Double-arm robot system for yarn spinning-in and yarn spinning-in method

Abstract

The invention provides a double-arm robot system for yarn spinning-in and a yarn spinning-in method, belongs to the field of ring spinning frames, and aims to solve the problems of complicated spinning-in operation, low efficiency and high labor intensity of the ring spinning frames in the prior art. Comprising a base, a rotating mechanism, a head finding mechanism, a head generating mechanism, a first mechanical arm, a second mechanical arm and a walking mechanism, by integrating the head finding mechanism, the head making mechanism, the double mechanical arms and the walking mechanism, unmanned operation of the whole process from head finding, thread making, threading to resetting is achieved; compared with traditional manual spindle-by-spindle processing, the system has the advantages that the response time of initial spinning-in and broken yarn processing can be greatly shortened, multi-spindle-position continuous, rapid and standardized operation is achieved, and the equipment utilization rate and the production efficiency are remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of ring spinning machines, and in particular relates to a dual-arm robot system and method for yarn starting. Background Technology

[0002] In the spinning process of the textile industry, the ring spinning frame is the core equipment. Before operation, the equipment needs to undergo an initial yarn-generating operation to establish the initial yarn path. This involves drawing the yarn from the bobbin and guiding it through key components such as the guide hooks and travelers, ensuring it is ready for normal twisting and winding. Furthermore, during operation, yarn breakage is inevitable in single or multiple spindles due to uneven yarn strength, mechanical wear, and fly waste. After a breakage occurs, a timely yarn-generating operation must be performed to restore production at that spindle; otherwise, it will result in lost output and wasted raw materials.

[0003] Firstly, the operation is cumbersome and inefficient. During the initial yarn-forming stage before the equipment is started, the operator must manually thread and wind yarn through hundreds or even thousands of spindles one by one. The preparation time for a single machine can take several hours, severely restricting rapid production startup and flexible scheduling. During operation, in the event of a sudden yarn breakage, a single operator needs to inspect a massive number of spindles. The significant delay between discovering the breakage and arriving at the scene to address it results in a substantial reduction in the equipment's effective operating time (efficiency).

[0004] Secondly, the labor intensity is high. Whether it's static initial yarn production or dynamic yarn breakage processing, the operation requires workers to have extremely high hand-eye coordination and millimeter-level operational precision. Workers need to maintain focus for long periods of time, frequently bending over, walking, and performing repetitive tasks next to the machines. The working environment is noisy and monotonous. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a dual-arm robot system and method for yarn yarn raising, which solves the problems of cumbersome yarn raising operation, low efficiency and high labor intensity of the prior art ring spinning machine.

[0006] To achieve the above and other related objectives, the present invention provides a dual-arm robot system for yarn start-up, comprising: a base and a rotating mechanism, a yarn finding mechanism, a yarn start-up mechanism, a first robotic arm, a second robotic arm, and a walking mechanism disposed on the base; the rotating mechanism is used to drive the empty yarn tube and the broken yarn tube to rotate; the yarn finding mechanism is used to find the yarn end from the surface of the broken yarn tube; the yarn start-up mechanism is used to store the start-up yarn; the first robotic arm is used to transfer the broken yarn tube and the empty yarn tube between the ring spinning machine and the rotating mechanism; the second robotic arm is used to connect the yarn end found by the yarn finding mechanism to the ring spinning machine, to wind the start-up yarn stored in the yarn start-up mechanism around the empty yarn tube, and to connect the start-up yarn to the ring spinning machine; the walking mechanism is disposed on the base and is used to drive the base to walk and position.

[0007] Optionally, the rotating mechanism includes a first rotating drive and a first fixed post. The first rotating drive is mounted on the base, and the first fixed post is connected to the output end of the first rotating drive. The first fixed post is used to interfere with the fixing holes of the broken yarn tube and the empty yarn tube.

[0008] Optionally, the yarn end finding mechanism includes a translation module, an air outlet module, and a clamping module; the translation module and the clamping module are mounted on the base; the air outlet module is mounted on the translation module, and the translation module is used to drive the air outlet module to move towards or away from the rotating mechanism; the air outlet module is used to blow air onto the surface of the broken yarn tube placed on the rotating mechanism to find the yarn end; the clamping module is used to clamp the yarn end found by the air outlet module so that the second robotic arm can absorb the yarn end.

[0009] Optionally, the translation module includes a first driving member, a first transmission member, a first guide member, and a mounting base; the first driving member and the first guide member are disposed on the base, one end of the first transmission member is connected to the output end of the first driving member, and the other end is connected to the mounting base; the mounting base is slidably connected to the first guide member; the air venting module is disposed on the mounting base; and / or, the clamping module includes a fixed base, two first telescopic driving members, and two first grippers; the fixed base is disposed on the base; the output end of each first telescopic driving member is connected to a first gripper, the fixed end of one first telescopic driving member is disposed on the top of the fixed base, and the fixed end of the other first telescopic driving member is disposed on the bottom of the fixed base, and each first telescopic driving member is used to drive the corresponding first gripper to move towards or away from the other first gripper.

[0010] Optionally, the air outlet module includes a connecting plate, an air pipe connector, and an air outlet plate; the connecting plate is provided with a receiving groove, the opening of which faces the rotating mechanism; the air pipe connector is provided on the connecting plate, one end of which is connected to a first positive pressure air source, and the other end of which is connected to the receiving groove; the air outlet plate is used to seal the opening of the receiving groove, and the air outlet plate is provided with multiple air outlet holes that are connected to the receiving groove.

[0011] Optionally, the side of the air outlet plate facing the rotating mechanism is adapted to the side of the yarn tube; and / or, there are multiple air tube connection joints, which are spaced apart on the connecting plate.

[0012] Optionally, the yarn-generating mechanism includes a rotating assembly, a pneumatic conveyor, and a full yarn tube; the rotating assembly and the pneumatic conveyor are mounted on a base, and the full yarn tube is mounted on the rotating assembly, which drives the full yarn tube to rotate; the pneumatic conveyor includes a conveying channel for the yarn to pass through and an air inlet channel communicating with the conveying channel; the air inlet channel is connected to a second positive pressure air source, which draws the yarn-generating material from the full yarn tube through the pneumatic conveyor; a second robotic arm is used to wind the yarn-generating material drawn from the pneumatic conveyor onto an empty yarn tube; a cutting part is provided on the first fixed column, which is used to cut the yarn-generating material.

[0013] Optionally, the rotating assembly includes a second rotating drive and a second fixed post. The second rotating drive is mounted on the base, and the second fixed post is connected to the output end of the second rotating drive. The second fixed post is used for interference fit with the fixing hole of the full yarn tube.

[0014] Optionally, the end of the first robotic arm is provided with a centering clamping cylinder and two second grippers; each of the two power output ends of the centering clamping cylinder is provided with a second gripper, and the two second grippers are arranged opposite each other to achieve synchronous movement towards or away from each other; and / or, the end of the second robotic arm is provided with a yarn suction tube, a third rotary drive, and a connecting rod; the yarn suction tube is connected to a negative pressure air source, which is used to suck the second end of the raw yarn into the yarn suction tube; the first end of the connecting rod is connected to the output end of the third rotary drive, and the other end is provided with a U-shaped connector; the end of the yarn suction tube away from the negative pressure air source is located on the rotation path of the U-shaped connector; and / or, the walking mechanism includes multiple walking wheels, multiple fourth telescopic drive components, and multiple parking blocks; the fourth telescopic drive components and parking blocks are arranged one-to-one; the multiple walking wheels are spaced apart on the base; the multiple fourth telescopic drive components are spaced apart on the base; the parking blocks are located at the output end of the fourth telescopic drive components, which are used to drive the parking blocks to move up and down so that the parking blocks abut against the ground, thereby fixing the base in a designated position.

[0015] On the other hand, a method for yarn end production is also provided, characterized by including a dual-arm robot system for yarn end production as described above, and further including a yarn end finding step: using a first robotic arm to transfer the broken yarn tube from the ring spinning machine to a rotating mechanism, and using a yarn end finding mechanism to find the yarn end on the surface of the broken yarn tube on the rotating mechanism; a yarn end production step: using the first robotic arm to transfer the broken yarn tube to the ring spinning machine, and using a second robotic arm to connect the yarn end found by the yarn end finding mechanism to the ring spinning machine; and / or, using the first robotic arm to transfer the empty yarn tube from the ring spinning machine to the rotating mechanism, using the second robotic arm to wind the new yarn onto the empty yarn tube, and finally using the first robotic arm to transfer the empty yarn tube to the ring spinning machine, and using the second robotic arm to connect the new yarn to the ring spinning machine.

[0016] As described above, the dual-arm robot system and method for yarn yarn production of the present invention have at least the following beneficial effects: 1. Fully automated operation, significantly improving yarn production efficiency and consistency: This invention integrates a yarn finding mechanism, a yarn production mechanism, dual robotic arms, and a walking mechanism to achieve unmanned operation throughout the entire process from yarn finding, yarn making, threading, to resetting. Compared to traditional manual spindle-by-spindle processing, this system can significantly shorten the response time for initial yarn production and yarn breakage handling, enabling continuous, rapid, and standardized operation across multiple spindles, and significantly improving equipment utilization and production efficiency.

[0017] 2. Highly efficient and precise yarn end finding technology: The air outlet module (with an air outlet plate on the side of the broken yarn tube and a multi-point air intake design) sprays a uniform and stable air curtain onto the surface of the high-speed rotating broken yarn tube. This reliably disperses the surface floating yarn and "finds" the buried yarn end, solving the core problem of finding the yarn end after a break. Combined with the gripping module, this provides a stable and accurate yarn end position for subsequent robotic arm grasping.

[0018] 3. Stable and controllable supply of raw yarn: Through the raw yarn feeding mechanism, a pneumatic conveyor, assisted by positive pressure airflow, smoothly and rapidly draws out the raw yarn from the full yarn tube, where it is precisely grasped and wound by a second robotic arm. This process avoids the instability and yarn damage associated with manual yarn feeding, ensuring the quality and efficiency of raw yarn supply. Attached Figure Description

[0019] Figure 1 The diagram shown is a schematic diagram of an angle of a dual-arm robot system for yarn production according to the present invention.

[0020] Figure 2 This is a schematic diagram of another angle of a dual-arm robot system for yarn production according to the present invention.

[0021] Figure 3The diagram shows a partial structural representation of a dual-arm robot system for yarn production according to the present invention. Figure 1 .

[0022] Figure 4 The diagram shows a partial structural representation of a dual-arm robot system for yarn production according to the present invention. Figure 2 .

[0023] Figure 5 The diagram shows a partial structural representation of a dual-arm robot system for yarn production according to the present invention. Figure 3 .

[0024] Figure 6 The diagram shows a partial structural representation of a dual-arm robot system for yarn production according to the present invention. Figure 4 .

[0025] Figure 7 The diagram shown is an exploded structural diagram of the air outlet module of the present invention.

[0026] Figure 8 Displayed as Figure 1 An enlarged diagram of point A in the diagram.

[0027] Figure 9 Displayed as Figure 1 An enlarged diagram of point B in the diagram.

[0028] Component marking instructions: 1. Base; 2. Rotation mechanism, 21. First rotation drive component, 22. First fixed column, 221. Cutting section; 3. Head finding mechanism, 31. Translation module, 311. First drive component, 312. First transmission component, 313. First guide component, 314. Mounting base, 32. Air outlet module, 321. Connecting plate, 3211. Receiving groove, 322. Air pipe connection connector, 323. Air outlet plate, 33. Clamping module, 331. Fixed base, 332. First telescopic drive component, 333. First gripper, 334. Yarn baffle plate; 4. Head raising mechanism, 4 1. Rotating assembly; 411. Second rotating drive component; 412. Second fixed column; 42. Pneumatic conveyor; 43. Full yarn tube; 44. Guide assembly; 441. Third telescopic drive component; 442. First roller; 443. Second roller; 5. First robotic arm; 51. Centering clamping cylinder; 52. Second gripper; 53. Air outlet pipe; 6. Second robotic arm; 61. Yarn suction tube; 62. Third rotating drive component; 63. Connecting rod; 631. U-shaped connector; 7. Walking mechanism; 71. Walking wheel; 72. Fourth telescopic drive component; 73. Parking block. Detailed Implementation

[0029] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0030] Please refer to all the accompanying drawings below. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of the invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0031] The following embodiments are for illustrative purposes only. These embodiments can be combined and are not limited to the content shown in any single embodiment below.

[0032] Please see Figure 1-6 This invention provides a dual-arm robot system for yarn starting, comprising: a base 1 and a rotating mechanism 2, a yarn finding mechanism 3, a yarn starting mechanism 4, a first robotic arm 5, a second robotic arm 6, and a walking mechanism 7, all mounted on the base 1. The rotating mechanism 2 drives the empty yarn tube and the broken yarn tube to rotate. The yarn finding mechanism 3 locates the yarn end from the surface of the broken yarn tube. The yarn starting mechanism 4 stores the new yarn. The first robotic arm 5 transfers the broken yarn tube and the empty yarn tube between the ring spinning machine and the rotating mechanism 2. The second robotic arm 6 connects the yarn end found by the yarn finding mechanism 3 to the ring spinning machine, winds the new yarn stored in the yarn starting mechanism 4 around the empty yarn tube, and connects the new yarn to the ring spinning machine. The walking mechanism 7 is mounted on the base 1 and drives the base 1 to move and position itself.

[0033] Before the ring spinning frame starts operating, the traveling mechanism 7 moves the base 1 to a designated position and fixes it there. First, the first robotic arm 5 transfers the empty yarn tube of the ring spinning frame to the rotating mechanism 2. The rotating mechanism 2 drives the empty yarn tube to rotate, and the second robotic arm 6 winds one end of the raw yarn onto the empty yarn tube. After winding onto the empty yarn tube, the first robotic arm 5 transfers the empty yarn tube to the ring spinning frame, and the second robotic arm 6 guides the other end of the raw yarn through the traveler, the air ring, and the guide ring on the blade plate before guiding it onto the rollers of the ring spinning frame, thus enabling the ring spinning frame to have normal twisting and winding conditions.

[0034] After a yarn breakage occurs on the ring spinning machine, the traveling mechanism 7 moves the base 1 to the location of the breakage and fixes it in that position. First, the first robotic arm 5 lifts the brake corresponding to the broken yarn tube, completing the braking operation, and then the second robotic arm 6 lifts the blade. Next, the first robotic arm 5 places the broken yarn tube onto the rotating mechanism 2, which then rotates the broken yarn tube. The yarn end finding mechanism 3 locates the yarn end from the surface of the rotating broken yarn tube. Once located, the yarn end is attracted by the second robotic arm 6. Then, the first robotic arm 5 places the broken yarn tube back onto the spindle seat in its original position on the ring spinning machine. The second robotic arm 6 guides the yarn end through the traveler, the balloon ring, and the guide ring on the blade before guiding it onto the rollers of the ring spinning machine. Finally, the first robotic arm 5 presses down on the brake to release the braking effect on the spindle seat, and the second robotic arm 6 presses down on the blade to reset it, thus enabling the ring spinning machine to perform normal twisting and winding.

[0035] The rotating mechanism 2 includes a first rotating drive component 21 and a first fixed column 22. The first rotating drive component 21 can be a motor, which is mounted on the base 1. The first fixed column 22 is coaxially arranged with the output end of the first rotating drive component 21. The first fixed column 22 is used to interfere with the fixing holes of the broken yarn tube and the empty yarn tube, so that the first rotating drive component 21 can drive the broken yarn tube and the empty yarn tube to rotate.

[0036] The yarn end finding mechanism 3 includes a translation module 31, an air outlet module 32, and a clamping module 33. The translation module 31 and clamping module 33 are mounted on the base 1. The air outlet module 32 is mounted on the translation module 31. The translation module 31 is used to move the air outlet module 32 away from the rotating mechanism 2, so that the first robotic arm 5 can transfer empty or broken yarn tubes onto the rotating mechanism 2. The translation module 31 is also used to move the air outlet module 32 closer to the rotating mechanism 2, so that the air outlet module 32 blows air onto the surface of the broken yarn tube placed on the rotating mechanism 2 to find the yarn end. The clamping module 33 is used to clamp the yarn end found by the air outlet module 32, so that the second robotic arm 6 can pick up the yarn end.

[0037] The translation module 31 includes a first driving component 311, a first transmission component 312, a first guide component 313, and a mounting base 314. The first driving component 311 can be a cylinder or other similar component. In this embodiment, the first driving component 311 is a motor, the first transmission component 312 is a lead screw, and the first guide component 313 is a guide rail. One end of the first transmission component 312 is coaxially arranged with the output end of the first driving component 311, and the other end is connected to the mounting base 314 via a lead screw nut. The mounting base 314 is also slidably connected to the first guide component 313 via a slider. The air outlet module 32 is mounted on the mounting base 314. Through the arrangement of the first guide component 313 and the first transmission component 312, the first driving component 311 can drive the air outlet module 32 to move towards or away from the rotating mechanism 2.

[0038] The clamping module 33 includes a fixed base 331, two first telescopic drive members 332, and two first grippers 333. The fixed base 331 is vertically mounted on the base 1. The first telescopic drive members 332 can be telescopic drive elements such as cylinders or electric cylinders. The output end of each first telescopic drive member 332 is connected to a first gripper 333. The fixed end of one first telescopic drive member 332 is located at the top of the fixed base 331, and the fixed end of the other first telescopic drive member 332 is located at the bottom of the fixed base 331. Each first telescopic drive member 332 is used to drive the corresponding first gripper 333 to move closer to or further away from the other first gripper 333.

[0039] like Figure 5-6 As shown, the first telescopic drive member 332 drives the corresponding first gripper 333 to move closer to the center of the fixed base 331, so that the two first grippers 333 move towards each other, thereby clamping the yarn end to the corresponding area in the center of the fixed base 331 for the second robotic arm 6 to absorb. Each telescopic drive member drives the corresponding first gripper 333 to move away from the center of the fixed base 331, so that the two first grippers 333 move away from each other, so as to facilitate the next clamping of the yarn end.

[0040] The clamping module 33 also includes a yarn baffle 334, which is a hollow plate-shaped structure. It is set on the fixed base 331 to block the yarn ends. The two first grippers 333 are located between the rotating mechanism 2 and the yarn baffle 334 so that the two first grippers 333 can clamp the yarn ends.

[0041] The air outlet module 32 includes a connecting plate 321, an air pipe connector 322, and an air outlet plate 323. The connecting plate 321 has a receiving groove 3211, the opening of which faces the rotating mechanism 2. The air pipe connector 322 is located on the connecting plate 321, specifically at the bottom of the receiving groove 3211. One end of the air pipe connector 322 is connected to a first positive pressure air source, and the other end communicates with the receiving groove 3211. The air outlet plate 323 seals the opening of the receiving groove 3211 and has multiple air outlet holes communicating with the receiving groove 3211. The air outlet plate 323 can be connected to the connecting plate 321 via bolts or other structures. To achieve a seal between the air outlet plate 323 and the connecting plate 321, an elastic sealing gasket can be provided between them to effectively prevent gas leakage from the connection gap between the air outlet plate 323 and the connecting plate 321.

[0042] like Figure 3-7 As shown, the side of the air outlet plate 323 facing the rotating mechanism 2 is machined into a shape that matches the side of the yarn tube. Specifically, the side of the air outlet plate 323 facing the rotating mechanism 2 includes a first inclined section, a vertical section, and a second inclined section. The vertical section is connected to the first and second inclined sections, so that a uniformly spaced airflow channel can be formed between the working surface of the air outlet plate 323 and the side of the yarn tube. In this way, the airflow ejected from the air outlet can act closely and evenly on the entire side of the broken yarn tube, improving the airflow utilization efficiency and effect.

[0043] During operation, compressed air supplied by the first positive pressure air source enters the sealed air chamber composed of the receiving groove 3211 and the air outlet plate 323 through the air pipe connection joint 322. After the gas is briefly pressurized in the air chamber, it is ejected from multiple air outlets at the same time, forming a uniform air curtain that acts on the side of the high-speed rotating yarn tube, thereby finding the yarn end on the surface of the broken yarn tube.

[0044] There can be multiple air pipe connectors 322, which are spaced apart on the connecting plate 321. The multiple air pipe connectors 322 are arranged vertically on the connecting plate 321, and each air pipe connector 322 forms an air inlet on the connecting plate 321. Compressed air can fill the entire receiving groove 3211 more quickly and evenly through the air inlet, effectively avoiding the problem of uneven air pressure at different positions of the air outlet on the air outlet plate 323 that may be caused by single-point air inlet, and ensuring the uniformity of airflow along the length of the yarn tube.

[0045] The yarn-generating mechanism 4 includes a rotating assembly 41, a pneumatic conveyor 42, and a full yarn tube 43. The rotating assembly 41 and the pneumatic conveyor 42 are mounted on the base 1. The full yarn tube 43 is provided with the yarn-generating material and is mounted on the rotating assembly 41, which drives the full yarn tube 43 to rotate. The pneumatic conveyor 42 is a commonly used structure in the prior art, including a conveying channel for the yarn to pass through and an air inlet channel communicating with the conveying channel; the air inlet channel is connected to a second positive pressure air source, which draws the yarn-generating material from the full yarn tube 43 through the pneumatic conveyor 42. The second robotic arm 6 is used to wind the yarn-generating material drawn from the pneumatic conveyor 42 onto an empty yarn tube. A cutting part 221 is provided on the first fixed post 22. The cutting part 221 is a toothed cutting blade integrally formed with the first fixed base 331 and is used to cut the yarn-generating material.

[0046] The rotating assembly 41 includes a second rotating drive 411 and a second fixed post 412. The second rotating drive 411 is a motor, which is mounted on the base 1. The second fixed post 412 is connected to the output end of the second rotating drive 411, and is used to interference fit with the fixing hole of the full yarn tube 43 to mount the full yarn tube 43 on the second fixed post 412.

[0047] The yarn-generating mechanism 4 also includes a guide assembly 44, which guides the yarn into the pneumatic conveyor 42. The guide assembly 44 includes a third telescopic drive 441, a first roller 442, and a second roller 443. The third telescopic drive 441 can be a cylinder or electric cylinder, and is mounted on a mounting post for mounting the pneumatic conveyor 42. The first roller 442 is rotatably connected to the output end of the third telescopic drive 441. The second roller 443 is rotatably mounted on the base 1. The third telescopic drive 441 drives the first roller 442 to move up and down, causing the first roller 442 to move closer to or away from the second roller 443. When the first roller 442 moves closer to the second roller 443, the first roller 442 and the second roller 443 guide the yarn to ensure that the yarn can enter the conveying channel of the pneumatic conveyor 42.

[0048] Before the ring spinning machine starts operating, the traveling mechanism 7 moves the base 1 to a designated position and fixes it there. First, the first robotic arm 5 transfers the empty yarn tube of the ring spinning machine to the rotating mechanism 2, which then drives the empty yarn tube to rotate. Simultaneously, the second rotating drive 411 drives the second fixed column 412 to rotate, thereby rotating the full yarn tube 43. During the rotation of the full yarn tube 43, the third telescopic drive 441 moves the first roller 442 closer to the second roller 443, guiding the raw yarn. Then, the second positive pressure air source draws the raw yarn out from the conveying channel of the pneumatic conveyor 42. The second robotic arm 6 absorbs the lead-out end of the raw yarn, and after absorbing a certain length, winds the raw yarn onto the empty yarn tube. At this point, one end of the raw yarn is connected between the pneumatic conveyor 42 and the empty yarn tube, while the other end is absorbed by the second robotic arm 6. Then, the second robotic arm 6 brings the raw yarn, which is located between the pneumatic conveyor 42 and the empty yarn tube, to the cutting part 221 on the first fixed column 22, thereby cutting the raw yarn. Finally, the first robotic arm 5 transfers the empty yarn tube to the ring spinning machine, and the second robotic arm 6 guides the other end of the raw yarn through the traveler, the air ring, and the guide ring on the blade plate in sequence, and then guides it onto the roller of the ring spinning machine, thus enabling the ring spinning machine to have normal twisting and winding conditions.

[0049] Please see Figure 1 , 8 The first robotic arm 5 can be a robotic arm with 7 degrees of freedom, and its end is equipped with a centering clamping cylinder 51, two second grippers 52, and an air outlet pipe 53. Each of the two power output ends of the centering clamping cylinder 51 is equipped with a second gripper 52. The two second grippers 52 are arranged opposite each other to achieve synchronous movement towards or away from each other, thereby clamping broken yarn tubes and empty yarn tubes, and then driving the broken yarn tubes and empty yarn tubes to transfer between the ring spinning machine and the rotating mechanism 2. The air outlet pipe 53 is connected to a third positive pressure air source, which drives the spindle seat to rotate through the air outlet pipe 53, thus facilitating the second robotic arm 6 to thread the yarn end and the raw yarn into the traveler.

[0050] Please see Figure 1 , 9 The second robotic arm 6 can be a robotic arm with 7 degrees of freedom, and its end is equipped with a yarn suction tube 61, a third rotary drive component 62, and a connecting rod 63. The yarn suction tube 61 is connected to a negative pressure air source, which is used to suck the lead-out end of the raw yarn into the yarn suction tube 61. The third rotary drive component 62 can be a motor, which is located at the end of the second robotic arm 6. The first end of the connecting rod 63 is connected to the output end of the third rotary drive component 62, and the other end is equipped with a U-shaped connector 631. The end of the yarn suction tube 61 away from the negative pressure air source is located on the rotation path of the U-shaped connector 631.

[0051] The walking mechanism 7 includes multiple walking wheels 71 mounted on the bottom of the base 1, multiple fourth telescopic drive members 72 for positioning and locking, and corresponding parking blocks 73. Specifically, there are preferably four walking wheels 71 arranged in a rectangle at the four corners of the base 1. At least two of them are active wheels, driven by servo motors and equipped with coded feedback to achieve precise walking and positioning; the other two are driven wheels, which provide support and assist in steering. The base 1 integrates a battery (to provide power for the entire system), a 3D camera (for identifying the machine, spindle, and yarn tube status), and a lidar (for building an environmental map and achieving autonomous navigation and obstacle avoidance), forming a mobile platform that integrates power, perception, and control.

[0052] The fourth telescopic drive component 72 is configured one-to-one with the parking block 73, preferably in a quantity of four, and is arranged alternately with the traveling wheel 71. The fourth telescopic drive component 72 can be a telescopic drive element such as an electric push rod or a servo cylinder, with its cylinder body fixed on the base 1. The parking block 73 is a flat structure with wear-resistant and anti-slip pads, installed at the end of the piston rod of the fourth telescopic drive component 72. When the base 1 moves to the target spindle position and completes precise positioning, all the fourth telescopic drive components 72 extend synchronously, driving the parking block 73 to firmly press against the ground, thereby rigidly lifting the entire base 1 away from the traveling wheel 71 and locking it to the ground, forming an extremely stable and vibration-resistant working platform to ensure the reliability of subsequent high-precision operations such as head finding and head generation.

[0053] Before the ring spinning machine starts operating, the traveling mechanism 7 moves the base 1 to a designated position and uses the fourth telescopic drive 72 to drive the parking block 73 downward to contact the ground, thus fixing the base 1 in that position. First, the first robotic arm 5 transfers the empty yarn tube of the ring spinning machine to the rotating mechanism 2, which then rotates the empty yarn tube. Simultaneously, the second rotating drive 411 drives the second fixed column 412 to rotate, thereby rotating the full yarn tube 43. During the rotation of the full yarn tube 43, the fourth telescopic drive 72 moves the first roller 442 closer to the second roller 443, guiding the first roller 442 and the second roller 443 to guide the raw yarn. Then, the second positive pressure air source draws the raw yarn out from the conveying channel of the pneumatic conveyor 42. The negative pressure air source, through the suction pipe 61, absorbs the lead-out end of the raw yarn output from the pneumatic conveyor 42. After absorbing a certain length, the raw yarn is wound onto the empty yarn tube. At this point, one end of the raw yarn is connected between the pneumatic conveyor 42 and the empty yarn tube, while the other end is attracted by the second robotic arm 6. Then, the U-shaped connector 631 of the second robotic arm 6 abuts against the yarn between the pneumatic conveyor 42 and the empty yarn tube, and under the action of the third rotary drive 62, the yarn comes into contact with the cutting part 221 of the second fixed column 412, whereby it is cut by the cutting part 221. Finally, the first robotic arm 5 transfers the empty yarn tube to the ring spinning machine. Then, the third positive pressure air source drives the spindle seat to rotate through the air outlet pipe 53, thereby causing the wire traveler to rotate to the side closer to the base 1. Then, the third rotary drive component 62 on the second robotic arm 6 rotates, causing the U-shaped connector 631 to rotate, thereby straightening the raw yarn in the suction tube 61. This makes it easier for the second robotic arm 6 to thread the raw yarn into the wire traveler, the air ring, the guide ring on the blade plate, and finally onto the roller of the ring spinning machine, thus enabling the ring spinning machine to have normal twisting and winding conditions.

[0054] After a yarn breakage occurs on the ring spinning machine, the traveling mechanism 7 moves the base 1 to a designated position and uses the fourth telescopic drive 72 to move the parking block 73 downwards to contact the ground, thus fixing the base 1 in that position. The second gripper 52 of the first robotic arm 5 lifts the brake corresponding to the broken yarn tube, completing the brake operation, and the suction pipe 61 of the second robotic arm 6 lifts the leaf plate. Then, the second gripper 52 on the first robotic arm 5 transfers the broken yarn tube to the rotating mechanism 2. At this time, the rotating mechanism 2 rotates the broken yarn tube, and the translation module 31 moves the air blowing module closer to the rotating mechanism 2. After movement, air is blown into the receiving groove 3211 from the first positive pressure air source and blown into the side of the broken yarn tube through the air outlet. After blowing, the yarn end on the surface of the broken yarn tube is found. Subsequently, the two first telescopic drive members 332 drive the corresponding first grippers 333 to move, so as to use the two first grippers 333 to hold the yarn head, and the negative pressure air source sucks the yarn head into the suction tube 61 through the suction tube 61.

[0055] After the yarn end is sucked into the suction tube 61, the first robotic arm 5 drives the two second grippers 52 to move via the centering clamping cylinder 51 to clamp the broken yarn tube and transfer it to the ring spinning machine. The third positive pressure air source drives the spindle seat to rotate through the air outlet pipe 53, causing the wire traveler on the spindle seat to rotate closer to the base 1. Then, the third rotary drive component 62 on the second robotic arm 6 rotates, causing the U-shaped connector 631 to rotate, thereby straightening the raw yarn in the suction tube 61. This makes it easier for the second robotic arm 6 to thread the raw yarn onto the wire traveler, the air ring, the guide ring on the blade, and finally onto the roller of the ring spinning machine. Finally, the second grippers 52 of the first robotic arm 5 press down on the spindle brake to cancel the braking effect on the spindle seat, and the suction tube 61 of the second robotic arm 6 presses down on the blade to reset the blade, thus enabling the ring spinning machine to have normal twisting and winding conditions.

[0056] The first positive pressure air source, the second positive pressure air source, the third positive pressure air source, and the negative pressure air source can be air supply equipment such as air pumps. They are connected to the corresponding structures through air pipelines. The air pipelines are also equipped with structures such as solenoid valves to provide the corresponding structures with continuous, stable, and pressure-adjustable gas.

[0057] On the other hand, a method for yarn starting is also provided, which includes the aforementioned dual-arm robot system for yarn starting, and further includes the following steps: Finding the yarn end: The first robotic arm 5 is used to transfer the broken yarn tube from the ring spinning machine to the rotating mechanism 2, and the yarn end is found on the surface of the broken yarn tube on the rotating mechanism 2 using the yarn end finding mechanism 3.

[0058] In this step, the walking mechanism 7 moves the base 1 to the designated position and uses the fourth telescopic drive 72 to drive the parking block 73 downward to contact the ground, thereby fixing the base 1 in the designated position. The second gripper 52 of the first robotic arm 5 lifts the brake corresponding to the broken yarn tube, completing the brake operation, and the suction tube 61 of the second robotic arm 6 lifts the leaf plate. Then, the second gripper 52 on the first robotic arm 5 transfers the broken yarn tube to the rotating mechanism 2. At this time, the rotating mechanism 2 drives the broken yarn tube to rotate, and the translation module 31 drives the air blowing module to move closer to the rotating mechanism 2. After the movement, air is blown into the receiving groove 3211 from the first positive pressure air source and blown into the side of the broken yarn tube through the air outlet. After blowing, the yarn ends on the surface of the broken yarn tube are found.

[0059] The yarn start-up process involves: using the first robotic arm 5 to transfer the broken yarn tube to the ring spinning machine, and using the second robotic arm 6 to connect the yarn end found by the yarn start-up mechanism 3 to the ring spinning machine; and / or, using the first robotic arm 5 to transfer the empty yarn tube from the ring spinning machine to the rotating mechanism 2, using the second robotic arm 6 to wind the start-up yarn onto the empty yarn tube, and finally using the first robotic arm 5 to transfer the empty yarn tube to the ring spinning machine, and using the second robotic arm 6 to connect the start-up yarn to the ring spinning machine.

[0060] The step of "using the first robotic arm 5 to transfer the broken yarn tube to the ring spinning machine, and using the second robotic arm 6 to connect the yarn end found by the yarn finding mechanism 3 to the ring spinning machine" specifically includes: two first telescopic drive members 332 driving the corresponding first grippers 333 to move, so as to use the two first grippers 333 to hold the yarn end; a negative pressure air source sucks the yarn end into the suction pipe 61 through the suction pipe 61. After the yarn end is sucked into the suction pipe 61, the first robotic arm 5 drives the two second grippers 52 to move through the centering clamping cylinder 51 to hold the broken yarn tube and transfer it to the ring spinning machine. Then, the third positive pressure air source drives the spindle seat to rotate through the air outlet pipe 53, causing the traveler to rotate closer to the base 1. Then, the third rotary drive component 62 on the second robotic arm 6 rotates, causing the U-shaped connector 631 to rotate, thus straightening the raw yarn in the suction tube 61. This facilitates the second robotic arm 6 in threading the raw yarn onto the traveler, the air ring, the guide ring on the blade, and finally onto the rollers of the ring spinning machine. Finally, the second gripper 52 of the first robotic arm 5 presses down on the spindle brake to release the braking effect on the spindle seat, and the suction tube 61 of the second robotic arm 6 presses down on the blade to reset it, thus enabling the ring spinning machine to have normal twisting and winding conditions.

[0061] In this step, "using the first robotic arm 5 to transfer the empty yarn tube from the ring spinning machine to the rotating mechanism 2, using the second robotic arm 6 to wind the new yarn onto the empty yarn tube, and finally using the first robotic arm 5 to transfer the empty yarn tube back to the ring spinning machine, and using the second robotic arm 6 to connect the new yarn to the ring spinning machine" specifically includes: The traveling mechanism 7 moves the base 1 to a designated position and uses the fourth telescopic drive 72 to drive the parking block 73 downward to contact the ground, thus fixing the base 1 in that position. First, the first robotic arm 5 transfers the empty yarn tube of the ring spinning machine to the rotating mechanism 2, which then drives the empty yarn tube to rotate. Simultaneously, the second rotating drive 411 drives the second fixed column 412 to rotate, thereby rotating the full yarn tube 43. During the rotation of the full yarn tube 43, the third telescopic drive 441 drives the first roller 442 to move closer to the second roller 443, guiding the first roller 442 and the second roller 443 towards the raw yarn. Then, the second positive pressure air source draws the raw yarn out from the conveying channel of the pneumatic conveyor 42. The negative pressure air source, through the suction pipe 61, absorbs the lead-out end of the raw yarn output from the pneumatic conveyor 42. After absorbing a certain length, the raw yarn is wound onto the empty yarn tube. At this point, one end of the raw yarn is connected between the pneumatic conveyor 42 and the empty yarn tube, while the other end is attracted by the second robotic arm 6. Then, the U-shaped connector 631 of the second robotic arm 6 abuts against the yarn between the pneumatic conveyor 42 and the empty yarn tube, and under the action of the third rotary drive 62, the yarn comes into contact with the cutting part 221 of the second fixed column 412, whereby it is cut by the cutting part 221. Finally, the first robotic arm 5 transfers the empty yarn tube to the ring spinning machine. Then, the third positive pressure air source drives the spindle seat to rotate through the air outlet pipe 53, causing the traveler to rotate closer to the base 1. Then, the third rotary drive component 62 on the second robotic arm 6 rotates, causing the U-shaped connector 631 to rotate, thus straightening the raw yarn in the suction tube 61. This facilitates the second robotic arm 6 in threading the raw yarn through the traveler, the air ring, and the guide ring on the blade plate, ultimately connecting it to the rollers of the ring spinning machine. This enables the ring spinning machine to have normal twisting and winding conditions.

[0062] In summary, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0063] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A dual-arm robot system for yarn starting, characterized in that, include: The base and the rotating mechanism, head-finding mechanism, head-generating mechanism, first robotic arm, second robotic arm and walking mechanism disposed on the base; The rotating mechanism is used to drive the empty yarn tube and the broken yarn tube to rotate; The yarn finding mechanism is used to locate the yarn end from the surface of the broken yarn tube; The yarn-generating mechanism is used to store the yarn-generating threads; The first robotic arm is used to transfer broken yarn tubes and empty yarn tubes between the ring spinning frame and the rotating mechanism; The second robotic arm is used to connect the yarn end found by the yarn finding mechanism to the ring spinning machine, to wind the raw yarn stored in the yarn generating mechanism onto the empty yarn tube, and to connect the raw yarn to the ring spinning machine. The walking mechanism is mounted on the base and is used to drive the base to move and position itself.

2. The dual-arm robot system for yarn heading according to claim 1, characterized in that: The rotating mechanism includes a first rotating drive and a first fixed post. The first rotating drive is disposed on the base, and the first fixed post is connected to the output end of the first rotating drive. The first fixed post is used for interference fit with the fixing holes of the broken yarn tube and the empty yarn tube.

3. The dual-arm robot system for yarn heading according to claim 1 or 2, characterized in that: The head-finding mechanism includes a translation module, an air outlet module, and a clamping module; The translation module and the clamping module are mounted on the base; The air outlet module is mounted on the translation module, and the translation module is used to drive the air outlet module to move towards or away from the rotating mechanism. The air outlet module is used to blow air onto the surface of the broken yarn tube placed on the rotating mechanism to locate the yarn end; The clamping module is used to clamp the yarn ends found by the air outlet module so that the second robotic arm can pick up the yarn ends.

4. The dual-arm robot system for yarn heading according to claim 3, characterized in that: The translation module includes a first driving component, a first transmission component, a first guide component, and a mounting base; the first driving component and the first guide component are disposed on the base, one end of the first transmission component is connected to the output end of the first driving component, and the other end is connected to the mounting base; The mounting base is slidably connected to the first guide member; the air outlet module is disposed on the mounting base; And / or, the clamping module includes a fixed base, two first telescopic drive members, and two first grippers; the fixed base is disposed on the base; the output end of each first telescopic drive member is connected to one of the first grippers, the fixed end of one of the first telescopic drive members is disposed on the top of the fixed base, and the fixed end of the other first telescopic drive member is disposed on the bottom of the fixed base, and each first telescopic drive member is used to drive the corresponding first gripper to move toward or away from the other first gripper.

5. The dual-arm robot system for yarn heading according to claim 3, characterized in that: The air outlet module includes a connecting plate, an air pipe connection connector, and an air outlet plate; The connecting plate is provided with a receiving groove, and the opening of the receiving groove is oriented towards the rotating mechanism; The tracheal connector is disposed on the connecting plate, with one end connected to the first positive pressure air source and the other end connected to the receiving tank; The vent plate is used to seal the opening of the receiving groove, and the vent plate is provided with a plurality of vent holes communicating with the receiving groove.

6. The dual-arm robot system for yarn heading according to claim 5, characterized in that: The side of the air outlet plate facing the rotating mechanism is adapted to the side of the yarn tube; And / or, there are multiple tracheal connectors, and the multiple tracheal connectors are arranged at intervals on the connecting plate.

7. The dual-arm robot system for yarn heading according to claim 2, characterized in that: The yarn-generating mechanism includes a rotating assembly, a pneumatic conveyor, and a full yarn tube; The rotating assembly and the pneumatic conveyor are mounted on the base, and the full yarn tube is mounted on the rotating assembly. The rotating assembly is used to drive the full yarn tube to rotate. The pneumatic conveyor includes a conveying channel for the yarn to pass through and an air inlet channel communicating with the conveying channel; the air inlet channel is connected to a second positive pressure air source, which draws the raw yarn from the full yarn tube through the pneumatic conveyor. The second robotic arm is used to wind the raw yarn drawn from the pneumatic conveyor onto the empty yarn tube; The first fixed post is provided with a cutting part, which is used to cut raw yarn.

8. The dual-arm robot system for yarn heading according to claim 7, characterized in that: The rotating assembly includes a second rotating drive and a second fixed post. The second rotating drive is disposed on the base, and the second fixed post is connected to the output end of the second rotating drive. The second fixed post is used for interference fit with the fixing hole of the full yarn tube.

9. The dual-arm robot system for yarn heading according to claim 1, characterized in that: The end of the first robotic arm is provided with a centering clamping cylinder and two second grippers; each of the two power output ends of the centering clamping cylinder is provided with a second gripper, and the two second grippers are arranged opposite each other to achieve synchronous movement towards or away from each other. And / or, the end of the second robotic arm is provided with a yarn suction tube, a third rotary drive component, and a connecting rod; the yarn suction tube is connected to a negative pressure air source, which is used to suck the second end of the raw yarn into the yarn suction tube; the first end of the connecting rod is connected to the output end of the third rotary drive component, and the other end is provided with a U-shaped connector; the end of the yarn suction tube away from the negative pressure air source is located on the rotation path of the U-shaped connector; And / or, the walking mechanism includes multiple walking wheels, multiple fourth telescopic drive members, and multiple parking blocks; the fourth telescopic drive members are arranged in a one-to-one correspondence with the parking blocks; the multiple walking wheels are spaced apart on the base; the multiple fourth telescopic drive members are spaced apart on the base; the parking blocks are located at the output end of the fourth telescopic drive members, and the fourth telescopic drive members are used to drive the parking blocks to move up and down so that the parking blocks abut against the ground, thereby fixing the base in a designated position.

10. A method for yarn starting, characterized in that, The dual-arm robotic system for yarn production as described in any one of claims 1-9 further includes: Finding the yarn end: The first robotic arm is used to transfer the broken yarn tube from the ring spinning machine to the rotating mechanism, and the yarn end is found on the surface of the broken yarn tube on the rotating mechanism using the finding mechanism. The yarn start-up process involves: using a first robotic arm to transfer the broken yarn bobbin to the ring spinning machine, and using a second robotic arm to connect the yarn end found by the yarn start-up mechanism to the ring spinning machine; and / or, using a first robotic arm to transfer the empty yarn bobbin from the ring spinning machine to the rotating mechanism, using a second robotic arm to wind the start-up yarn onto the empty yarn bobbin, and finally using a first robotic arm to transfer the empty yarn bobbin back to the ring spinning machine, and using a second robotic arm to connect the start-up yarn to the ring spinning machine.

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