Yarn Threading Robot Teaching Using Relative Point Coordinates
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The existing yarn processing systems require extensive time and labor for teaching yarn threading robots due to the need to manually teach and adjust coordinates for each point, especially when multiple yarn processing apparatuses are involved or when apparatus positions change, leading to inefficiencies and yarn wastage.
Innovation Solution
A yarn processing system that groups coordinates into specific and relative points, using predetermined relative coordinates to reduce the number of coordinates that need to be taught, allowing the yarn threading robot to perform accurate threading with reduced teaching time and labor by utilizing a control unit and storage unit to manage and adjust these coordinates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If all coordinates of points are manually taught to the yarn threading robot, then the robot can perform accurate yarn threading, but enormous time and labor are required for teaching
Solution Approach 1:
The patent segments the coordinate teaching process by dividing points into two categories: specific points whose coordinates are manually taught, and relative points whose coordinates are calculated automatically based on relative position relationships. This segmentation reduces the number of coordinates requiring manual teaching while maintaining positioning accuracy through the combination of taught specific points and calculated relative points.
Solution Approach 2:
The patent applies preliminary action by pre-defining the relative position relationships between points before the teaching process. These relative coordinates are stored in advance and used to automatically calculate the coordinates of relative points during operation, eliminating the need for manual teaching of these coordinates and significantly reducing teaching time.
2Measurement precision
If coordinates are adjusted through manual checking and adjustment during actual yarn threading, then positioning accuracy is improved, but more time is consumed and yarn wastage increases
Solution Approach 1:
The patent replaces the mechanical trial-and-adjustment process with an automated coordinate calculation system. By using pre-defined relative coordinates to automatically calculate point positions, the system eliminates the need for manual checking and adjustment during actual yarn threading operations, thereby preventing yarn wastage while maintaining positioning accuracy.
3Reliability
If teaching is performed for each yarn processing apparatus individually, then accurate threading to each apparatus is achieved, but the process becomes extremely time-consuming when multiple apparatuses are involved
Solution Approach 1:
The patent applies universality by creating a standardized coordinate system with relative position relationships that can be applied across multiple yarn processing apparatuses. Once the relative coordinates are defined, the same calculation method can be used for all apparatuses, allowing the system to efficiently handle multiple devices without proportionally increasing teaching time, thus improving both reliability and productivity.
Data Source
Figure 1
Figure 2
Figure 3(a)~3(b)
AI summary
The time and labor required for teaching for a yarn threading robot are reduced. A spun yarn take-up system 1 includes: a take-up unit 3; a yarn threading robot 4 which includes a yarn threading arm 32 and is configured to perform yarn threading to the take-up unit 3 by using the yarn threading arm 32; a yarn threading storage unit 102a which is able to store information regarding coordinates of points P to which a predetermined part (TCP) of the yarn threading arm 32 is moved in a predetermined order when the yarn threading is performed; and a yarn threading controller 102 which is configured to cause the yarn threading robot 4 to perform the yarn threading based on the information regarding the coordinates of the points P. When the points P are grouped into predetermined groups, the yarn threading controller 102 acquires coordinates of a specific point based on a result of teaching regarding the yarn threading, each of the predetermined groups including at least one specific point, and the yarn threading controller 102 acquires coordinates of a relative point which is different from the at least one specific point, based on predetermined relative coordinates relative to the coordinates of the specific point belonging to the same group as the relative point.