Intelligent yarn loading system and control method

An intelligent yarn loading system, comprising a twisting machine (2), a self-walking trolley (5) and a dispatching control system (12), wherein,

• the twisting machine (2) is provided with a twisting machine wireless communication module (17) for sending a working state of the twisting machine (2) to the dispatching control system (12);
• the self-walking trolley (5) is provided with a trolley wireless controller (10) and a self-walking device (52) for receiving an instruction of the dispatching control system (12) and walking to a station of the twisting machine (2) to take off an empty bobbin (4), and putting a basic yarn (1) on a creel (3) of the twisting machine (2) or taking off a finished product package (22) for stacking, and the self-walking device is able to automatically walk to a designated position according to feedback of a navigation device;
• and
• the dispatching control system (12) is used for receiving the working state of the twisting machine (2), and dispatching the self-walking trolley (5) to load or unload a yarn for the twisting machine (2) according to the working state of the twisting machine (2);
• the dispatching control system (12) is electrically connected with a switch (14) through a wireless communication module (13), the switch (14) is electrically connected with a wireless communication module (15), the wireless communication module (15) is connected with the self-walking trolley (5) or the twisting machine (2) directly or through a wireless relay (16) to form a communication network among the twisting machine (2), the self-walking trolley (5) and the dispatching control system (12);
• the navigation device is used for enabling the self-walking trolley (5) to accurately judge a position of the self-walking trolley (5), and eliminating an error of the self-walking device;
• the navigation device is a backup plate (27), and the self-walking trolley (5) approaches the backup plate (27) from two sides, so as to eliminate an accumulated error of the self-walking device (52);
• the twisting machine (2) is provided with the rotatable creel (3), an inside yarn position (301) and an outside yarn position (302) are respectively located at two ends of a yarn position seat (306), and the yarn position seat (306) is connected with the creel (3) through a rotating shaft (304) and is used for rotating the basic yarn (1) from the inside yarn position (301) to the outside yarn position (302);
• and
• the rotating shaft (304) is connected with a yarn position driving device (305) to drive the yarn position seat (306) to rotate;
• a roof of the self-walking trolley (5) is further provided with a manipulator (6), and a free end of the manipulator (6) is provided with a mechanical claw camera (61), a first mechanical claw (62) and a second mechanical claw (63);
• the mechanical claw camera (61) is used for judging a position of one of the first mechanical claw (62) and the second mechanical claw (63) through visual recognition by acquiring an image;
• and
• the first mechanical claw (62) is used for taking off the bobbin (4), and the second mechanical claw (63) is used for installing the basic yarn (1);
• and the first mechanical claw (62) and the second mechanical claw (63) are a plurality of mechanical fingers capable of changing a circumscribed circle diameter;
• the self-walking trolley (5) is further provided with a basic yarn stacking position (51), an empty bobbin storage box (9) and a partition board storage box (26);
• the empty bobbin storage box (9) is located in a middle of the self-walking trolley (5), a top portion of the empty bobbin storage box (9) is provided with a manipulator seat (24), and the manipulator (6) is fixedly installed on the manipulator seat (24) and is located in the middle of the self-walking trolley (5);
• and
• the basic yarn stacking position (51) is located on two sides of the empty bobbin storage box (9), and the partition board storage box (26) is located on two sides of the basic yarn stacking position (51);
• the twisting machine (2) is provided with a basic yarn sensor (7), the basic yarn sensor (7) is located at a position closely tangent to an outer diameter of the bobbin (4) to detect consumption of the basic yarn (1), when the basic yarn (1) is completely consumed, a signal is sent, which is received and analyzed by the dispatching control system (12), and then a yarn change request is sent to an operator and the self-walking trolley (5).