Intelligent wire feeding robot and wire feeding method thereof

Abstract

The invention provides an intelligent silk feeding robot which is characterized by comprising an AGV main body device, a linear sliding device is arranged on the AGV main body device, a sliding frame capable of sliding up and down is arranged on the linear sliding device, a multi-axis robot with a clamp device is arranged on the sliding frame, and a creel is arranged on one side of the linear sliding device on the AGV main body device. A plurality of grey yarn supporting rods are arranged on the two sides of the creel, each grey yarn supporting rod is approximately horizontally arranged, the grey yarn supporting rods are used for containing grey yarn rolls, the clamp device is provided with a plurality of clamping jaws capable of being opened in the axial direction, and a camera is arranged at the front end of the clamp device. Therefore, the purposes of reducing the working intensity and improving the working efficiency are achieved.

Description

technical field [0001] The invention relates to the field of twisting machine feeding, in particular to an intelligent wire feeding robot and a wire feeding method thereof. Background technique [0002] With the continuous development of contemporary production and science and technology, automation has entered more and more fields. The higher the level of industrial automation, the more obvious the effect on enterprises to improve production efficiency, reduce production costs, strengthen safe production, and increase market competitiveness. [0003] For the twisting process in the textile industry, the filament loading process is a typical heavy-duty repetitive labor process. Therefore, the automation of the threading process of the twisting equipment can not only greatly reduce the labor intensity of the operator, but also reduce the production cost of the enterprise. The automation of threading process is bound to be a trend chosen by textile enterprises. [0004] At ...

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Problems solved by technology

[0008] CN106945048A describes a yarn loading device, in which the movement of the creel is not easy to follow the AGV trolley, and the automatic operation is difficult to realize

CN213596492U has recorded a kind of dual-body composite robot and yarn doffing assembly line on twisting machine, the structure of this scheme is comparatively complicated, and practical cost is high, and self-weight is heavier, and battery life is insufficient

CN213703429U has recorded a kind of composite robot and twisting machine upper yarn doffing assembly line, the creel in this scheme is limited by the arm span of manipulator, and the yarn bobbin quantity of single carrying is limited, affects the efficiency of assembly line

Moreover, affected by the extension of the robotic arm, when the robotic arm grabs the yarn bobbin at the bottom of the creel, the action is more complicated, which affects the control rhythm.

[0009] In addition, the jig needs to align the position when clamping the raw yarn. Due to the precision of the creel and the scattered position of the raw yarn, the traditional clamping has no guidance and it is easy to clamp deviation. Therefore, a vision system is needed to guide the taking of the raw yarn. put

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