A yarn piecing robot system and piecing method based on double-arm cooperation

Abstract

The application provides a yarn piecing robot system and piecing method based on double-arm cooperation, belongs to the field of ring spinning frames, and solves the problems of complicated piecing operation, low efficiency and high labor intensity of the ring spinning frame; the piecing robot system comprises a base, a piecing mechanism, a first mechanical arm, a second mechanical arm, a positive pressure air source and a negative pressure air source which are arranged on the base; the piecing mechanism comprises a full bobbin, a yarn guiding module, a conveying module and a yarn breaking module, and a yarn conveying pipe is arranged on the first mechanical arm; the yarn guiding module is used for guiding and clamping the yarn; the conveying module is connected with the positive pressure air source and is used for guiding the yarn end into the yarn conveying pipe; a first air force conveyor and an abutting component are arranged on the second mechanical arm, the first air force conveyor is connected with the negative pressure air source and is used for sucking the yarn end, and the abutting component is used for abutting against a brake of the ring spinning frame to control the start and stop of the spindle; the yarn guiding module, the second mechanical arm, the first mechanical arm and the yarn breaking module cooperate to execute a piecing action.

Description

Technical Field

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

[0002] In the spinning process of the textile industry, the ring spinning machine is the core equipment. Before the equipment is put into operation, a starting operation is required to establish the initial yarn path, that is, to draw the yarn from the yarn bobbin and guide and pass it around key components such as the guide hook and traveler, so that it has the conditions for normal twisting and winding.

[0003] Currently, all of the above-mentioned head-raising procedures rely heavily on manual processing. However, this traditional method has the following significant shortcomings: Firstly, the operation is cumbersome and inefficient. In the initial stage before the equipment is started, the operator must manually thread and wind hundreds or even thousands of spindles one by one. The preparation time for starting a single machine can be as long as several hours, which seriously restricts the rapid start-up of production and flexible production scheduling.

[0004] Secondly, the labor intensity is high. The operation of the machines requires workers to have extremely high hand-eye coordination and millimeter-level precision. Workers need to maintain focus for long periods, frequently bending over, walking, and performing repetitive tasks beside the machines in a noisy and monotonous working environment. 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 yarn yarn raising robot system and method based on dual-arm cooperation, which solves the problems of cumbersome yarn raising operation, low efficiency and high labor intensity in the prior art of ring spinning machines.

[0006] To achieve the above and other related objectives, this invention provides a yarn-generating robot system based on dual-arm collaboration, comprising: a base and a yarn-generating mechanism, a first robotic arm, a second robotic arm, a positive pressure air source, and a negative pressure air source mounted on the base; the yarn-generating mechanism includes a full yarn tube, a yarn guiding module, a conveying module, and a yarn-cutting module mounted on the base; a yarn conveying tube is mounted on the first robotic arm; the full yarn tube is rotatably connected to the base; the yarn guiding module is positioned between the full yarn tube and the conveying module for guiding and clamping the yarn; the conveying module is connected to the positive pressure air source, which guides the yarn ends from the full yarn tube through the yarn-cutting module into the yarn conveying tube on the first robotic arm; the yarn-cutting module cuts the yarn; the second robotic arm is equipped with a first pneumatic conveyor and a contacting component, and the first pneumatic conveyor is connected to the negative pressure air source. The system consists of a negative pressure air source for drawing the yarn end from the yarn conveying tube into the first pneumatic conveyor; a contacting component for contacting the spindle brake of the ring spinning machine to start and stop the spindle; a yarn guiding module configured to clamp the yarn after the negative pressure air source completes the drawing action and when the contacting component brakes the spindle, and to release the clamping when the contacting component releases the brake; a second robotic arm configured to wind the yarn end from the first pneumatic conveyor onto the empty yarn tube of the ring spinning machine after the first braking operation of the contacting component; a first robotic arm configured to guide the yarn through the guide hooks on the traveler, air ring, and blade plate after the second braking operation of the contacting component, and then guide it onto the roller of the ring spinning machine; and a yarn cutting module configured to cut the yarn after the second braking operation of the contacting component.

[0007] Optionally, the first robotic arm is also equipped with a blower pipe, which is connected to a positive pressure air source. The positive pressure air source is also used to blow air onto the wire ring through the blower pipe to reset the wire ring.

[0008] Optionally, the yarn-cutting module includes a mounting base, a first telescopic drive, and a cutting component. The mounting base is disposed on a base, and a cutting cavity is provided inside the mounting base. The mounting base is also provided with a cutting groove, a yarn inlet, and a yarn outlet communicating with the cutting cavity. The first telescopic drive is disposed on the mounting base, and the cutting component is disposed at the output end of the first telescopic drive. The cutting component is slidably connected to the cutting groove. The first telescopic drive is used to drive the cutting component to slide along the cutting groove to cut the yarn. The conveying module is used to transmit the yarn end led out from the yarn tube by the yarn guiding module through the yarn inlet to the cutting cavity, and then through the yarn outlet to the yarn conveying tube.

[0009] Optionally, the conveying module further includes a second pneumatic conveyor and a third pneumatic conveyor. The second and third pneumatic conveyors each include a conveying channel for the yarn to pass through and an air inlet channel connected to the conveying channel. The air inlet channel is connected to a positive pressure air source. The second pneumatic conveyor is connected to the yarn inlet of the mounting base for feeding the yarn into the cutting cavity. The third pneumatic conveyor is connected to the yarn outlet of the mounting base for drawing the yarn out of the cutting cavity and transferring it to the yarn conveying tube. Optionally, the yarn guiding module includes a mounting plate, a driving roller, a first telescopic drive component, a rotating shaft, and a driven roller; the mounting plate is mounted on a base; the driving roller is rotatably connected to the mounting plate; the first telescopic drive component is mounted on the base or the mounting plate, the rotating shaft is mounted on the output end of the first telescopic drive component, and the driven roller is rotatably mounted on the rotating shaft; the first telescopic drive component is used to drive the driven roller to move towards or away from the driving roller.

[0010] Optionally, the yarn guiding module also includes a first rotary drive component, which is mounted on the mounting plate. The drive roller is connected to the output end of the first rotary drive component, and the first rotary drive component is used to drive the drive roller to rotate.

[0011] Optionally, the end of the second robotic arm is provided with a second rotary drive and a connecting rod; the first end of the connecting rod is connected to the output end of the second rotary drive, and the other end is provided with a U-shaped connector; the end of the yarn conveying tube away from the conveying module is located on the rotation path of the U-shaped connector.

[0012] Optionally, the base is also equipped with a walking mechanism, which is used to drive the base to move and position.

[0013] Optionally, the walking mechanism includes multiple walking wheels, multiple second telescopic drive members, and multiple parking blocks; the second telescopic drive members and parking blocks are arranged in a one-to-one correspondence; the multiple walking wheels are spaced apart on the base; the multiple second telescopic drive members are spaced apart on the base; the parking blocks are located at the output end of the second telescopic drive members, and the second 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.

[0014] On the other hand, the present invention also provides a yarn-generating method, including the yarn-generating robot system and control module as described above, wherein the control module is configured to perform the following steps: S1: After the negative pressure air source draws the yarn end in the yarn conveying pipe into the first pneumatic conveyor, the contacting component is controlled to perform a braking operation, and the yarn guiding module is controlled to clamp the yarn. S2: Control the second robotic arm to wind the yarn end in the first pneumatic conveyor onto the empty yarn tube of the ring spinning machine; S3: Control the contacting component to cancel the braking operation, and at the same time control the yarn guiding module to cancel the clamping of the yarn, so as to use the rotation of the empty yarn tube to tightly wind the yarn onto the empty yarn tube; S4: Control the contacting component to perform the braking operation again, then the yarn guide module clamps the yarn, and controls the yarn cutting module to cut the yarn. Then, control the first robotic arm to guide the yarn through the wire traveler, the air ring and the yarn guide hook on the blade plate and then guide it onto the roller of the ring spinning machine. S5: Control the contact component to cancel the braking operation.

[0015] As described above, the yarn-generating robot system and method based on dual-arm cooperation of the present invention have at least the following beneficial effects: Through the coordinated operation of the first and second robotic arms, combined with the pneumatic conveying principle of positive and negative pressure air sources, the automatic threading and construction of yarn from the full yarn tube to the key components of the spinning machine is realized. Specifically, the yarn end is blown into the conveying tube by the positive pressure air source, and then sucked into the first pneumatic conveyor by the negative pressure air source, achieving flexible and lossless yarn transmission. Through the cooperation of the contact component and the spindle brake, the rotation state of the spindle is precisely controlled. Combined with the clamping and releasing actions of the yarn guiding module, the tension stability and position accuracy of the yarn are ensured during the winding and threading process. This effectively solves the technical problems of cumbersome, inefficient, and labor-intensive manual yarn raising operations, and significantly improves the automation level and production efficiency of textile production. Attached Figure Description

[0016] Figure 1 The diagram shown is an overall structural schematic of a yarn-generating robot system based on dual-arm collaboration according to the present invention.

[0017] Figure 2 The diagram shown is a structural schematic of the head-generating mechanism of the present invention.

[0018] Figure 3 The diagram shows a cross-sectional view of the conveying module and the yarn breakage module.

[0019] Figure 4 Displayed as Figure 1 An enlarged diagram of point A in the diagram.

[0020] Component designation explanation: 100. Base; 200. Yarn-generating mechanism; 210. Full yarn tube; 220. Yarn guide module; 221. Mounting plate; 222. Drive roller; 223. First telescopic drive component; 224. Rotating shaft; 225. Driven roller; 226. First rotary drive component; 230. Conveying module; 231. Second pneumatic conveyor; 232. Third pneumatic conveyor; 233. Conveying channel; 234. Air inlet channel; 240. Yarn-breaking module; 241. Mounting base; 2411. Cutting chamber. 2412, Cutting groove; 2413, Yarn inlet; 2414, Yarn outlet; 242, First telescopic drive component; 243, Cutting component; 300, First robotic arm; 310, Yarn conveying pipe; 320, Second rotary drive component; 330, Connecting rod; 340, U-shaped connector; 400, Second robotic arm; 410, First pneumatic conveyor; 420, Abutting component; 500, Walking mechanism; 510, Walking wheel; 520, Second telescopic drive component; 530, Parking block. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] 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.

[0024] like Figure 1-4As shown, this embodiment provides a yarn-growing robot system based on dual-arm collaboration. The system includes a base 100 and a yarn-growing mechanism 200, a first robotic arm 300, a second robotic arm 400, a positive pressure air source (not shown), and a negative pressure air source (not shown) mounted on the base 100. The base 100 serves as the supporting foundation for the entire robot system, and integrates positive and negative pressure air sources internally or externally. These sources can be structures such as air pumps; this embodiment does not limit their use, as long as they can provide positive and negative pressure. The positive pressure air source provides high-pressure airflow, and the negative pressure air source generates negative pressure suction; together, they constitute the pneumatic drive core of the system. The yarn-growing mechanism 200, the first robotic arm 300, and the second robotic arm 400 are all mounted on the base 100. The first robotic arm 300 and the second robotic arm 400 cooperate to simulate the hand movements during manual yarn growth, respectively responsible for constructing the yarn delivery path and grasping and winding the yarn ends. The first robotic arm 300 and the second robotic arm 400 can be robotic arms with multiple degrees of freedom. Their specific structures and working principles are existing in related technologies, and will not be described in detail in this embodiment.

[0025] Specifically, the yarn-generating mechanism 200 includes a full yarn tube 210, a yarn guiding module 220, a conveying module 230, and a yarn-cutting module 240, all mounted on a base 100. The full yarn tube 210 is rotatably connected to the base 100 and stores and provides the yarn source required for yarn generation. Its rotatability ensures uniform yarn tension during the drawing process, preventing breakage due to pulling. The yarn guiding module 220 is positioned between the full yarn tube 210 and the conveying module 230 to guide and clamp the yarn, ensuring a stable path during transport. The conveying module 230 is connected to a positive pressure air source, which guides the yarn ends from the full yarn tube 210 through the yarn-cutting module 240 into the yarn conveying tube 310 on the first robotic arm 300. The yarn-cutting module 240 cuts the yarn, removing excess yarn after generation, achieving automated separation.

[0026] The second robotic arm 400 is equipped with a first pneumatic conveyor 410 and a contacting component 420. The first pneumatic conveyor 410 is connected to a negative pressure air source, which is used to draw the yarn end from the yarn conveying tube 310 into the first pneumatic conveyor 410. When the first robotic arm 300 brings the outlet end of the yarn conveying tube 310 close to the inlet of the first pneumatic conveyor 410, the negative pressure air source is activated, creating a strong negative pressure field inside the first pneumatic conveyor 410, thereby drawing the yarn end out of the yarn conveying tube 310 and capturing it. The contacting component 420 is used to contact the spindle brake of the ring spinning machine to start and stop the spindle of the ring spinning machine. The contacting component 420 can be a pneumatic push rod, an electromagnet push rod, a hydraulic push rod, or a cylindrical rod, etc., which controls the rotation state of the spindle by physically contacting and pressing the operating handle of the spindle brake.

[0027] This embodiment employs a combination of positive pressure conveying and negative pressure suction. High-pressure airflow generated by a positive pressure air source enters the conveying module 230. Utilizing the pressure difference or flow field traction force formed by the airflow within the pipe, the yarn end drawn from the full yarn tube 210 is "blown" or "carried" through the yarn breaking module 240, ultimately reaching the yarn conveying tube 310 at the end of the first robotic arm 300. It should be understood that although this embodiment is described as "introduction," under actual fluid dynamics, the yarn can be propelled forward by the negative pressure suction force generated by Bernoulli's principle, or the yarn can be directly propelled by the kinetic energy of high-speed airflow, as long as directional movement of the yarn within the pipe can be achieved.

[0028] The yarn guide module 220 is configured to clamp the yarn after the negative pressure air source completes the suction action and when the contact component 420 brakes the spindle, and to release the clamping when the contact component 420 releases the brake. The logic of this configuration is that after the negative pressure suction is completed, the yarn end has been captured by the second robotic arm 400. If it is not clamped at this time, the yarn may fall off due to tension fluctuations. When the contact component 420 brakes the spindle, the spindle stops rotating. At this time, clamping the yarn is to fix the yarn position in preparation for subsequent winding or cutting. When the contact component 420 releases the brake, the spindle resumes rotation. At this time, releasing the clamping allows the yarn to be pulled out with the rotating empty yarn tube, realizing the linkage control of "braking is clamping, releasing is releasing".

[0029] The second robotic arm 400 is configured to, after the first braking operation of the contact component 420, wind the yarn end in the first pneumatic conveyor 410 onto the empty yarn tube of the ring spinning machine. At this time, the spindle is stationary, and the second robotic arm 400 winds the yarn end onto the empty yarn tube in preparation for subsequent automatic winding.

[0030] The first robotic arm 300 is configured to guide the yarn through the guide hooks on the traveler, the air ring, and the blade after the abutment part 420 performs the braking operation for the second time, and then guide it onto the roller of the ring spinning machine.

[0031] The yarn break module 240 is configured to cut the yarn after the abutment component 420 performs the braking operation for the second time, ensuring that the robot system can separate from the ring spinning machine after the yarn start-up action is completed and enter the next work cycle.

[0032] Through the combination of the above system architecture and control logic, this embodiment realizes the complete automation of the yarn starting process. It not only replaces high-intensity manual labor, but also ensures the accuracy and stability of the starting action through the technical architecture of "dual-arm collaboration + pneumatic conveying + spindle control", which significantly improves the production efficiency of the textile workshop.

[0033] The first robotic arm 300 is also equipped with a blower pipe, which is connected to a positive pressure air source. The positive pressure air source is also used to blow air onto the wire ring through the blower pipe to reset the wire ring.

[0034] During the operation of a ring spinning frame, the traveler is a crucial yarn guiding component, rotating at high speed along with the yarn while attached to the ring. However, before or after the yarn starting operation, the traveler often shifts position due to gravity or vibration, sometimes even remaining on one side of the ring, obstructing the subsequent yarn threading path. If it is not reset before starting the yarn, it can easily lead to yarn winding failure or damage to the traveler. This embodiment achieves automatic reset of the traveler by adding a blower to the first robotic arm 300 and utilizing high-pressure airflow from a positive pressure air source.

[0035] Specifically, the blower assembly is connected to a positive pressure air source via a pipeline, with its nozzle tip pointing towards the preset position of the wire ring. When the first robotic arm 300 moves to the vicinity of the yarn feeding station, the control system detects an abnormal position of the wire ring or activates the positive pressure air source according to a preset program. High-pressure airflow is ejected through the blower assembly, directly impacting the wire ring. According to fluid mechanics principles, the high-speed airflow acting on the wire ring generates a pneumatic thrust, which is sufficient to overcome the static friction between the wire ring and the ring, pushing the wire ring to rotate along the ring and return it to its initial position for easy yarn feeding.

[0036] The yarn cutting module 240 includes a mounting base 241, a first telescopic drive member 223, and a cutting member 243. The mounting base 241 is mounted on the base 100. The mounting base 241 has a cutting cavity 2411 inside, and also has a cutting groove 2412, a yarn inlet 2413, and a yarn outlet 2414 communicating with the cutting cavity 2411. The first telescopic drive member 223 is mounted on the mounting base 241, and the cutting member 243 is located at the output end of the first telescopic drive member 223, and is slidably connected to the cutting groove 2412. The first telescopic drive member 223 drives the cutting member 243 to slide along the cutting groove 2412 to cut the yarn. The conveying module 230 conveys the yarn end led from the yarn guide module 220 from the full yarn tube 210 through the yarn inlet 2413 into the cutting cavity 2411, and then through the yarn outlet 2414 to the yarn conveying tube 310.

[0037] Upon receiving a control signal, the first telescopic drive component 223 (such as a cylinder, electric push rod, or hydraulic cylinder) rapidly pushes the cutting component 243 to move linearly along the cutting groove 2412. The cutting groove 2412 not only serves as a guide, ensuring the stability of the cutting edge trajectory of the cutting component 243, but also allows for flexible adjustment of the yarn inlet 2413 and yarn outlet 2414 based on the layout of the conveying module 230. For example, they can be positioned on opposite sides of the mounting base 241 to achieve linear yarn passage.

[0038] The conveying module 230 also includes a second pneumatic conveyor 231 and a third pneumatic conveyor 232. The second pneumatic conveyor 231 and the third pneumatic conveyor 232 each include a conveying channel 233 for yarn to pass through and an air inlet channel 234 connected to the conveying channel 233. The air inlet channel 234 is connected to a positive pressure air source. The second pneumatic conveyor 231 is connected to the yarn inlet 2413 of the mounting base 241 for feeding the yarn into the cutting cavity 2411. The third pneumatic conveyor 232 is connected to the yarn outlet 2414 of the mounting base 241 for drawing the yarn out of the cutting cavity 2411 and transferring it to the yarn conveying pipe 310.

[0039] The second pneumatic conveyor 231 and the third pneumatic conveyor 232 play a crucial synergistic role in the yarn cutting process. Before the yarn cutting module 240 performs the cutting action, the second pneumatic conveyor 231 continuously feeds the yarn into the cutting cavity 2411, while the third pneumatic conveyor 232 simultaneously pulls the yarn out of the cavity. Their combined action ensures that the yarn segment within the cutting cavity 2411 remains taut. Furthermore, the structures of the second pneumatic conveyor 231 and the third pneumatic conveyor 232 can be the same or different. For example, to enhance the capture capability of the cut yarn end, the air inlet pressure of the third pneumatic conveyor 232 can be set higher than that of the second pneumatic conveyor 231 to provide stronger traction suction.

[0040] The yarn guiding module 220 includes a mounting plate 221, a driving roller 222, a first telescopic drive component 223, a rotating shaft 224, and a driven roller 225. The mounting plate 221 is mounted on the base 100, serving as the main support for the yarn guiding module 220. The driving roller 222 is rotatably connected to the mounting plate 221, and its rotation axis is fixed. The first telescopic drive component 223 can be a cylinder or electric cylinder, and is mounted on the base 100 or the mounting plate 221. The mounting plate 221 has a waist-shaped hole for the rotating shaft 224 to pass through. The rotating shaft 224 is located within this hole, with one end connected to the output end of the first telescopic drive component 223. The driven roller 225 is rotatably mounted on the other end of the rotating shaft 224 via a bearing or other structure. The first telescopic drive component 223 drives the driven roller 225 to move closer to or further away from the driving roller 222, thereby clamping and releasing the yarn.

[0041] During the yarn-forming process, the yarn needs to be reliably guided and clamped, but it must not be damaged by excessive clamping force. This embodiment achieves flexible clamping of the yarn through the cooperation of the driving roller 222 and the driven roller 225. Specifically, when the yarn needs to be clamped, the first telescopic drive component 223 (such as a cylinder, electric push rod, or hydraulic cylinder) extends, pushing the rotating shaft 224 to move, which in turn drives the driven roller 225 to move closer to the driving roller 222. At this time, the yarn is located in the gap between the driving roller 222 and the driven roller 225. The driven roller 225 presses the yarn firmly against the surface of the driving roller 222, and the two work together to generate sufficient friction to fix the yarn. It should be understood that this frictional clamping method has significant advantages over traditional mechanical jaw clamping: the contact between the roller and the yarn is line contact or surface contact, the contact area is large, the pressure is low, and it is less likely to cause indentations or damage to the yarn surface, effectively protecting the quality of the yarn.

[0042] When the yarn needs to be released, the first telescopic drive member 223 retracts, causing the driven roller 225 to move away from the driving roller 222. The friction disappears, and the yarn can be smoothly pulled out or moved by other mechanisms. In a preferred embodiment, the surfaces of the driving roller 222 and the driven roller 225 can be provided with a rubber layer or a polyurethane layer to increase the coefficient of friction, ensuring sufficient clamping force even under relatively low clamping pressure. Simultaneously, the elastic deformation of the rubber material can further buffer the impact on the yarn.

[0043] The yarn guiding module 220 also includes a first rotary drive 226, which is mounted on the mounting plate 221. The drive roller 222 is connected to the output end of the first rotary drive 226, and the first rotary drive 226 is used to drive the drive roller 222 to rotate. The yarn guiding module 220 mainly undertakes the functions of clamping and passively guiding the yarn. However, in actual yarn production, relying solely on the suction of the negative pressure air source or the traction force of the conveying module 230 to pull the yarn may sometimes result in insufficient traction force, especially when the path of the yarn between the full yarn tube 210 and the yarn guiding module 220 is long or there is significant frictional resistance. The yarn is prone to slippage between the drive roller 222 and the driven roller 225, leading to conveying stagnation or tension fluctuations. This embodiment, by adding the first rotary drive 226, gives the yarn guiding module 220 the ability to actively convey the yarn.

[0044] Specifically, the first rotary drive 226 can be powered by a servo motor, stepper motor, or pneumatic motor. When the system needs to convey yarn downstream, the first rotary drive 226 is activated, driving the drive roller 222 to rotate. At this time, if the driven roller 225 presses the yarn under the action of the first telescopic drive 223, the rotating drive roller 222 will drive the yarn to move forward actively through friction, while the driven roller 225 will rotate passively under the action of the yarn. This active conveying method makes the yarn supply no longer completely dependent on the downstream pneumatic traction, but forms a "push-pull" coordinated conveying mode. On the one hand, the thrust provided by the active roller 222 can effectively overcome the frictional resistance in the upstream path, ensuring that the yarn enters the conveying module 230 stably and continuously; on the other hand, by controlling the rotation speed of the first rotary drive 226, the yarn supply speed can be precisely adjusted to match the operating rhythm of the downstream yarn breaking module 240 or the first robotic arm 300, avoiding the risk of yarn accumulation due to excessively fast yarn supply or breakage due to excessively slow yarn supply.

[0045] It should be understood that the connection between the first rotary drive 226 and the driving roller 222 can be direct or indirect, via a transmission mechanism such as gears, belts, or couplings. Furthermore, the timing of the first rotary drive 226's operation is closely coordinated with the clamping action of the first telescopic drive 223. For example, when clamping and conveying yarn is required, the first telescopic drive 223 first drives the driven roller 225 to press the yarn, and then the first rotary drive 226 starts rotating. When only clamping is needed and not conveying (e.g., waiting for downstream processes), the first telescopic drive 223 maintains the clamping state, while the first rotary drive 226 stops rotating, thus locking the yarn position. This dual-function design of "clamping + active conveying" greatly enhances the adaptability of the yarn guide module 220 to different working conditions and ensures tension stability during the yarn start-up process.

[0046] The first robotic arm 300 has a second rotary drive 320 and a connecting rod 330 at its end. The first end of the connecting rod 330 is connected to the output end of the second rotary drive 320, and the other end is provided with a U-shaped connector 340. The end of the yarn conveying pipe 310 away from the conveying module 230 is located on the rotation path of the U-shaped connector 340, and the rotation paths of the yarn conveying pipe 310 and the U-shaped connector 340 do not interfere with each other.

[0047] In the actual operation of yarn raising, the travelers, air rings, and yarn guide hooks on the blades of the ring spinning machine present a complex three-dimensional distribution in space, and each has a relatively small aperture. If the outlet posture of the yarn delivery tube 310 is adjusted solely by the multi-degree-of-freedom motion of the first robotic arm 300, it often requires the robotic arm to undergo significant posture changes. This not only places extremely high demands on the positioning accuracy of the robotic arm but also easily leads to interference and collisions between the robotic arm and other components of the spinning machine. This embodiment cleverly solves this problem by adding a rotational degree of freedom at the end of the first robotic arm 300.

[0048] Specifically, the second rotary drive component 320 can be powered by a servo motor, stepper motor, or pneumatic motor, and its output end is connected to the connecting rod 330. The connecting rod 330 acts as a lever arm, transmitting the rotational motion of the second rotary drive component 320 to the U-shaped connector 340. Due to its open shape design, the U-shaped connector 340 can pull the yarn during rotation, thereby facilitating the first robotic arm 300 to pass the yarn through the wire loop, air ring, and yarn guide hook.

[0049] A walking mechanism 500 is also provided on the base 100, which is used to drive the base 100 to move and position. In the actual operation scenario of a ring spinning machine workshop, a single ring spinning machine often has hundreds of spindles, and multiple ring spinning machines are arranged side by side, which requires the robot system to have the ability to move over a wide range. In this embodiment, by setting the walking mechanism 500 on the base 100, the robot can move along a preset track or ground path to perform the starting operation on different spindles in sequence, thereby achieving a high-efficiency operation mode where a single device covers multiple ring spinning machines. The walking mechanism 500 can take various forms such as wheeled, tracked, or sliding rail. Preferably, this embodiment adopts a wheeled structure to adapt to flat cement floors.

[0050] Furthermore, the walking mechanism 500 includes multiple walking wheels 510, multiple second telescopic drive members 520, and multiple parking blocks 530; the second telescopic drive members 520 and the parking blocks 530 are arranged in a one-to-one correspondence. The multiple walking wheels 510 are spaced apart on the base 100 to support the weight of the base 100 and enable rolling movement. The multiple second telescopic drive members 520 are spaced apart on the base 100; the parking blocks 530 are located at the output end of the second telescopic drive members 520, and the second telescopic drive members 520 are used to drive the parking blocks 530 to move up and down so that the parking blocks 530 abut against the ground, thereby fixing the base 100 in a designated position.

[0051] If positioning relies solely on the braking system of the walking wheels 510, the base 100 is prone to slight swaying or displacement due to the point or line contact between the walking wheels 510 and the ground, and the tire material is typically elastic materials such as rubber, during complex yarn threading operations (such as winding and threading) performed by the dual robotic arms. This minute displacement is fatal for yarn threading operations requiring millimeter-level precision, potentially leading to yarn threading failure or component collisions. This embodiment constructs a "rigid support" system by introducing a parking block 530 and a second telescopic drive component 520. Specifically, when the robot moves to the target spindle position, the second telescopic drive component 520 (such as a cylinder, hydraulic cylinder, or electric push rod) is activated, pushing the parking block 530 downwards until it is in close contact with the ground. At this point, a significant frictional force is generated between the parking block 530 and the ground, even slightly lifting the entire base 100, causing the walking wheels 510 to detach from the ground or serve only as auxiliary support. This rigid physical locking method completely eliminates the uncertainty caused by tire elastic deformation, providing a stable foundation platform for the cooperation of both arms and ensuring high precision and high success rate of the head-raising action.

[0052] As a preferred embodiment of this invention, the bottom surface of the parking block 530 may be provided with anti-slip texture or made of a material with a high coefficient of friction (such as polyurethane, rubber, etc.) to further enhance the gripping force with the ground.

[0053] This embodiment provides a yarn-generating method based on the aforementioned yarn-generating robot system. This method automates the entire yarn-generating process by using a control module to precisely control the timing of each hardware module. Specifically, the control module is configured to execute the following steps: Step S1: After the negative pressure air source draws the yarn end in the yarn conveying pipe 310 into the first pneumatic conveyor 410, the abutment component 420 is controlled to perform a braking operation, and the yarn guiding module 220 is controlled to clamp the yarn.

[0054] Specifically, this step is the initial preparation stage of the yarn spinning process. First, the positive pressure air source is activated, and under the action of the second pneumatic conveyor 231 and the third pneumatic conveyor 232, the yarn on the full yarn tube 210 enters the yarn conveying tube 310 on the first robotic arm 300. Then, the negative pressure air source is activated, generating negative pressure in the first pneumatic conveyor 410, which stably captures and sucks the yarn end conveyed by the first robotic arm 300 into a predetermined position. At this time, the yarn is in a taut state. Subsequently, the control module issues a command to control the movement of the second robotic arm 400, so that the abutment part 420 abuts against the spindle brake of the ring spinning machine, forcing the high-speed rotating spindle to stop rotating, providing a static working environment for the subsequent winding operation. At the same time or immediately afterward, the control module controls the yarn guiding module 220 to operate, and the active roller 222 and the driven roller 225 close, reliably clamping the yarn.

[0055] Step S2: Control the second robotic arm 400 to wind the yarn end in the first pneumatic conveyor 410 onto the empty yarn tube of the ring spinning machine.

[0056] Specifically, with the spindle stationary, the control module drives the second robotic arm 400 to move according to a preset winding trajectory. The first pneumatic conveyor 410 at the end of the second robotic arm 400 releases the yarn end and, in conjunction with the movement of the robotic arm, winds the yarn end onto the empty yarn tube. Because the spindle is stationary at this time, the winding action is similar to manual winding, ensuring that the yarn end is accurately placed and avoiding the risk of slippage that may occur during winding in a rotating state.

[0057] Step S3: Control the abutting component 420 to cancel the braking operation, and at the same time control the yarn guide module 220 to cancel the clamping of the yarn, so as to use the rotation of the empty yarn tube to tightly wind the yarn onto the empty yarn tube.

[0058] Specifically, the control module controls the second robotic arm 400 to move, causing the contact component 420 to release the braking effect on the spindle, and the spindle quickly resumes rotation under the drive of the main drive system of the ring spinning machine. At the same time, the driven roller 225 of the yarn guide module 220 moves downward under the drive of the first telescopic drive component 223, releasing the clamping of the yarn. At this time, one end of the yarn has been initially wound on the empty yarn tube, while the other end is still connected to the full yarn tube 210. As the empty yarn tube rotates, the yarn automatically and tightly winds onto the empty yarn tube under the combined action of centrifugal force and friction, forming a solid yarn base. This coordinated control of "removing the brake and removing the clamping" cleverly utilizes the rotational energy of the empty yarn tube to complete the winding action, eliminating the need for an additional robotic arm to tighten or compact the yarn, greatly simplifying the system structure, improving winding efficiency and reliability, and because the yarn guide module 220 removes the clamping of the yarn at this time, it prevents the yarn from being pulled at both ends during the winding of the yarn tube, thus preventing yarn breakage. Optionally, during this process, a positive pressure air source works synchronously, using the second pneumatic conveyor 231 and the third pneumatic conveyor 232 to move the yarn into the yarn conveying pipe 310, further preventing the yarn from being stretched and breaking.

[0059] Step S4: Control the abutment component 420 to perform the braking operation again, then the yarn guide module 220 clamps the yarn, and control the yarn cutting module 240 to cut the yarn. Then, control the first robotic arm 300 to guide the yarn through the guide hooks on the wire traveler, the air ring, and the blade plate, and then guide it onto the roller of the ring spinning machine.

[0060] Specifically, after the yarn is tightly wound on the empty yarn tube, the control module again controls the abutment component 420 to stop the spindle from rotating, providing a stable environment for cutting and threading operations. At this time, the yarn guide module 220 clamps the yarn again, providing tension support for cutting. The yarn cutting module 240 is activated, and the first telescopic drive component 223 pushes the cutting component 243 to slide rapidly within the cutting cavity 2411, cutting the taut yarn. After cutting, the yarn head is still retained in the yarn delivery tube 310 of the first robotic arm 300. Subsequently, the first robotic arm 300 begins to perform the threading operation. According to the preset path planning, the control module controls the movement of the end of the first robotic arm 300, guiding the yarn through the guide hooks on the wire traveler, the air ring, and the blade in sequence. Finally, the yarn head is guided onto the roller of the ring spinning machine, completing the construction of the yarn head path.

[0061] Step S5: Control the abutment component 420 to cancel the braking operation.

[0062] Specifically, once the yarn is successfully threaded and guided onto the rollers, the yarn starting process is essentially complete. The control module then controls the contact component 420 to disengage from the spindle brake, releasing the spindle from its lock. At this point, the ring spinning machine can start normally, the spindle rotates, and the traveler moves at high speed under the yarn tension, initiating the normal twisting and winding process. The robot system then resets, preparing to move to the next spindle position to perform a new yarn starting task.

[0063] Through the steps S1 to S5 described above, this embodiment constructs a complete closed-loop control logic of "braking-clamping-winding-releasing-cutting-threading". This method not only achieves full automation of the yarn-forming process, but more importantly, by utilizing the design of the empty yarn tube rotating and tightly winding the yarn, it significantly improves the success rate of yarn formation and operational efficiency.

[0064] In summary, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0065] 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 yarn-generating robot system based on dual-arm cooperation, characterized in that, include: The base and the head-generating mechanism, the first robotic arm, the second robotic arm, the positive pressure air source, and the negative pressure air source mounted on the base; The yarn-generating mechanism includes a full yarn tube, a yarn guiding module, a conveying module, and a yarn-cutting module mounted on the base. A yarn conveying tube is mounted on the first robotic arm. The full yarn tube is rotatably connected to the base. The yarn guiding module is positioned between the full yarn tube and the conveying module, used to guide and clamp the yarn. The conveying module is connected to a positive pressure air source, which guides the yarn ends from the full yarn tube through the conveying module and into the yarn conveying tube on the first robotic arm after passing through the yarn-cutting module. The yarn-cutting module is used to cut the yarn. The second robotic arm is equipped with a first pneumatic conveyor and a contacting component. The first pneumatic conveyor is connected to the negative pressure air source, which is used to draw the yarn end in the yarn conveying tube into the first pneumatic conveyor. The contacting component is used to contact the spindle brake of the ring spinning machine to realize the start and stop of the spindle of the ring spinning machine. in, The yarn guiding module is configured to clamp the yarn after the negative pressure air source completes the suction action and when the abutting component brakes the spindle, and to release the clamping when the abutting component releases the brake. The second robotic arm is configured to: after the first braking operation of the abutment component, wind the yarn end in the first pneumatic conveyor onto the empty yarn tube of the ring spinning machine; The first robotic arm is configured to guide the yarn through the guide hooks on the traveler, the air ring, and the blade after the abutment component performs the braking operation for the second time, and then guide it onto the roller of the ring spinning machine. The yarn-cutting module is configured to cut the yarn after the abutting component performs a second braking operation.

2. The yarn-generating robot system based on dual-arm cooperation according to claim 1, characterized in that: The first robotic arm is also equipped with a blower pipe, which is connected to the positive pressure air source. The positive pressure air source is also used to blow air onto the wire ring through the blower pipe to reset the wire ring.

3. The yarn-generating robot system based on dual-arm cooperation according to claim 1, characterized in that: The yarn breakage module includes a mounting base, a first telescopic drive component, and a cutting component; The mounting base is disposed on the base, and the interior of the mounting base is provided with a cutting cavity. The mounting base is also provided with a cutting groove, a yarn inlet and a yarn outlet communicating with the cutting cavity. The first telescopic drive is disposed on the mounting base, the cutting component is disposed at the output end of the first telescopic drive, and the cutting component is slidably connected to the cutting groove. The first telescopic drive is used to drive the cutting component to slide along the cutting groove to cut the yarn. The conveying module is used to transfer the yarn end led out from the yarn tube by the yarn guiding module through the yarn inlet to the cutting cavity, and then through the yarn outlet to the yarn conveying tube.

4. The yarn-generating robot system according to claim 3, characterized in that: The conveying module further includes a second pneumatic conveyor and a third pneumatic conveyor. The second and third pneumatic conveyors each include a conveying channel for the yarn to pass through and an air inlet channel connected to the conveying channel. The air inlet channel is connected to the positive pressure air source. The second pneumatic conveyor is connected to the yarn inlet of the mounting base for feeding the yarn into the cutting cavity. The third pneumatic conveyor is connected to the yarn outlet of the mounting base for drawing the yarn out of the cutting cavity and transferring it to the yarn conveying pipe.

5. The yarn-generating robot system according to claim 3, characterized in that: The yarn guiding module includes a mounting plate, a driving roller, a first telescopic drive component, a rotating shaft, and a driven roller. The mounting plate is disposed on the base; The drive roller is rotatably connected to the mounting plate; The first telescopic drive member is disposed on the base or the mounting plate, the rotating shaft is disposed on the output end of the first telescopic drive member, and the driven roller is rotatably disposed on the rotating shaft; the first telescopic drive member is used to drive the driven roller to move towards or away from the driving roller.

6. The yarn-generating robot system according to claim 3, characterized in that: The yarn guiding module further includes a first rotary drive component, which is disposed on the mounting plate. The active roller is connected to the output end of the first rotary drive component, and the first rotary drive component is used to drive the active roller to rotate.

7. The yarn-generating robot system according to claim 1, characterized in that: The end of the first robotic arm is provided with a second rotary drive and a connecting rod; The first end of the connecting rod is connected to the output end of the second rotary drive component, and the other end is provided with a U-shaped connector; the end of the yarn conveying tube away from the conveying module is located on the rotation path of the U-shaped connector.

8. The yarn-generating robot system according to claim 1, characterized in that: The base is also equipped with a walking mechanism, which is used to drive the base to move and position itself.

9. The yarn-generating robot system according to claim 6, characterized in that: The walking mechanism includes multiple walking wheels, multiple second telescopic drive components, and multiple parking blocks; the second telescopic drive components are arranged in a one-to-one correspondence with the parking blocks. Multiple of the aforementioned wheels are spaced apart on the base; Multiple second telescopic drive members are spaced apart on the base; the parking block is located at the output end of the second telescopic drive member, and the second telescopic drive member is used to drive the parking block to move up and down so that the parking block abuts against the ground, thereby fixing the base in a designated position.

10. A method for yarn starting, characterized in that, Including the yarn-generating robot system and control module as described in any one of claims 1-9, the control module is configured to perform the following steps: S1: After the negative pressure air source draws the yarn end in the yarn conveying pipe into the first pneumatic conveyor, the contacting component is controlled to perform a braking operation, and the yarn guiding module is controlled to clamp the yarn. S2: Control the second robotic arm to wind the yarn end in the first pneumatic conveyor onto the empty yarn tube of the ring spinning machine; S3: Control the contacting component to cancel the braking operation, and at the same time control the yarn guiding module to cancel the clamping of the yarn, so as to use the rotation of the empty yarn tube to tightly wind the yarn onto the empty yarn tube; S4: Control the contacting component to perform the braking operation again, then the yarn guide module clamps the yarn, and controls the yarn cutting module to cut the yarn. Then, control the first robotic arm to guide the yarn through the wire traveler, the air ring and the yarn guide hook on the blade plate and then guide it onto the roller of the ring spinning machine. S5: Control the contact component to cancel the braking operation.

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