Research On The Method Of Yarn Breaking Clip Of Spinning Machine Joint Robot

In recent years,robot technology has been widely used in the industrial field,and the emergence of vision technology has further broadened the application range of robot.In the textile industry,the problem of broken joint of spinning frame has not been solved effectively at present,and needs to rely on manual joint,which is difficult to guarantee the quality of joint and affects the production efficiency of enterprises.In order to improve the automation degree of spinning process,this paper studies the automatic joint robot of spinning frame,proposes an automatic identification and clamping system of yarn break based on machine vision,and carries out detailed research,which provides technical basis for the subsequent development of the joint robot of spinning frame.The main research contents are as follows:（1）According to the working characteristics and joint requirements of the spinning frame,the overall framework scheme of yarn breakage positioning and clamping based on vision technology is determined through research,and the action process of yarn positioning and manipulator clamping is defined.Meanwhile,the components of the system are selected.（2）In this paper,a feature extraction and location algorithm for yarn was proposed to study the yarn wobble in the image after yarn was sucked into the nozzle.The yarn features were extracted by image preprocessing,adaptive gray enhancement algorithm and Canny edge detection algorithm.This paper studies the application of Hough linear detection to the extraction of yarn features,and optimizes the traditional Hough transform.Through experiments,the superiority of the algorithm is verified.A positioning algorithm is developed to identify the position and Angle of yarn.（3）Combined with the overall scheme of the spinning joint robot,camera calibration and hand-eye calibration were carried out on the vision system,and the mapping relationship between the yarn position and the robot base coordinate system was deduced through the established camera model.At the same time,TCP calibration of the robot is carried out,and the solution method of euler Angle of the target pose of the manipulator in this system is studied,and all the pose parameters of the manipulator are solved.（4）Studied the communication scheme between the components of the system,used C# language to write the upper computer software of the system,and implemented the communication scheme in code;At the same time,the automatic operation logic of the system is studied and the movement program of the robot is written to realize the communication between the manipulator and PLC.The experimental platform was set up.On the basis of the above work,the visual positioning error was measured,and the yarn identification and clamping experiments were completed.