CN113174668A

CN113174668A - Automatic piecing device and method for ring spinning frame

Info

Publication number: CN113174668A
Application number: CN202110398139.6A
Authority: CN
Inventors: 张洁; 汪俊亮; 李冬武; 郭嘉苇; 蒋佳楠; 李佳运; 王文龙; 肖汛; 许芳婷; 沈航
Original assignee: Donghua University
Current assignee: Donghua University
Priority date: 2021-04-14
Filing date: 2021-04-14
Publication date: 2021-07-27
Anticipated expiration: 2041-04-14
Also published as: CN113174668B

Abstract

The invention relates to an automatic joint method of a ring spinning frame, which is used for the automatic joint of the ring spinning frame. The invention also provides an automatic joint device of the ring spinning frame, which comprises: the automatic yarn winding machine comprises an industrial robot, a multi-station end executing mechanism, an air blowing yarn winding device, a standby yarn unwinding device, a steel wire ring positioning device, a steel wire ring threading device, a joint operating platform, a 3D camera and the like. The method for jointing comprises the following steps: the method comprises the steps of manufacturing and stopping a broken yarn spindle, obtaining three-dimensional pose information of each target of a spinning machine, taking out a bobbin, placing the bobbin in an air blowing and yarn winding device, positioning a steel wire ring, winding standby yarn on the broken yarn bobbin, applying tension to the standby yarn, placing the bobbin which finishes yarn winding back to the spinning machine, hanging threads and threading the steel wire ring, drawing the yarn to pass through a balloon ring and a yarn guide hook, and feeding the yarn to a front roller. The invention provides a novel standby yarn splicing method and device, and solves the problems that the existing automatic splicing technology is difficult to be practically applied, the splicing success rate is low, and the like.

Description

Automatic piecing device and method for ring spinning frame

Technical Field

The invention relates to a broken yarn automatic piecing device for a ring spinning frame and an automatic piecing method adopting the device, and belongs to the technical field of automatic spinning equipment.

Background

Spun yarn is an important process in a spinning process, yarn breakage in the spun yarn process directly influences the production efficiency of spinning, and in recent years, technologies such as long spinning, thin drop connection, automatic doffing, single-spindle yarn breakage online monitoring (ISM), roving yarn breakage feeding automatic stop, electric spindle and the like promote the progress of ring spinning intellectualization and informatization, but yarn breakage joint work still needs a large number of skilled car stopping workers to manually complete, and the automatic joint of ring spinning spun yarn is always the target pursued by the spinning world at home and abroad.

The existing automatic piecing methods at home and abroad are mainly divided into two types, namely yarn finding piecing and yarn leading piecing, wherein the yarn finding piecing finds broken ends on the original yarn broken bobbins to complete piecing actions, such as 'an automatic piecing robot for ring spinning frame and method thereof' designed in Chinese patent CN 108842239A; the yarn leading joint omits the action of finding broken ends on an original yarn tube, and uses a section of standby yarn to wind on the broken yarn tube to complete the joint, so that the method is mainly used for the current automatic joint, for example, an 'automatic joint method of a ring spinning frame' designed in Chinese patent CN112111817A, an 'automatic intelligent joint method and device of broken ends of ring spinning frames' designed in Chinese patent CN105019077A, an 'automatic detection method and device of broken ends of spun yarns' designed in Chinese patent CN102560770A, and the like; because the foreign automatic joint technology is blocked, the development of the domestic automatic joint technology is laggard, the device can not be applied to the actual industrial production, and the main problems exist:

(1) the existing automatic piecing method and device have complex structure and low automation degree, and are difficult to complete piecing work in a narrow space around a bobbin;

(2) the existing automatic piecing method and device both use a rigid mechanism to hold and pull yarns, and the problems of unstable holding, yarn breakage in the pulling process and the like easily occur in the actual operation;

(3) when the existing automatic joint method and device realize movable joints at different ingot positions, the same joint action can not finish the joint at different ingot positions due to the problem of poor positioning precision of the moving device;

(4) the yarn winding device for the standby yarn in the existing yarn leading joint technology is unstable in yarn winding, and the standby yarn is difficult to wind on a broken yarn bobbin successfully, so that the joint success rate is low.

Disclosure of Invention

The purpose of the invention is: provides an automatic piecing technology after the broken yarn of the ring spinning frame.

In order to achieve the above object, an aspect of the present invention provides an automatic piecing device for a ring spinning frame, including: the automatic yarn winding machine comprises an industrial robot, a multi-station tail end executing mechanism, an air blowing yarn winding device, a standby yarn unwinding device, a steel wire ring positioning device, a steel wire ring penetrating device, a joint operating platform, a jacking cylinder, a 3D camera and an air source;

the air-blowing yarn winding device and the standby yarn unwinding device are positioned on two sides of the industrial robot, the standby yarn unwinding device is used for providing standby yarn required by automatic splicing, and the air-blowing yarn winding device is used for winding the standby yarn onto a yarn-breaking bobbin;

the multi-station end executing mechanism is arranged at the end of the industrial robot, can be switched among a bobbin clamping station, a steel wire ring positioning station, a yarn discharging and flexible traction station and a steel wire ring threading station, and is matched with an air blowing and yarn winding device and a standby yarn unwinding device to finish automatic joint of a ring spinning frame by the industrial robot;

the jacking cylinder is used for jacking a braking device of a broken yarn spindle position in the ring spinning frame to brake the broken yarn spindle so as to stop the rotation of the broken yarn bobbin;

the 3D camera is positioned right above the joint operation table and used for detecting the position of a three-dimensional space, calculated target three-dimensional pose information is sent to the industrial robot by using an image processing algorithm, and the robot accurately completes corresponding joint actions according to the target three-dimensional pose information, wherein the target three-dimensional pose information comprises the pose information of a bobbin, the height information of a ring rail and a ring, the three-dimensional coordinate of a yarn guide hook and the three-dimensional coordinate of a front roller;

the air source provides air pressure with different pressure values for the air blowing and yarn winding device, the multi-station tail end executing mechanism and the jacking cylinder.

Preferably, when the multi-station end executing mechanism is switched to the bobbin clamping station, the bobbin clamping device on the bobbin clamping station adopts a pneumatic clamping jaw to realize the picking and placing operation of the broken yarn bobbins;

when the multi-station tail end executing mechanism is switched to the bead ring positioning station, the air source provides air pressure for an annular air flow nozzle of the bead ring positioning device on the bead ring positioning station, so that the annular air flow nozzle of the bead ring positioning device generates annular air flow, the bead ring rotates around the ring under the action of the annular air flow, and the bead ring is adsorbed at the front end of the ring after an electromagnet of the bead ring positioning device is electrified, so that the positioning of the bead ring is completed;

when the multi-station tail end actuating mechanism is switched to the yarn sending and flexible traction station, the air source supplies air to the yarn sending nozzles on the yarn sending and flexible traction station, and the standby yarn provided by the standby yarn unwinding device passes through the reverse nozzles on the yarn sending and flexible traction station and the yarn sending nozzles under the action of the yarn sending nozzles and then is sent to the air blowing and yarn winding device; after the air blowing yarn winding device winds the standby yarn on the yarn breaking bobbin, the air source supplies air to the reverse nozzle to apply tension to the yarn and pull the yarn to complete the subsequent automatic joint work; the yarn delivery nozzle is provided with a yarn breaking mechanism, and the yarn breaking mechanism is utilized to cut off the standby yarn after the whole joint is completed;

when the multi-station end actuating mechanism is switched to the yarn threading steel wire ring station, a yarn hanging steering gear and a yarn supporting claw are arranged on the yarn threading steel wire ring station, and yarn between a yarn breakage bobbin and a yarn sending nozzle is hung up and penetrates into a steel wire ring which is positioned by the yarn hanging steering gear and the yarn supporting claw.

Preferably, the air blowing yarn winding device comprises a rotating spindle and an annular airflow cover; the rotary spindle is used for winding the standby yarn on the yarn-breaking bobbin; the air source supplies air to the annular airflow cover, so that annular airflow is generated around the rotary spindle, and the standby yarn is tightly attached to the yarn breaking bobbin after entering the air blowing yarn winding device and is wound on the yarn breaking bobbin under the driving of the rotary spindle.

Preferably, the spare yarn unwinding device comprises an unwinding spindle, the spare yarn is unwound by the unwinding spindle, and the extension length of the spare yarn in the splicing process is controlled.

Another technical solution of the present invention is to provide an automatic piecing method for a ring spinning frame, which uses the automatic piecing device of the ring spinning frame as claimed in claim 1, and is characterized by comprising the following steps:

step 1: a braking device for jacking the broken yarn spindle position by the jacking cylinder, braking the broken yarn spindle, and stopping rotating the broken yarn bobbin;

step 2: the method comprises the steps that a 3D camera obtains position information of a broken yarn bobbin, and the position information is sent to an industrial robot through coordinate conversion;

and step 3: the industrial robot controls the multi-station end actuating mechanism to move right above a broken yarn spindle position after switching to a bobbin clamping station; the air source supplies air to a bobbin clamping device positioned at a bobbin clamping station, so that a broken yarn bobbin is clamped by a pneumatic clamping jaw of the bobbin clamping device, and then the broken yarn bobbin is taken down by the bobbin clamping device and placed on a rotating spindle of the air blowing yarn winding device;

and 4, step 4: the method comprises the following steps that a 3D camera obtains spatial position information of a steel collar and sends the spatial position information to an industrial robot, and a multi-station end executing mechanism is switched to a bead ring positioning station; moving a bead ring positioning device positioned at a bead ring positioning station to a position right above the ring; controlling an air source to supply air to an annular air flow nozzle of the bead ring positioning device, enabling the bead ring to rotate around the ring under the action of annular air flow generated by the annular air flow nozzle, and adsorbing the bead ring at the front end of the ring after an electromagnet of the bead ring positioning device is electrified, so that the positioning of the bead ring is completed;

and 5: the multi-station end actuating mechanism is switched to a yarn sending-out and flexible traction station, and a yarn sending-out nozzle located at the yarn sending-out and flexible traction station is close to a yarn breaking bobbin; the air source supplies air to an annular airflow cover and a yarn sending nozzle of the air blowing and yarn winding device, and the standby yarn provided by the standby yarn unwinding device passes through a yarn sending and reverse nozzle on the flexible traction station and the yarn sending nozzle under the action of the yarn sending nozzle and then is sent to the air blowing and yarn winding device;

meanwhile, the standby yarn unwinding device unwinds, the rotating spindle drives the yarn breaking bobbin to be synchronously wound, and the standby yarn is wound on the yarn breaking bobbin under the traction of annular airflow generated by the annular airflow cover;

step 6: the air source supplies air to a reverse nozzle positioned at the yarn delivery and flexible traction station, and adds tension to the standby yarn between the yarn breakage bobbin and the yarn delivery nozzle, so that the section of standby yarn is in a tightening state in the subsequent splicing process;

and 7: the multi-station end actuating mechanism is switched to a bobbin clamping station, and a broken yarn bobbin which finishes yarn winding is placed back to the ring spinning frame by the bobbin clamping device;

and 8: the yarn delivery nozzle pulls the yarn wound on the yarn breaking bobbin to downwards pass through a balloon ring located at a yarn breaking spindle position, then the multi-station end actuating mechanism is switched to a yarn threading steel ring station, a yarn hanging steering engine located at the yarn threading steel ring station drives a yarn supporting claw to rotate, after the yarn supporting claw rotates for a certain angle, the yarn supporting claw props open a section of yarn between the yarn breaking bobbin and the yarn delivery nozzle under the action of tension, and the section of yarn is threaded into a steel ring under the drive of an industrial robot to complete the action of threading the steel ring;

and step 9: the yarn sending nozzle pulls the yarn to sequentially pass through the balloon ring and the yarn guide hook upwards according to the pose information of the balloon ring and the yarn guide hook acquired by the 3D camera;

step 10: the air source supplies air to a rod cavity of the jacking cylinder, the jacking cylinder is loosened, and the yarn-broken bobbin rotates;

step 11: the yarn sending nozzle feeds the yarns into the front roller according to the pose information of the front roller acquired by the 3D camera, the joint is completed, and the reverse nozzle is always supplied with air in the process of executing the steps 7 to 11;

step 12: the yarn breaking mechanism cuts the yarn at the yarn delivery nozzle opening, and the industrial robot is recovered to wait for starting the next joint action.

According to the invention, the 3D camera is used for realizing accurate positioning in the process of moving the joint, the multi-station tail end actuating mechanism is designed to simplify the structure of the joint device, the flexible traction device is designed to ensure that yarns are not broken in the whole joint process, the special air blowing yarn winding device is designed to improve the yarn winding success rate, and a new automatic broken yarn joint process is designed according to the innovative device.

Compared with the prior art, the invention has the following beneficial effects:

1. the robot multi-station end executing mechanism designed in the invention can complete the whole set of joint actions only by one industrial robot through station switching, and has the advantages of compact structure, low cost and high operating efficiency;

2. the invention is improved on the basis of the mechanical positioning of the prior patent and technology, and uses a 3D camera to carry out secondary positioning in the movable joint, so that the robot can accurately finish corresponding joint actions when the joints are connected at different spindle positions, and the automatic joint device can be compatible with spinning frames of different models;

3. the air blowing yarn winding device guides the standby yarn to be wound on the yarn breaking bobbin through the annular air flow, so that the stability and the success rate of the standby yarn winding are effectively improved;

4. the yarn sending-out and flexible traction device designed by the invention ensures that the tail end actuating mechanism flexibly holds and pulls the yarn, and avoids the phenomenon of secondary yarn breakage caused by rigid clamping and pulling and the phenomenon of kinking under self twist due to lack of tension of standby yarn in the conventional joint device.

Drawings

FIG. 1 is a block flow diagram of an embodiment of the present invention;

FIG. 2 is a schematic diagram of a multi-station end effector according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of the overall structure of an embodiment of the present invention;

FIG. 4a is a schematic diagram of a multi-station end effector according to an embodiment of the present invention;

FIG. 4b is a top view of a multi-station end effector of an embodiment of the present invention;

FIG. 5 is a schematic view of the bead ring positioning apparatus according to the embodiment of the present invention;

FIG. 6 is a schematic view of the operation of air blowing and yarn winding according to the embodiment of the present invention;

FIG. 7a is a top view of the wire threading device according to the embodiment of the present invention;

fig. 7b is a schematic diagram of a wire hanging process of the wire threading device according to the embodiment of the invention.

Detailed Description

The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.

As shown in fig. 1, the automatic piecing method for the ring spinning frame disclosed in this embodiment specifically includes the following steps:

step 1: and the jacking cylinder 36 jacks a braking device of the yarn breaking spindle position, the yarn breaking spindle brakes, and the yarn breaking bobbin stops rotating.

Step 2: the 3D camera 37 located above the splicing operation table 35 acquires the position information of the yarn breakage bobbin, performs image processing, and transmits the position information of the yarn breakage bobbin to the industrial robot 31 through coordinate conversion.

And step 3: the industrial robot 31 controls the multi-station end executing mechanism 32 to switch to the bobbin clamping station 41 and move to a position right above the yarn breaking spindle position. The air supply 38 supplies air to the pneumatic jaws located at the bobbin gripping station 41 to grip the broken yarn bobbins, which are removed by the pneumatic jaws and placed on the rotating spindles 63 of the air blowing yarn winding device 33.

And 4, step 4: the 3D camera acquires spatial position information of the ring 77 and transmits it to the industrial robot 31. The multi-station end effector 32 is switched to the bead ring positioning station 42, and the bead ring positioning device 51 located at the bead ring positioning station 42 is moved to a position just above the ring 77. And controlling the air source 38 to supply air to the annular air flow nozzle 53 of the bead ring positioning device 51, so that the bead ring rotates around the ring 77 under the action of annular air flow, and the bead ring is adsorbed at the front end of the ring 77 after the electromagnet 55 of the bead ring positioning device 51 is electrified, thereby completing the positioning of the bead ring 76.

And 5: the multi-station end effector 32 switches to the yarn delivery and flexible draw station 43 and brings the yarn delivery nozzle 45 located at the yarn delivery and flexible draw station 43 close to the yarn breakage bobbin. The air supply 38 supplies air to the annular air flow hood 62 and the yarn delivery nozzle 45, and at the same time, the standby yarn unwinding device 64 unwinds and rotates the spindle 64 to drive the yarn breakage bobbin to wind, and the standby yarn is wound on the yarn breakage bobbin under the traction of the annular air flow generated by the annular air flow hood 62.

Step 6: the air supply 38 supplies air to a reversing nozzle 46 at the yarn delivery and flexible draw station 43 to add tension to the reserve yarn between the yarn breakage bobbin and the yarn delivery nozzle 45, leaving the reserve yarn in a taut condition during subsequent piecing.

And 7: the multi-station end effector 32 switches to the bobbin grasping station 41 and places the broken bobbin, which has completed winding, back onto the spinning frame.

And 8: the yarn sending-out nozzle 45 pulls the yarn to downwards penetrate through the balloon ring, then the multi-station end executing mechanism 32 is switched to a yarn steel wire ring penetrating station 44, the single chip microcomputer is controlled to send signals to enable a steering engine 72 located at the yarn steel wire ring penetrating station 44 to rotate, a yarn hanging steering engine 75 is controlled to rotate 180 degrees clockwise, a yarn supporting claw supports a section of yarn between the steel wire ring penetrating device 71 and the yarn sending-out nozzle 45 under the tension effect, and the section of yarn penetrates into the steel wire ring under the driving of the industrial robot to complete the steel wire ring penetrating action.

And step 9: the yarn sending nozzle 45 draws the yarn to sequentially pass through the balloon ring 56 and the yarn guide hook 55 upwards according to the pose information of the balloon ring 56 and the yarn guide hook 55 acquired by the 3D camera.

Step 10: the air source 38 supplies air to the rod cavity of the jacking cylinder 36, the jacking cylinder 36 is released, and the yarn broken bobbin rotates.

Step 11: and the yarn sending nozzle 45 feeds the yarns into the front roller according to the pose information of the front roller acquired by the 3D camera, and the joint is completed.

Step 12: the yarn cutting mechanism 48 cuts the yarn at the opening of the yarn feeding nozzle 45, and the industrial robot waits for the next splicing operation to start.

As shown in fig. 2, the multi-station end actuator 32 used in the automatic piecing device of the ring spinning frame of the present invention mainly includes: a bobbin clamping station 41, a steel wire ring positioning station 42, a yarn sending-out and flexible traction station 43 and a steel wire ring penetrating station 44. The working principle is that the station is switched by the rotation of the end wrist part of the industrial robot 31, and four key actions in the joint work are completed: clamping a bobbin, positioning a steel wire ring, threading the steel wire ring and feeding a roller.

As shown in fig. 3, the bead ring positioning device 51 and the bead ring threading device 71 are provided on a multi-station end effector 32 mounted on the end of the industrial robot 31. The air-blowing yarn-winding device 33 and the yarn backing-up unwinding device 34 are located on both sides of the industrial robot 31. The industrial robot 31, the air-blowing yarn winding device 33, and the reserve yarn unwinding device 34 are all located on the yarn splicing operation table 35. The jacking cylinder 36 is positioned on one side of the joint operating platform 35, which is opposite to the ring spinning frame. The 3D camera 37 is located directly above the joint operation table 35. An air source 38 is located above the base of the splicing table 35 to provide air pressure at different pressure values for the entire splicing process. A control cabinet 39 is located on one side of the splice operating station 35 for image processing and automatic control of the entire splice.

As shown in fig. 4a, which is a schematic structural diagram of the multi-station end executing mechanism of the present invention, by the rotation of the end of the industrial robot 31, the multi-station end executing mechanism can freely switch the bobbin clamping station 41, the bead ring positioning station 42, the yarn feeding and flexible drawing station 43, and the yarn threading bead ring station 44, to respectively complete the operations of taking and placing the broken yarn bobbin, positioning the bead ring, feeding out and flexible drawing of the standby yarn, and yarn threading bead ring.

As shown in fig. 4b, the yarn delivery and flexible drawing station 43 consists of a yarn delivery nozzle 45 and a counter-nozzle 46. The yarn sending-out nozzle 45 is composed of a double-spiral cone-type shunting mechanism 47 and a yarn breaking mechanism 48, the double-spiral cone-type shunting mechanism 47 can increase the twist of the standby yarn in the process of winding the standby yarn, and the problem that the standby yarn is broken in the process of splicing due to the fact that the yarn strength is reduced caused by untwisting after the standby yarn is blown out is solved. The yarn breaking mechanism 48 consists of an electromagnet 49 and a permanent magnet 410, after the standby yarn is fed into the roller, the electromagnet 49 is electrified, the permanent magnet 410 cuts off the standby yarn, and the joint work is finished.

As shown in fig. 5, the multi-station end effector switches to the bead ring positioning station 42, and moves the bead ring positioning device 51 to a position right above the ring 52 according to the ring position information, so that the distance between the lower part of the annular airflow port 53 and the upper surface of the ring is 2-5mm, the air source 38 supplies air to the annular airflow port 53, and the bead ring 54 rotates counterclockwise around the ring 52 under the action of the annular airflow. Then the electromagnet 55 is electrified, the traveler 54 is attracted to the front end of the ring 52 by the electromagnet 55, and the traveler positioning work is completed.

As shown in fig. 6, the multi-station end effector switches to the yarn delivery and flexible drawing station 43 and brings the yarn delivery nozzle 45 close to the yarn breakage bobbin 61, and the air supply supplies air to the annular air flow hood 62 and the yarn delivery nozzle 45 while the rotating spindle 63 rotates clockwise synchronously with the standby yarn unwinding device 64. The reserve yarn is wound onto the yarn breakage bobbin by the forward air flow of the yarn discharge nozzle 45 in cooperation with the clockwise circular air flow of the circular air flow hood 62. After winding, the rotating spindle 63 and the spare yarn unwinding device 64 stop rotating, and the air source 38 sends the yarn out of the nozzle 45 to cut off air and supply air to the reverse nozzle 46, so that tension is added to the spare yarn between the yarn sending out nozzle 45 and the broken yarn bobbin, the yarn is guaranteed not to float and be in a controllable state in the whole splicing process, and meanwhile, the yarn supporting claw can accurately support the yarn to complete the action of threading the steel wire ring when the steel wire ring is threaded.

As shown in fig. 7a, the multi-station end effector is switched to the yarn threading steel ring station 44, and the industrial robot controls the steering engine 72 of the steel ring threading device 71 to rotate the yarn hanging arm 73 to the upper side of the standby yarn and to position the two ends of the yarn supporting claw 74 at the two sides of the standby yarn. Subsequently, the threading actuator 75 is rotated 180 ° clockwise so that the direction of the standby yarn exiting the nozzle 45 is perpendicular to the plane of the traveler 76.

As shown in fig. 7b, the robot adjusts the height of the ring threading device 71 according to the position information of the ring 77, and threads the spare yarn into the traveler 76.

Claims

1. The utility model provides a ring spinning frame automatic piecing devices which characterized in that includes: the automatic yarn winding machine comprises an industrial robot, a multi-station tail end executing mechanism, an air blowing yarn winding device, a standby yarn unwinding device, a steel wire ring positioning device, a steel wire ring penetrating device, a joint operating platform, a jacking cylinder, a 3D camera and an air source;

2. The automatic piecing device of the ring spinning frame as claimed in claim 1, wherein: when the multi-station end executing mechanism is switched to the bobbin clamping station, the bobbin clamping device on the bobbin clamping station adopts a pneumatic clamping jaw to realize the picking and placing operation of the broken yarn bobbins;

3. The automatic piecing device of the ring spinning frame as claimed in claim 1, wherein: the air blowing yarn winding device comprises a rotating spindle and an annular airflow cover; the rotary spindle is used for winding the standby yarn on the yarn-breaking bobbin; the air source supplies air to the annular airflow cover, so that annular airflow is generated around the rotary spindle, and the standby yarn is tightly attached to the yarn breaking bobbin after entering the air blowing yarn winding device and is wound on the yarn breaking bobbin under the driving of the rotary spindle.

4. The automatic piecing device of the ring spinning frame as claimed in claim 1, wherein: the standby yarn unwinding device comprises an unwinding spindle, the unwinding spindle drives the standby yarn to unwind, and the extension length of the standby yarn in the splicing process is controlled.

5. An automatic piecing method of a ring spinning frame, which adopts the automatic piecing device of the ring spinning frame as claimed in claim 1, and is characterized by comprising the following steps: