; and the upper wire grabbing mechanism comprises a picking lever structure, a clamping jaw structure or an expansion sleeve structure.

[0013] Preferably, the vehicle-mounted buffer wire rack comprises a rotating driving structure and a plurality of buffer rods, the rotating driving structure is connected with the upper wire frame, and the buffer rod is connected with the rotating structure.

[0014] Preferably, the empty paper tube buffer device comprises a clamshell structure, a grab bucket driving structure and a paper tube detection structure, the clamshell structure is connected with the upper wire frame, the grab bucket driving structure is connected with the bucket flap of the clamshell structure, the inside of the clamshell structure forms a 270° ring cavity when the bucket flap is in the closed state; the paper tube is discharged along the bucket flap by gravity when the bucket flap is in the open state; and the paper tube detection structure comprises a photoelectric sensor, which is used to count the number of empty paper tubes entering the clamshell structure.

[0015] Preferably, the walking unit comprises an EMS monorail suspension trolley, an aerial double-rail suspension trolley or a ground rail trolley.

[0016] Preferably, a visual module is further included, which is arranged on the upper wire frame and electrically connected with the upper wire controller; the visual module judges the wall thickness of the wire spool through diameter or end face reflective area or pixel calibration conversion, marks the use state of the wire spool, and simultaneously judges whether the wire spool is loose or has edge collapse through AI edge jitter value, and if so, marks the wire spool as an abnormal spool.

[0017] Preferably, a POY transfer system in a texturing workshop comprises the foregoing automatic POY feeding robot in a texturing workshop, further comprises a conveying track, a POY carrier, a wire spool temporary storage library, a POY temporary storage station, a raw wire frame, an empty paper tube unloading area and a MES system electrically connected with the foregoing structure, the conveying track comprises a main track and branch tracks, the main track is a single-ring loop passing through the texturing workshop to connect the wire spool temporary storage library and each POY temporary storage station; the branch tracks are arranged on both sides of the texturing machine group and between the two groups of raw wire frames respectively, and are connected with the main track through a track diverter; the end of the main track is respectively provided with a temporary storage area for storing empty POY carriers and / or full POY carriers; the POY temporary storage station is arranged along the main track and comprises a plurality of groups of independent temporary storage machines arranged side by side, each temporary storage machine comprises a temporary storage frame, a temporary storage grabbing device, a temporary storage moving device and a temporary storage controller arranged on the temporary storage frame, the temporary storage grabbing device comprises a temporary storage grabbing frame, a temporary storage picking lever frame and a temporary storage lifting mechanism, the temporary storage grabbing frame is connected with the temporary storage moving device through a first guide mechanism, and the temporary storage moving device drives the temporary storage grabbing device to switch between a working position and an avoiding position; the temporary storage picking lever frame is provided with a plurality of temporary storage picking levers, and the temporary storage picking lever frame is connected with the temporary storage lifting mechanism through a second guide mechanism, and the temporary storage lifting mechanism drives the temporary storage picking lever frame to move along the Z direction; the temporary storage moving device and the temporary storage lifting mechanism are electrically connected with the temporary storage controller respectively; the raw wire frame comprises a rotary raw wire frame or a fixed raw wire frame; the POY carrier transports the POY wire spool from the wire spool temporary storage library to the POY temporary storage station through the conveying track; the feeding robot moves between the POY temporary storage station, the texturing machine group and the raw wire frame along the conveying track through the walking unit; the empty paper tube unloading area is arranged close to the raw wire frame to receive the empty paper tubes unloaded by the empty paper tube buffering device.

[0018] Preferably, a POY transfer and feeding method in a texturing workshop adopts the foregoing POY transfer system in a texturing workshop and comprises the following steps: S1, when the number of POY wire spools in the POY temporary storage station is less than a preset threshold value, the MES system sends a replenishment instruction to the wire spool temporary storage library to start a replenishment task; after the POY carrier loads full POY wire spools from the wire spool temporary storage library, the POY carrier automatically runs to the target POY temporary storage station through the conveying track; S2, the POY carrier reaches the target POY temporary storage station and stops, the temporary storage controller of the POY temporary storage station receives a signal, the temporary storage moving device pushes the temporary storage grabbing device to extend, the temporary storage picking rod penetrates into the paper tube, the temporary storage lifting mechanism drives the temporary storage picking rod frame to vertically ascend, picks up the spool from the POY carrier and moves to the temporary storage picking rod of the POY temporary storage station, and after completing the handover; then the temporary storage moving device drives the temporary storage grabbing device to retreat to the standby position, and the empty POY carrier returns to the spool temporary storage library area after receiving a passable signal; S3, when the buffer spool on the yarn feeding unit is completely consumed, the yarn feeding controller controls the walking unit to drive the yarn feeding unit to move to the POY temporary storage station position, the ground support mechanism is automatically lowered and locked, and the buffer device is rotated by 90° to make the buffer rod face the POY temporary storage station; the temporary storage controller of the POY temporary storage station receives a signal, the temporary storage moving device pushes the temporary storage grabbing device to extend, the spool paper tube is aligned and inserted into the buffer rod, the temporary storage lifting mechanism descends until the spool is completely separated from the temporary storage picking rod of the POY temporary storage station, and the handover is completed; then the temporary storage moving device drives the temporary storage grabbing device to retreat to the standby position, the buffer device is rotated by 90° to return to the standby state, and moves to the draw texturing machine station that needs to be replenished with yarn or starts to perform the cruise inspection task after receiving a passable signal; S4, when the draw texturing machine needs to be replenished with yarn, a call signal is sent to the MES system, the MES system calls the matching yarn feeding robot, the yarn feeding controller controls the yarn feeding unit to move to the raw yarn frame station that needs to be replenished with yarn; if it is a rotary raw yarn frame, it is rotated outward; if it is a fixed raw yarn frame, it does not act, the yarn feeding grabbing device first moves the empty paper tube on the raw yarn frame into the empty paper tube buffer device, then takes the new POY spool from the buffer rod and accurately places it on the raw yarn frame of the draw texturing machine, and after the yarn feeding is completed, for the rotary raw yarn frame, the working angle is rotated back, and for the fixed raw yarn frame, it does not act; then the vision module is used for self-checking to ensure that the spool position is correct; S5, after the yarn feeding task is completed, the system updates the MES data; if there is still a task in the task queue of the yarn feeding robot, the task is executed according to the priority; if there is no new task, the yarn feeding robot enters the cruise inspection mode, and all raw yarn frames in the workshop are scanned in a cycle along the conveying track, the spool state is judged through the vision module, and a new task is generated according to the judgment result; if there is no new task within a specified time in the cruise mode, the yarn feeding robot automatically returns to the standby position.

[0019] The preferred technical scheme of the application can at least produce the following technical effects: The application effectively solves the technical problems of the current POY automatic feeding line in the prior art, such as the design defects, only one PS station and two feeding machines can be configured in each row of the original yarn frame, the complexity of the production link, the increase of the production time, the low production efficiency, and the substantial increase of the production cost due to the additional equipment requirements.

[0020] The application provides a POY automatic feeding robot in a stretchy workshop, which comprises a feeding unit, a walking unit and a feeding controller. The application provides a POY automatic feeding robot in a stretchy workshop, which comprises a feeding unit, a walking unit and a feeding controller. The application provides a POY automatic feeding robot in a stretchy workshop, which comprises a feeding unit, a walking unit and a feeding controller.

[0021] The automatic feeding robot of the application has the functions of automatic operation, integrated silk taking, silk replenishing, empty paper tube taking and empty paper tube storage, reduced manual intervention and intermediate links, reduced additional equipment requirements, more concise and smooth production process, reduced complexity of the production link, rapid and accurate silk spindle and empty paper tube taking and placing due to the three-dimensional movement of the silk taking device and the precise positioning of the walking unit, reduced silk spindle damage and silk feeding quality problems caused by inaccurate operation, improved production quality, temporary silk spindle storage by the storage device, temporary empty paper tube storage by the empty paper tube storage device, avoided time waste caused by waiting, improved production efficiency and automatic silk spindle and empty paper tube carrying. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1is a first structure schematic view of a POY automatic silk feeding robot provided by the application; Figure 2 is Figure 1 a top view; Figure 3 is a second structure schematic view of a POY automatic silk feeding robot provided by the application; Figure 4 is a structure schematic view of a clamshell structure of a POY automatic silk feeding robot provided by the application in a closed state; Figure 5 is a structure schematic view of a clamshell structure of a POY automatic silk feeding robot provided by the application in an open state; Figure 6 is a structure schematic view of a POY temporary storage station provided by the application; Figure 7 is a structure schematic view of an automatic silk feeding robot and a POY temporary storage station in a silk taking state provided by the application; Figure 8 is a structure schematic view of an automatic silk feeding robot and a POY temporary storage station in a silk taking state provided by the application; Figure 9 is a structure schematic view of an automatic silk feeding robot and a POY temporary storage station in a silk taking state provided by the application; Figure 10 is a system schematic view of a POY transfer system in a drawing room provided by the application; Figure 11 is a flow schematic view of a POY transfer and silk feeding method provided by the application.

[0024] in the drawing: 1, silk feeding unit; 11, silk feeding frame; 12, silk feeding grabbing mechanism; 13, lifting driving structure; 14, three-axis joint mechanical arm; 15, vehicle-mounted temporary silk frame; 151, rotating shaft; 152, temporary storage rod; 16, ground support mechanism; 17, clamshell structure; 171, bucket; 18, safety detection structure; 19, collaborative mechanical arm; 2, EMS monorail suspension trolley; 3, conveying track; 31, main track; 32, branch track; 33, track diverter; 34, empty car temporary storage area; 35, full car temporary storage area; 4, original silk frame; 41, original silk frame body; 42, original silk rotating shaft; 43, silk hanging rod; 44, tail passing sensor; 5, silk spindle temporary storage library; 6. POY temporary storage station; 61. Temporary storage grabbing frame; 62. Temporary storage cantilever frame; 621. Temporary storage cantilever; 63. Temporary storage lifting mechanism; 64. Temporary storage moving device; 65. First guide mechanism; 66. Second guide mechanism; 7. Texturing machine; 8. Empty paper tube unloading area; 9. Empty paper tubes; 10. Silk spindles. Detailed Implementation

[0025] 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.

[0026] Example 1: like Figures 1 to 4 As shown, the present invention provides an automatic POY yarn loading robot for a texturing workshop, comprising a yarn loading unit 1, a walking unit, and a yarn loading controller. The yarn loading unit 1 includes a yarn loading frame 11, and a yarn loading gripping device, a buffer device, a support device, and an empty paper tube 9 buffer device disposed on the yarn loading frame 11. The yarn loading gripping device includes a yarn loading gripping mechanism 12 and a yarn loading gripping drive mechanism connected to the yarn loading gripping mechanism 12. The yarn loading gripping drive mechanism drives the yarn loading gripping mechanism 12 to move relative to the yarn loading frame 11 along the X, Y, and Z directions respectively, for gripping and placing yarn spindles 10 and empty paper tubes 9. The buffer device includes two sets of carriages located on both sides of the yarn loading gripping device. The onboard buffer wire rack 15 is a rotatable structure, capable of rotating at least 90 degrees relative to the wire feeding frame 11 on the horizontal plane, for storing wire spindles 10; the support device includes a guide mechanism or a retractable ground support mechanism 16, the wire feeding frame is connected to the ground through the guide mechanism, and the ground support mechanism is used to form a stable contact state with the ground after reaching the work station; the empty paper tube 9 buffer device is used to collect and buffer the empty paper tubes 9; the walking unit drives the wire feeding unit 1 to move to the POY temporary storage station 6 for wire picking operation and the texturing machine 7 group for wire replenishment operation; the wire feeding unit 1 and the walking unit are electrically connected to the wire feeding controller respectively.

[0027] The automatic silk feeding robot of the application integrates silk taking, silk replenishing, empty paper tube 9 taking and empty paper tube 9 storing functions through automatic operation, reduces manual intervention and intermediate links, also reduces additional equipment requirements, and makes the production process more concise and smooth, reduces the complexity of the production process, and the three-dimensional movement capability of the silk feeding grabbing device and the precise positioning of the walking unit make the silk spool 10 and the empty paper tube 9 grabbing and placing more rapid and accurate, reduce the silk spool 10 damage or silk feeding quality problems caused by inaccurate operation, improve the production quality, at the same time, the cache device can temporarily store the silk spool 10, and the empty paper tube 9 cache device can temporarily store the empty paper tube 9, avoid the time waste caused by waiting, improve the production efficiency, realize the automatic handling of the silk spool 10 and the empty paper tube 9, and realize the unmanned silk feeding.

[0028] The auxiliary support device can adopt a telescopic ground support mechanism 16, and after the silk feeding robot is in place, the support legs of the ground support mechanism 16 are extended downward and locked to the pre-buried seat, so that the track pair of the guide mechanism can be directly removed, reducing the cost of civil construction. The auxiliary support device can also be used with the guide mechanism to provide accurate guidance for the movement of the silk feeding robot, improve the position accuracy of the silk feeding frame during operation, so that the silk feeding grabbing device can accurately reach the specified position for grabbing or placing operation, improve the accuracy of grabbing and placing operation, avoid silk spool damage or improper placement caused by inaccurate manual operation, improve the quality stability of the product, reduce the rate of defective products, and improve the overall quality level of the product.

[0029] Further, the silk feeding frame 11 is used as the overall machine skeleton, the self-weight and load of the device are small, and the late rapid disassembly and assembly need to be considered, which is used for integrating and rigidly connecting various functional devices to ensure the stability of the overall structure and the uniformity of the assembly reference. The silk feeding frame 11 is preferably made of aluminum profile, and can also be replaced by other lightweight and low-cost materials.

[0030] The safety detection structure 18 is arranged on both sides of the silk feeding frame 11, and the safety detection structure 18 includes a safety sensor or a radar.

[0031] Preferably, as shown in Figure 1 The silk feeding grabbing driving mechanism includes a lifting driving structure 13 and a three-axis joint mechanical arm 14, the lifting driving structure 13 is connected with the silk feeding frame 11, and the three-axis joint mechanical arm 14 connects the lifting driving structure 13 and the silk feeding grabbing mechanism 12; the lifting driving structure 13 includes, but is not limited to, a servo lifting structure, a sliding rail lifting structure or a synchronous belt lifting structure; or, as shown in Figure 2As shown, the upper wire grabbing driving mechanism includes a collaborative robot 19 connected to the upper wire frame 11 and the upper wire grabbing mechanism 12, which can drive the upper wire grabbing mechanism 12 to move along the X direction, Y direction and Z direction respectively at one time, taking into account the adjacent buffer device, the empty paper tube 9 buffer device and the original wire frame 4. The upper wire grabbing mechanism 12 includes but is not limited to the existing technologies such as the picking rod structure, the jaw structure or the expansion sleeve structure, etc. to complete the reliable grabbing of the wire spindle 10 under the premise of "zero contact wire bundle". Among them, the jaw structure preferably selects the inner support type two-finger jaw to preferentially grab the paper tube of the wire spindle 10, avoiding touching the POY wire bundle.

[0032] In this embodiment, as shown in the figure, Figure 1 The upper wire grabbing driving mechanism adopts a servo lifting structure and a three-axis joint robot arm 14, and the upper wire grabbing mechanism 12 adopts a picking rod structure. The servo lifting structure is connected to the upper wire frame 11 and is used to drive the three-axis joint robot arm 14 to drive the picking rod structure to move along the Z direction; the three-axis joint robot arm 14 is used to drive the picking rod structure to move along the X direction and the Y direction, which can realize omnidirectional action and cover the buffer device, the empty paper tube 9 buffer device and the adjacent two rows of original wire frames 4. The picking rod structure is arranged at the tail end of the three-axis joint robot arm 14, which can directly pick up the inner wall of the POY wire spindle 10 paper tube to realize non-contact outer surface grabbing and avoid scratching the wire layer.

[0033] Preferably, the vehicle-mounted buffer wire frame 15 includes a rotating driving structure and a plurality of buffer rods 152, and the rotating driving structure is connected to the upper wire frame 11 and the buffer rod 152 is connected to the rotating structure.

[0034] The vehicle-mounted buffer wire frame 15 is used to pre-store a plurality of POY wire spindles 10, reduce the frequency of taking and placing the wire of the upper wire robot, shorten the upper wire beat, and improve the production efficiency.

[0035] During walking or in the standby state, the two rows of vehicle-mounted buffer frames are arranged face to face, and when the vehicle-mounted buffer frame needs to take the wire, the buffer rod 152 will be rotated to a position perpendicular to the extension of the track to face the target wire spindle 10. After taking the wire, the buffer rod 152 will be rotated inward before the upper wire robot walks again, and the taken wire spindle 10 is stored in the upper wire frame 11.

[0036] The buffer wire frame of this embodiment realizes full-automatic rotation in the form of a rotating shaft 151. Specifically, the rotating driving structure includes a rotating shaft 151 and a rotating driving part for driving the rotating shaft 151 to rotate, and the rotating shaft 151 is arranged vertically, and the buffer rod 152 is arranged on the rotating shaft 151. When the rotating rod rotates, it can drive all the buffer rods 152 on the rod to rotate synchronously. The rotating driving part includes but is not limited to a motor or a cylinder.

[0037] To meet different use requirements such as multi-machine cooperation or random feeding, the buffer spool can also be designed in the form of independent rotation of the buffer rod 152, and the vehicle-mounted buffer spool 15 further comprises a support rod vertically arranged on the upper spool frame 11, and each group of buffer rods 152 is connected to the support rod through an independent rotary driving structure. Through this design, each group of buffer rods 152 can be independently controlled to rotate, thereby realizing independent alignment of any spindle position and better meeting diversified production scenarios.

[0038] Preferably, the ground support mechanism 16 is arranged on both sides of the bottom of the upper spool frame 11, including but not limited to a pneumatic telescopic rod structure, a slide rail structure, an electric or hydraulic support leg structure, and other support structures with automatic folding and unfolding capabilities in the prior art.

[0039] After the upper spool robot reaches the working position, the ground support mechanism 16 can be automatically lowered to the ground and locked to the pre-buried seat to form a stable auxiliary support, so that the track pair of the guide mechanism can be directly removed to reduce the cost of civil construction. When the work is completed, the ground support mechanism 16 can be automatically retracted to restore the walking state of the upper spool robot, providing additional support for the robot to prevent the upper spool robot from shaking due to the shift of the center of gravity during the spooling process, so that the upper spool robot remains in a stable state, thereby improving the accuracy and quality of spooling.

[0040] To ensure that the POY automatic spooling robot does not shake at the working position, the auxiliary support device further comprises a plug-in limiting assembly, which comprises a plug-in seat and a limiting block. When the upper spool robot is extended and inserted into the plug-in seat fixed to the ground or other objects and locked by the limiting block, the rigidity anti-shaking is immediately completed.

[0041] The auxiliary support device can also use a guide mechanism as required. The guide mechanism comprises a track pair and a guide wheel in sliding cooperation with the track pair. The track pair is arranged in front of the texturing machine, and the guide wheel is correspondingly arranged at the bottom of the upper spool frame 11. Through the cooperation of the track pair and the guide wheel, the vibration is suppressed in real time, which can assist in improving the terminal positioning accuracy.

[0042] Preferably, as shown in Figure 3 , Figure 4 The empty paper tube 9 buffer device comprises a scallop grab bucket structure 17, a grab bucket driving structure, and a paper tube detection structure. The scallop grab bucket structure 17 is connected to the upper spool frame 11, and the grab bucket driving structure is connected to the bucket flap 171 of the scallop grab bucket structure 17. As shown in Figure 3 When the bucket flap 171 is in a closed state, a 270° ring cavity is formed in the inside of the scallop grab bucket structure 17 for accommodating a collection container to facilitate the collection of empty paper tubes on the original spool 4; and as shown in Figure 4As shown, when the bucket flap 171 is in the open state, the paper tube is discharged along the bucket flap 171 by its own weight along the inclined grab bucket bottom plate; the paper tube detection structure includes a photoelectric sensor electrically connected to the wire feed controller, used to count the number of empty paper tubes 9 entering the shell-shaped grab bucket structure 17.

[0043] The grab bucket drive structure, as a power source, can precisely control the opening and closing of the bucket flaps 171. During the operation of the wire feeding robot and the collection of empty paper tubes, the grab bucket drive structure keeps the bucket flaps 171 closed. When the empty paper tube unloading area 8 is reached, the grab bucket drive structure drives at least one side of the bucket flaps 171 to automatically open. The paper tube is emptied in one go along the bucket flaps 171 by its own weight and discharged into the empty paper tube unloading area 8. No additional pushing mechanism is required, which simplifies the unloading process and improves work efficiency.

[0044] Preferably, the walking unit includes, but is not limited to, the EMS monorail suspension trolley 2, the overhead double-rail suspension trolley, or the ground rail trolley in the prior art. It can be selected flexibly according to the actual layout and space conditions of the texturing workshop as long as it can provide walking power for the yarn loading unit 1.

[0045] Preferably, it also includes a vision module, which is disposed on the wire feeding frame 11 and electrically connected to the wire feeding controller. The vision module determines the wall thickness of the wire spindle 10 by conversion of diameter, end face reflective area or pixel calibration, and marks the usage status of the wire spindle 10. At the same time, it determines whether the wire spindle 10 is loose / collapsed by AI edge jitter value. If so, it is marked as an abnormal spindle.

[0046] Example 2: like Figures 5 to 10 As shown, a texturing workshop POY transfer system includes an automatic POY loading robot for texturing workshop as described in Embodiment 1, and also includes a conveyor track 3, a POY carrier, a yarn spindle temporary storage warehouse 5, a POY temporary storage station 6, a raw yarn frame 4, an empty paper tube unloading area 8, and a MES system electrically connected to the aforementioned structure.

[0047] 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 to connect the spindle temporary storage warehouse 5 and each POY temporary storage station 6. The POY carrier runs unidirectionally along the main track 31, effectively eliminating collisions between vehicles. Multiple branch tracks 32 are respectively set on both sides of the texturing machine group 7 and between the two sets of raw yarn frames 4, and are connected to the main track 31 through track dividers 33. The yarn loading robot stays in the original yarn frame 4 according to the zone and completes the spindle picking and placing operations in the corresponding branch track, avoiding human-machine interaction and improving the safety and efficiency of the operation.

[0048] The end of the main track 31 is respectively provided with a temporary storage area for storing empty carriers and / or full carriers, forming a "two-way reservoir". The temporary storage area includes an empty vehicle temporary storage area 34 and a full vehicle temporary storage area 35. The empty vehicle temporary storage area 34 stores empty carriers in real time, which can quickly supplement the online line when the upstream suddenly replenishes or the downstream empty vehicle backflow stalls, ensuring the continuous flow of POY carriers and ensuring the continuity of the production process. The full vehicle temporary storage area 35 can buffer full carriers, and when the downstream yarn machine is not available or needs to be replaced, the finished product vehicle enters the temporary storage position first, and the main line continues to operate efficiently, avoiding "line blockage" or "idling", decoupling the upstream and downstream operation beats through spatial buffering, and improving the flexibility and anti-interference ability of the system.

[0049] The POY temporary storage station 6 is arranged along the main track 31, which can realize the automatic temporary storage and transfer of the POY spindles 10, improve the production efficiency, reduce the labor intensity, and ensure the stability and continuity of the production process.

[0050] The POY temporary storage station 6 includes multiple groups of parallel and independent temporary storage machines. The temporary storage machine includes a temporary storage frame, a temporary storage grabbing device, a temporary storage moving device 64 and a temporary storage controller arranged on the temporary storage frame. The temporary storage grabbing device includes a temporary storage grabbing frame 61, a temporary storage picking lever frame 62 and a temporary storage lifting mechanism 63. The temporary storage grabbing frame 61 is connected with the temporary storage moving device 64 through a first guide mechanism 65. The temporary storage moving device 64 drives the temporary storage grabbing device to switch between a working position and an avoiding position. When in the working position, the temporary storage grabbing device can accurately grab and place the POY spindles 10; when in the avoiding position, interference with the main channel equipment or personnel can be avoided, ensuring the safety and order of the production site. The temporary storage moving device 64 includes, but is not limited to, a pneumatic slide rail structure or a motor-driven belt structure or a gear and rack structure in the prior art.

[0051] The temporary storage picking lever frame 62 is provided with multiple temporary storage picking levers 621. The temporary storage picking lever frame 62 is connected with the temporary storage lifting mechanism 63 through a second guide mechanism 66. The temporary storage lifting mechanism 63 drives the temporary storage picking lever frame 62 to move along the Z direction. The temporary storage moving device and the temporary storage lifting mechanism 63 are respectively electrically connected with the temporary storage controller.

[0052] In addition, in order to avoid touching the POY tow, an inner supporting two-finger clamp can be arranged on the temporary storage picking lever 621 to preferentially clamp the paper tube of the spindle 10, so as to reliably grab the spindle 10 under the premise of "zero contact with the tow".

[0053] The temporary storage lifting mechanism 63 drives the temporary storage lifting rod 62 to move along the Z-axis, realizing the lifting, raising, and lowering operations of the POY paper tube. When lifting the POY paper tube, the temporary storage lifting rod 621 lifts the POY paper tube from the POY carrier and disengages it from its positioning pin; after moving upward to above the buffer position of the yarn feeding robot, it descends in the opposite direction to place the yarn spindle 10 on the buffer rod 152. The entire process involves no contact with the yarn layer, effectively avoiding damage to the yarn spindle 10. The temporary storage lifting mechanism 63 includes, but is not limited to, the cylinder or servo lifting slide rail structure, belt structure, or screw structure found in the prior art.

[0054] The first guide mechanism 65 and the second guide mechanism 66 can adopt the sliding rail and slider cooperation method in the prior art to ensure that the temporary storage grabbing frame 61 can move smoothly and accurately under the drive of the temporary storage moving device 64 and the temporary storage lifting frame 62 can move smoothly and accurately under the drive of the temporary storage lifting mechanism 63. At the same time, it facilitates the reliable connection and quick assembly and disassembly of the above components.

[0055] The POY temporary storage station 6, through automated operation, enables the rapid grabbing, transfer, and storage of POY spindles 10, shortening the transfer time of spindles 10 and improving production efficiency. Simultaneously, multiple parallel and independent temporary storage units can operate simultaneously or independently, flexibly adjusting the working mode according to production needs and improving equipment utilization.

[0056] The number of POY spindles 10 stored in the POY temporary storage station 6 needs to be greater than the number of POY carriers on the conveyor wire hanging frame. Based on the travel time of the POY carriers and the wire feeding operation of the wire feeding robot, an extra number of buffer bits are set to ensure a stable supply of POY spindles 10 during the production process.

[0057] It should be noted that the way the temporary holding lever 62 grabs the POY spindle 10 is not limited to the structure shown in this solution. Any mechanical, pneumatic or electric mechanism that can achieve "reliable picking and precise placement" of the spindle 10 in the existing technology, such as external clamping, lifting, vacuum adsorption or even hybrid grippers, can be replaced or combined as needed.

[0058] The raw yarn holder 4 includes a rotating raw yarn holder 4 or a fixed raw yarn holder 4.

[0059] The rotation method of the rotary raw yarn carrier 4 is not limited; it can be self-powered or rotated by a robotic mechanism. The advantage of this type of raw yarn carrier 4 is that it is easy to expand with an automated tailing robot. For example... Figure 9 As shown, this embodiment adopts a self-powered rotation method. The rotating raw yarn frame 4 includes a raw yarn frame body 41, a raw yarn drive structure, a yarn hanging rod 43 and a tail sensor 44 set on the raw yarn frame body 41. The raw yarn drive structure drives the yarn hanging rod 43 to rotate around its raw yarn shaft 42. Two adjacent sets of yarn hanging rods 43 are arranged in a V-shape. The tail sensor 44 is set corresponding to the yarn hanging rod 43.

[0060] The fixed type original wire frame 4 has the advantages of low cost and safer operation of the operator during manual tailing, but the cost of subsequent automatic tailing robots is higher. The adjacent two groups of wire hanging rods 43 of the fixed type original wire frame 4 are arranged in a V shape.

[0061] In addition, the pedestrian passage of the present application is independently arranged, and the knotting position in the existing layout is arranged on both sides of the same passage. The operator can complete the operation of the double-sided original wire frame 4 at one time, but the risk of mixed walking and collision is high. By arranging the knotting position in a “back-to-back” manner, although the operator needs to change the passage for operation, the operator enjoys an independent pedestrian passage, which is completely isolated from the rail track 32 operated by the equipment, thereby fundamentally eliminating the intersection of people and vehicles and improving the safety redundancy by 100%.

[0062] The POY carrier transports the POY spool 10 from the spool temporary storage warehouse 5 to the POY temporary storage station 6 through the conveying rail 3.

[0063] The wire feeding robot moves between the POY temporary storage station 6, the elasticizer 7 group, and the original wire frame 4 through the EMS monorail suspension trolley 2 along the conveying rail 3.

[0064] The empty paper tube unloading area 8 is arranged close to the original wire frame 4, and is used to receive the empty paper tube 9 unloaded by the empty paper tube 9 buffer device.

[0065] Example 3: As shown in Figure 11 The present application provides a POY transfer and wire feeding method in an elasticizer workshop, which adopts the POY transfer system in example 2, and includes the following steps: S1, POY spool 10 out of warehouse—conveying—temporary storage S101, when the number of POY spools 10 in the POY temporary storage station 6 is less than a preset threshold value (according to the production rhythm of different elasticizers), the MES system sends a replenishment instruction to the spool temporary storage warehouse 5 to start a replenishment task; after the POY carrier loads the full POY spool 10 from the spool temporary storage warehouse 5, it automatically runs to the target POY temporary storage station 6 through the conveying rail 3; wherein the original wire out of the warehouse can be transferred to the POY carrier by a robot grabbing or the like, or the hanging wire frame out of the warehouse is directly sent out by the POY carrier.

[0066] S102, the POY carrier stops after reaching the target POY temporary storage station 6, and the temporary storage controller of the POY temporary storage station 6 receives a “request to release wire” signal.

[0067] S2, initial extension of the POY temporary storage station 6 to take wire S201, forward: the temporary storage moving device 64 pushes the temporary storage grabbing device to extend forward, and the temporary storage picking rod 621 penetrates into the paper tube.

[0068] S202, picking up the yarn: The temporary storage lifting mechanism 63 drives the temporary storage lifting frame 62 to rise vertically, picking up the yarn spindle 10 from the POY carrier and moving it to the temporary storage lifting rod 621 of the POY temporary storage station 6, completing the "zero friction" spindle picking.

[0069] S203, Return to zero: The temporary storage moving device 64 drives the temporary storage gripping device to retreat to the standby position, detaches from the wire hanging frame area, and issues a "passable signal".

[0070] S204. After unloading, the POY carrier, upon receiving the pass signal, returns to the spindle temporary storage warehouse 5 via the conveyor track 3.

[0071] S3, POY yarn feeding robot takes yarn after arriving in position. S301. When all the buffer spindles 10 on the feeding unit 1 are consumed, the feeding controller controls the EMS monorail suspension trolley 2 to move the feeding unit 1 along the conveying track 3 to the POY temporary storage station 6. Then, the ground support mechanism 16 is automatically lowered and locked, and the buffer device rotates 90° so that the buffer rod 152 faces the POY temporary storage station 6.

[0072] S302, the temporary storage controller of POY temporary storage station 6 receives the signal, and the temporary storage moving device 64 pushes the temporary storage gripping device forward to align the paper tube of the silk spindle 10 and insert it into the buffer rod 152.

[0073] S303, the temporary storage lifting mechanism 63 descends until the spindle 10 is completely detached from the temporary storage lever 621 of the POY temporary storage station 6, and the handover is completed.

[0074] S304, the temporary storage moving device 64 drives the temporary storage gripping device to the standby position, detaches from the silk-feeding robot area, and issues a "passable signal".

[0075] S305, the buffer device rotates 90° to return to the standby state, and after receiving the pass signal, it moves to the texturing machine 7 station that needs to be replenished, or starts to perform the patrol inspection task. S4, POY wire feeding robot moves—recycles paper tubes—feeds wire S401. The over-tail sensor 44 on the raw yarn rack 4 detects the over-tail of the raw yarn, or the inspection confirms whether the yarn needs to be replenished. When the raw yarn rack 4 needs to be replenished, it sends a call signal to the MES system. The MES system calls the yarn loading robot carrying the raw yarn of that batch number. The yarn loading controller controls the yarn loading unit 1 to move to the workstation of the raw yarn rack 4 that needs to be replenished.

[0076] S402. After the yarn feeding robot reaches the target yarn holder 4, it first executes the "retriev empty paper tube 9" subroutine: S4021. If it is a rotary raw material frame 4, it will rotate outward; if it is a fixed raw material frame 4, it will not move.

[0077] S4022, Empty Paper Tube 9: The yarn feeding gripping drive mechanism drives the yarn feeding gripping mechanism 12 to move along the Z-axis to the target layer of the original yarn holder 4. The yarn feeding gripping mechanism 12 then extends, aligns, and inserts into the inner hole of the paper tube. The yarn feeding gripping mechanism 12 slightly rises along the Z-axis and retracts to hook out the empty paper tube. Subsequently, the yarn feeding gripping mechanism 12 moves along the Z-axis to the empty paper tube 9 buffer device, rotates for positioning, and then descends and releases. The paper tube slides into the empty paper tube 9 buffer device, triggering the photoelectric sensor and counting. This cycle continues until the empty paper tube 9 buffer device is fully loaded. When the empty paper tube 9 buffer device is full and the buffer rod 152 is emptied, the yarn feeding robot moves to the empty paper tube unloading area 8. The flap 171 of the empty paper tube 9 buffer device automatically opens, and the paper tube automatically falls to the empty paper tube unloading area 8 by its own weight. The ideal state for unloading the empty paper tube is that after removing the empty paper tube, a full roll of yarn is immediately installed, allowing for the same storage quantity as the original yarn, consistent with the original yarn loading rhythm.

[0078] S403. After taking the empty paper tube 9, the robot executes the raw yarn feeding procedure: the yarn feeding gripping mechanism 12 rotates to the direction of the buffer rod 152, and through the preset path, it grips the POY yarn spindle 10 and unloads it onto the raw yarn frame 4 behind the empty paper tube 9 according to the preset path.

[0079] S404. After the yarn feeding is completed, for the rotary yarn holder 4, the working angle is rotated back, and then a self-inspection is performed by taking a picture through the vision module to confirm whether the position of the yarn spindle 10 is correct. Otherwise, it is marked as "yarn feeding abnormal" and recorded, completing the "empty bobbin out, full yarn in" closed loop. If it is a fixed yarn holder 4, it does not move, thus completing the work closed loop.

[0080] The S405 and MES systems issue a clearance command for the yarn-feeding robot. The robot then moves to begin its next task. Simultaneously, a clearance command for tailing is issued, or an indicator light illuminates.

[0081] S5, Task End - Loop Strategy S501. Once the task at this spindle position is completed, the wire feeding robot reports "Wire feeding completed" + photo + timestamp to the MES system; the MES updates the machine material usage record and deducts inventory.

[0082] S502. If the task queue of this vehicle is still >0, the next target will be automatically planned according to priority (empty spindle > nearly exhausted > standby machine); if the queue is empty, the "cruise inspection" mode will be entered, and the entire workshop's raw yarn frame 4 will be scanned cyclically. The status of the yarn spindle 10 will be judged by the vision module, and a new task will be generated based on the judgment result.

[0083] S503. In cruise mode, if there are no new tasks within a specified time, the silk-feeding robot will automatically return to the standby position.

[0084] The silk-coating robot performs a "cruise inspection" task among the seven texturing machine groups, including the following steps: 1. The vision module determines the wall thickness by converting the diameter, end face reflective area, or pixel calibration, and marks the ingot as "empty" or "about to run out".

[0085] 2. Use AI edge jitter value to determine whether the spindle 10 is loose / collapsed, mark it as "abnormal spindle", take a photo for record, and call for manual processing.

[0086] 3. Report "replenishment needs" locally, including machine number, spindle position number, and priority (empty spindle > nearly exhausted > abnormal).

[0087] 4. If multiple consecutive patrols identify the ingot as "empty", the system will automatically generate a "POY replenishment task" and lock the ingot position to prevent human error.

[0088] This invention reconstructs the POY yarn loading process with "optimal cost" as a constraint. Through the synergistic combination of the above structures, it improves the yarn loading success rate, reduces the waste yarn rate, reduces manual intervention, and drives a dual improvement in production capacity and quality.

[0089] This invention redesigns the layout of transport track 3, adopting a more rational track orientation, maintaining unidirectional flow, retopologically reforming the POY transport loop, eliminating intersection waiting points and compressing arc length, reducing single-vehicle single-trip transport time, improving the on-time rate of the wire feeding window, and reducing the number of vehicles deployed under the same cycle time. Furthermore, the single-loop unidirectional design means that if any vehicle or robot fails within this small loop section, simply locking the turnout on-site can "cut the faulty section out of the main loop," while the remaining lines remain unaffected and can continue normal operation, achieving natural fault isolation.

[0090] This invention adds a shared unit of one silk-feeding robot and one POY buffer station, allowing for multi-machine reuse, reducing initial equipment investment costs and overall cost. One silk-feeding robot can move to any texturing machine 7 via the conveyor track 3. During high-cycle periods, multiple robots can handle one texturing machine 7; during low-cycle periods, one robot can handle multiple texturing machines 7, balancing cost and efficiency. If increased capacity is required, only silk-feeding robots and POY buffer stations need to be added. The main track 31 requires no rerouting or conflict, allowing for plug-and-play, flexible expansion without rerouting, and reserving a plug-and-play interface for flexible capacity expansion. Furthermore, the silk-feeding robot can be equipped with various types of gripping devices, supporting flexible gripping of multiple specifications of POY spindles 10. The POY buffer station smooths out peak and valley loads locally, providing sufficient storage space to store a certain number of spindles 10, acting as a buffer. This significantly reduces the number of equipment deployed at the same cycle time, resulting in asset lightweighting.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] The above description is merely a specific embodiment 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. An automatic POY yarn feeding robot in a texturing workshop, characterized in that, Includes a yarn feeding unit, a walking unit, and a yarn feeding controller. The wire feeding unit includes a wire feeding frame, and a wire feeding gripping device, a buffer device, a support device, and an empty paper tube buffer device disposed on the wire feeding frame. The yarn feeding gripping device includes a yarn feeding gripping mechanism and a yarn feeding gripping drive mechanism connected to the yarn feeding gripping mechanism. The yarn feeding gripping drive mechanism drives the yarn feeding gripping mechanism to move relative to the yarn feeding frame along the X, Y, and Z directions respectively, for gripping and placing yarn spindles and empty paper tubes. The buffer device includes two sets of vehicle-mounted buffer wire frames located on both sides of the wire feeding device. The vehicle-mounted buffer wire frames are rotatable structures and can rotate at least 90 degrees relative to the wire feeding frame on the horizontal plane for storing wire spindles. The support device includes a guide mechanism or a telescopic ground support mechanism. The upper wire frame is connected to the ground through the guide mechanism. The ground support mechanism is used to form a stable contact state with the ground after reaching the work position. The empty paper tube buffer device is used to collect and buffer empty paper tubes; The walking unit drives the yarn feeding unit to move to the POY temporary storage station to perform yarn picking operation and the texturing machine group to perform yarn replenishment operation; The yarn feeding unit and the walking unit are electrically connected to the yarn feeding controller.

2. The POY automatic yarn feeding robot in a texturing workshop according to claim 1, characterized in that, The yarn feeding gripping drive mechanism includes a lifting drive structure and a three-axis articulated robotic arm. The lifting drive structure is connected to the yarn feeding frame, and the three-axis articulated robotic arm is connected to the lifting drive structure and the yarn feeding gripping mechanism. Alternatively, the yarn feeding gripping drive mechanism includes a cooperative robotic arm, which is connected to the yarn feeding frame and the yarn feeding gripping mechanism. The yarn feeding gripping mechanism includes a lifting rod structure, a gripper structure, or a tightening sleeve structure.

3. The POY automatic yarn feeding robot in a texturing workshop according to claim 1, characterized in that, The vehicle-mounted buffer wire frame includes a rotary drive structure and multiple buffer rods. The rotary drive structure is connected to the upper wire frame, and the buffer rods are connected to the rotary structure.

4. The POY automatic yarn feeding robot in a texturing workshop according to claim 1, characterized in that, The empty paper tube buffer device includes a shell-shaped grab bucket structure, a grab bucket driving structure, and a paper tube detection structure. The shell-shaped grab bucket structure is connected to the upper wire frame, and the grab bucket driving structure is connected to the bucket petals of the shell-shaped grab bucket structure. When the bucket petals are in a closed state, a 270° circumferential cavity is formed inside the shell-shaped grab bucket structure. When the hopper is in the open state, the paper tube is discharged along the hopper by its own weight. The paper tube detection structure includes a photoelectric sensor for counting the number of empty paper tubes entering the clamshell grab structure.

5. The POY automatic yarn feeding robot in 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. The POY automatic yarn feeding robot in a texturing workshop according to claim 1, characterized in that, It also includes a vision module, which is mounted on the yarn feeding frame and electrically connected to the yarn feeding controller. The vision module determines the yarn spindle wall thickness by converting the diameter, end face reflective area, or pixel calibration, and marks the yarn spindle's usage status. At the same time, it determines whether the yarn spindle is loose / collapsed by using AI edge jitter value. If so, it is marked as an abnormal spindle.

7. A POY transfer system for a texturing workshop, characterized in that, The texturing workshop POY automatic yarn feeding robot, as described in any one of claims 1-6, further includes a conveyor track, POY carriers, a yarn spool storage warehouse, POY storage stations, a raw yarn frame, an empty paper tube unloading area, and an MES system electrically connected to the aforementioned structure. The conveyor track includes a main track and branch tracks. The main track is a single-loop circuit running through the texturing workshop, connecting the yarn spool storage warehouse and each of the POY storage stations. Multiple branch tracks are respectively arranged on both sides of the texturing machine assembly and between two sets of raw yarn frames, and are connected to the main track via track dividers. Temporary storage areas are respectively provided at the ends of the main track for storing empty and / or fully loaded POY carriers. POY storage stations are located along the main track and include multiple sets of parallel and independent deceleration machines. Each deceleration machine includes a temporary storage frame, and a temporary storage gripping device, a temporary storage moving device, and a temporary storage controller mounted on the temporary storage frame. The temporary storage gripping device includes... The device includes a temporary storage gripping frame, a temporary storage lifting frame, and a temporary storage lifting mechanism. The temporary storage gripping frame is connected to the temporary storage moving device via a first guide mechanism, and the temporary storage moving device drives the temporary storage gripping device to switch between a working position and a clearance position. The temporary storage lifting frame is equipped with multiple temporary storage lifting rods, and the temporary storage lifting frame is connected to the temporary storage lifting mechanism via a second guide mechanism. The temporary storage lifting mechanism drives the temporary storage lifting frame to move along the Z-axis. The temporary storage moving device and the temporary storage lifting mechanism are electrically connected to the temporary storage controller. The raw yarn frame includes a rotary raw yarn frame or a fixed raw yarn frame. The POY carrier transports POY spindles from the spindle temporary storage warehouse to the POY temporary storage station via the conveying track. The yarn loading robot moves along the conveying track between the POY temporary storage station, the texturing machine group, and the raw yarn frame via the walking unit. The empty paper tube unloading area is located near the raw yarn frame and is used to receive empty paper tubes unloaded by the empty paper tube buffer device.

8. A method for transferring and loading POY in a texturing workshop, characterized in that, The texturing workshop POY transfer system according to claim 7 includes the following steps: S1. When the number of POY spindles in the POY temporary storage station is less than a preset threshold, the MES system sends a replenishment instruction to the spindle temporary storage warehouse to start the replenishment task; after the POY carrier loads a full load of POY spindles from the spindle temporary storage warehouse, it automatically runs to the target POY temporary storage station through the conveyor track. S2. After the POY carrier arrives at the target POY temporary storage station, it stops. The temporary storage controller of the POY temporary storage station receives a signal, the temporary storage moving device pushes the temporary storage gripping device forward, the temporary storage lifting rod enters the paper tube, and the temporary storage lifting mechanism drives the temporary storage lifting rod frame to rise vertically, lifting the yarn spindle from the POY carrier and moving it to the temporary storage lifting rod of the POY temporary storage station to complete the handover. Subsequently, the temporary storage moving device drives the temporary storage gripping device to retreat to the standby position. After receiving the pass signal, the empty POY carrier returns to the yarn spindle temporary storage area. S3. When all the buffer yarn spindles on the yarn feeding unit are consumed, the yarn feeding controller controls the walking unit to move the yarn feeding unit along the conveying track to the POY temporary storage station. Then, the ground support mechanism is automatically lowered and locked, and the buffer device rotates 90° so that the buffer rod faces the POY temporary storage station. When the temporary storage controller of the POY temporary storage station receives a signal, the temporary storage moving device pushes the temporary storage gripping device forward to align the yarn spindle paper tube with and insert it into the buffer rod. The temporary storage lifting mechanism descends until the yarn spindle is completely detached from the temporary storage pick-up rod of the POY temporary storage station, completing the handover. Subsequently, the temporary storage moving device drives the temporary storage gripping device to retreat to the standby position, and the buffer device rotates 90° to return to the standby state. After receiving the pass signal, it moves to the texturing machine station that needs yarn replenishment, or begins to perform a patrol inspection task. S4. When the texturing machine needs to replenish yarn, it sends a call signal to the MES system. The MES system then calls the matching yarn feeding robot. The yarn feeding controller controls the yarn feeding unit to move to the yarn feeder station where replenishment is needed. If it is a rotary yarn feeder, it rotates outward; if it is a fixed yarn feeder, it does not move. The yarn feeding gripping device first moves the empty paper tube on the yarn feeder into the empty paper tube buffer device. Then, it takes a new POY yarn spindle from the buffer rod and accurately places it on the yarn feeder of the texturing machine. After yarn feeding is completed, for rotary yarn feeders, it rotates back to the working angle; for fixed yarn feeders, it does not move. Then, the vision module performs a self-inspection to ensure that the yarn spindle position is correct. S5. After the yarn loading task is completed, the system updates the MES data. If there are still tasks in the task queue of the yarn loading robot, they are executed according to priority. If there are no new tasks, the yarn loading robot enters the patrol inspection mode, scans all the raw yarn racks in the workshop in a loop along the conveyor track, judges the status of the yarn spindles through the vision module, and generates new tasks based on the judgment results. If there are no new tasks within a specified time in the patrol mode, the yarn loading robot automatically returns to the standby position.

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