阅读说明：本技术 智能化上纱系统及控制方法 (Intelligent yarn feeding system and control method ) 是由 张明 张丕华 肖明 范红勇 江海波 杨华年 于 2020-06-30 设计创作，主要内容包括：本发明提供一种智能化上纱系统及控制方法,它包括捻线机、自行走小车和调度控制系统；捻线机上设有捻线机无线通信模块,用于将捻线机的工作状态发送至调度控制系统；自行走小车设有小车无线控制器和自行走装置,用于接收调度控制系统的指令,行走至捻线机的工位,以取下空的管筒、在捻线机的纱架上放上原纱或取下成品卷装堆码,所述的自行走装置能够根据传感器的反馈自动行走至指定位置；调度控制系统用于接收捻线机的工作状态,并根据捻线机的工作状态调度自行走小车给捻线机上纱或卸纱。本发明采用自行走小车换纱的方案,效率更高；采用可旋转纱架的方案,解决了纱架靠内一侧原纱的自动换纱的技术难题。(The invention provides an intelligent yarn feeding system and a control method, comprising a twisting machine, a self-walking trolley and a scheduling control system; the twisting machine is provided with a twisting machine wireless communication module used for sending the working state of the twisting machine to the dispatching control system; the self-walking trolley is provided with a trolley wireless controller and a self-walking device, is used for receiving an instruction of the dispatching control system, and walks to a station of the twisting machine to take off an empty bobbin, put raw yarns on a creel of the twisting machine or take off finished product packages for stacking, and the self-walking device can automatically walk to a specified position according to the feedback of the sensor; the scheduling control system is used for receiving the working state of the twisting machine and scheduling the self-walking trolley to load or unload yarns on or from the twisting machine according to the working state of the twisting machine. The invention adopts the scheme of changing yarns from the walking trolley, so that the efficiency is higher; the technical problem of automatic yarn changing of the raw yarn at the inner side of the creel is solved by adopting the scheme of the rotatable creel.)

1. The utility model provides an intelligent yarn system of going up which characterized by: the automatic control system comprises a twisting machine (2), a self-walking trolley (5) and a scheduling control system (12);

the twisting machine (2) is provided with a twisting machine wireless communication module (17) which is used for sending the 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, is used for receiving an instruction of a dispatching control system (12), and walks to a station of the twisting machine (2) to take off an empty bobbin (4), put a raw yarn (1) on a creel (3) of the twisting machine (2) or take off a finished product package (22) for stacking, and the self-walking device can automatically walk to a specified position according to the feedback of a sensor;

the scheduling control system (12) is used for receiving the working state of the twisting machine (2) and scheduling the self-walking trolley (5) to load or unload yarns on the twisting machine (2) according to the working state of the twisting machine (2).

2. The intelligent yarn feeding system as claimed in claim 1, wherein: the dispatching control system (12) is electrically connected with the switch (14) through the wireless communication module (13), the switch (14) is electrically connected with the wireless WiFi module (15), and the wireless WiFi module (15) is directly or electrically connected with the self-walking trolley (5) or the twisting machine (2) through the wireless relay (16) so as to form a communication network among the twisting machine (2), the self-walking trolley (5) and the dispatching control system (12).

3. The intelligent yarn feeding system as claimed in claim 1, wherein: the self-walking trolley is also provided with a navigation device (19), and the navigation device (19) is used for accurately judging the position of the self-walking trolley (5) and eliminating the error of the self-walking device;

the navigation device (19) is a ground mark, and the position of the self-walking trolley (5) is compared with the position of the ground mark through a camera so as to accurately judge the position of the self-walking trolley;

the navigation device (19) is a magnetic strip, and the magnetic strip is detected by the self-walking trolley (5) through a magnetic sensor so as to accurately judge the position of the self-walking trolley;

the navigation device (19) is a backup plate, and the self-walking trolley (5) approaches the backup plate from two sides so as to eliminate the accumulated error of the self-walking device.

4. The intelligent yarn feeding system as claimed in claim 1, wherein: the twisting machine (2) is provided with a rotatable creel (3), an inner yarn position (301) and an outer yarn position (302) are respectively positioned 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 processed raw yarn (1) from the inner yarn position (301) to the outer yarn position (302);

the rotating shaft (304) is connected with a yarn position driving device (305) to drive the yarn position seat (306) to rotate.

5. The intelligent yarn feeding system as claimed in claim 1, wherein: the roof of the self-walking trolley (5) is also provided with a mechanical arm (6), and the free end of the mechanical arm (6) is provided with a mechanical claw camera (61), a first mechanical claw (62) and a second mechanical claw (63);

the gripper camera (61) is used for judging the position of the gripper through visual recognition by acquiring an image;

the first mechanical claw (62) is used for taking down the bobbin (4), and the second mechanical claw (63) is used for installing the base yarn (1); the first gripper (62) and the second gripper (63) are a plurality of fingers capable of changing the diameter of the circumscribed circle.

6. The intelligent yarn feeding system as claimed in claim 1, wherein: the self-walking trolley (5) is also provided with a raw yarn stacking position (51), an empty reel storage box (9) and a clapboard storage box (26);

the empty reel storage box (9) is positioned in the middle of the self-walking trolley (5), a mechanical arm base (24) is arranged at the top of the empty reel storage box (9), and the mechanical arm (6) is fixedly arranged on the mechanical arm base (24);

the base yarn pile code positions (51) are located on two sides of the empty winding drum storage box (9), and the partition board storage box (26) is located on two sides of the base yarn pile code positions (51).

7. The intelligent yarn feeding system according to any one of claims 1 to 2, wherein: the scheduling control system (12) comprises a task implementation module, an equipment management module and a production management module;

the task implementation module is responsible for receiving signals, sending instructions, monitoring task execution, making corrections and feedbacks in real time, and scheduling a plurality of tasks which are simultaneously implemented by the self-walking trolley (5); the material storage device is in task butt joint with the front-end incoming material and the rear-end storage, so that smooth material operation and supply are guaranteed;

the equipment management module manages charging, running states, equipment states, fault alarming, safety identification and human-vehicle shunting states of the self-walking trolley (5);

the production management module manages the current shift, the shift yield, the total yield, the running beat and the efficiency and monitors the consumption state of the machine table raw yarn (1).

8. The intelligent yarn feeding system as claimed in claim 1, wherein: the base yarn sensor (7) is arranged on the twisting machine (2), the base yarn sensor (7) is located at a position close to the tangent with the outer diameter of the bobbin (4) to detect the using amount of the base yarn (1), and after the base yarn (1) is consumed, a signal is sent out, and after the signal is received and analyzed by the dispatching control system (12), a yarn changing request is sent out to an operator and the self-walking trolley (5).

9. A control method for the intelligent yarn feeding system of any one of claims 1 to 8, which is characterized by comprising the following steps:

s1, the twisting machine (2) sends consumption information of the base yarn (1) according to the detection signal of the base yarn sensor (7);

meanwhile, the bobbin (4) which runs out of the original yarn on the creel (3) is switched to an outer yarn position (302);

s2, the dispatching control system (12) receives information sent by the twisting machine (2), the self-walking trolley (5) which orders to prepare is automatically walked to the position near the twisting machine (2), the mechanical arm (6) takes down the raw yarn (1) from the yarn stack (11), and the mechanical arm (6) executes the operation of taking down the bobbin (4) and installing the raw yarn (1) in situ;

in the operation process, the position of the raw yarn (1) on the yarn stack (11) is positioned by visual identification according to the image shot by the mechanical claw camera (61); the position of a positioning rod (303) needing to be fed on the creel (3) is identified and positioned through vision according to an image shot by a mechanical claw camera (61);

the intelligent yarn feeding is realized through the steps.

10. The control method of the intelligent yarn feeding system according to claim 9, wherein the control method comprises the following steps: the dispatching control system (12) counts according to the consumption information of the raw yarn (1) sent by the twisting machine (2) and accumulates a certain amount, namely, the dispatching control system instructs a self-walking trolley (5) to unload a finished product package (22) at the tail end of the twisting machine (2) and stack the finished product package on a nearby stack tray (25);

the dispatching control system (12) automatically charges the self-walking trolley (5) at a charging position (21) according to the electric quantity instruction of the self-walking trolley (5);

counting the number of times of yarn feeding each time from the walking trolley (5), and replenishing the raw yarn (1) to the yarn taking area (20) when the counted number of times reaches the raw yarn (1) of the raw yarn stacking position (51), and unloading the bobbin (4) and the partition plate (8).

Technical Field

The invention relates to the field of twisting machines, in particular to an intelligent yarn feeding system and a control method.

Background

The package of the raw yarn of the industrial filament, glass fiber and BCF carpet yarn twisting machine is generally above 10KG, the working position of the twisting workshop above the scale exceeds ten thousand spindles, the raw yarn carrying, replacing and finished product stacking in the production and operation are long in time consumption, low in efficiency and high in labor intensity, and the demand of a robot for replacing a person is urgent.

Disclosure of Invention

The invention aims to provide an intelligent yarn feeding system and a control method, which can realize intelligent yarn feeding operation, greatly improve the operation efficiency, reduce the labor intensity and reduce manual operation.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an intelligent yarn feeding system comprises a twisting machine, a self-walking trolley and a scheduling control system;

the twisting machine is provided with a twisting machine wireless communication module used for sending the working state of the twisting machine to the dispatching control system;

the self-walking trolley is provided with a trolley wireless controller and a self-walking device, is used for receiving an instruction of the dispatching control system, and walks to a station of the twisting machine to take off an empty bobbin, put raw yarns on a creel of the twisting machine or take off finished product packages for stacking, and the self-walking device can automatically walk to a specified position according to the feedback of the sensor;

the scheduling control system is used for receiving the working state of the twisting machine and scheduling the self-walking trolley to load or unload yarns on or from the twisting machine according to the working state of the twisting machine.

In the preferred scheme, the dispatching control system is electrically connected with the exchanger through the wireless communication module, the exchanger is electrically connected with the wireless WiFi module, and the wireless WiFi module is electrically connected with the self-walking trolley or the twisting machine directly or through a wireless relay so as to form a communication network among the twisting machine, the self-walking trolley and the dispatching control system.

In the preferred scheme, a navigation device is further arranged and used for enabling the self-walking trolley to accurately judge the position of the self-walking trolley and eliminating errors of the self-walking device;

the navigation device is a ground mark, and the position of the self-walking trolley is compared with the position of the ground mark through a camera so as to accurately judge the position of the self-walking trolley;

the navigation device is a magnetic stripe, and the magnetic stripe is detected by the self-walking trolley through the magnetic sensor so as to accurately judge the position of the self-walking trolley;

the navigation device is a backup plate, and the self-walking trolley approaches the backup plate from two sides so as to eliminate the accumulated error of the self-walking device.

In a preferred scheme, a rotatable creel is arranged on the twisting machine, an inner yarn position and an outer yarn position are respectively positioned at two ends of a yarn position seat, and the yarn position seat is connected with the creel through a rotating shaft and used for rotating processed raw yarns from the inner yarn position to the outer yarn position;

the rotating shaft is connected with the yarn position driving device to drive the yarn position seat to rotate.

In a preferred scheme, the roof of the self-walking trolley is also provided with a mechanical arm, and the free end of the mechanical arm is provided with a mechanical claw camera, a first mechanical claw and a second mechanical claw;

the mechanical claw camera is used for judging the position of the mechanical claw through visual identification by acquiring an image;

the first mechanical claw is used for taking down the bobbin, and the second mechanical claw is used for installing the base yarn; the first gripper and the second gripper are a plurality of mechanical fingers capable of changing the diameter of the circumscribed circle.

In the preferred scheme, a self-walking trolley is further provided with a raw yarn stacking position, an empty winding drum storage box and a partition board storage box;

the empty reel storage box is positioned in the middle of the self-walking trolley, a mechanical arm base is arranged at the top of the empty reel storage box, and the mechanical arm is fixedly arranged on the mechanical arm base;

the base yarn pile code bit is located the both sides of empty winding drum receiver, and the baffle save set is located the both sides of base yarn pile code bit.

In the preferred scheme, the scheduling control system comprises a task implementation module, an equipment management module and a production management module;

the task implementation module is responsible for receiving signals, sending instructions, monitoring task execution, making corrections and feedbacks in real time, and scheduling a plurality of tasks to be implemented simultaneously by the self-walking trolley; the material storage device is in task butt joint with the front-end incoming material and the rear-end storage, so that smooth material operation and supply are guaranteed;

the equipment management module manages charging, running state, equipment state, fault alarming, safety identification and human-vehicle shunting state of the self-walking trolley;

the production management module manages the current shift, the shift yield, the total yield, the running beat and the efficiency and monitors the consumption state of the raw yarn of the machine.

In the preferred scheme, a raw yarn sensor is arranged on the twisting machine and is positioned at a position close to the tangent with the outer diameter of the bobbin so as to detect the consumption of the raw yarn, and after the raw yarn is consumed, a signal is sent out, and after the signal is received and analyzed by a dispatching control system, a yarn changing request is sent out to an operator and a self-walking trolley.

The control method for the intelligent yarn feeding system comprises the following steps:

s1, the twisting machine sends the consumption information of the base yarn according to the detection signal of the base yarn sensor;

meanwhile, the bobbin with the used original yarn on the creel is switched to the outer yarn position;

s2, the dispatching control system receives information sent by the twisting machine, the self-walking trolley which is ordered and prepared automatically walks to the position near the twisting machine, the mechanical arm takes down raw yarns from the yarn stack, and the mechanical arm carries out the operation of taking down bobbin and installing the raw yarns in situ;

in the operation process, the position of the raw yarn on the yarn stack is identified and positioned by the vision of the image shot by the mechanical claw camera; the position of a positioning rod needing to be fed with yarns on a creel is identified and positioned through vision according to an image shot by a mechanical claw camera;

the intelligent yarn feeding is realized through the steps.

In the preferred scheme, the dispatching control system counts according to the raw yarn consumption information sent by the twisting machine and accumulates a certain amount, namely, the dispatching control system instructs a self-walking trolley to unload a finished product package at the tail of the twisting machine and stack the finished product package on a nearby stack tray;

the dispatching control system automatically charges the self-walking trolley at a charging position according to the electric quantity instruction of the self-walking trolley;

and counting the number of times of each yarn feeding from the walking trolley, and replenishing the raw yarn to a yarn taking area when the counted number of times reaches the raw yarn stacking code position, namely, unloading the bobbin and the partition plate.

Compared with the prior art that the yarn is changed in a mode that a creel integrally travels to a fixed position outside a twisting machine, the intelligent yarn feeding system has the advantages of stronger production flexibility and flexibility, shorter beat and higher efficiency; the yarn is changed in real time and on line, and the twisting machine does not need to stop for waiting; broken yarn and fault spindle positions can be skipped, and waste and redundant operation are eliminated; and the creel can still be operated under pulling, the threading and the joint are convenient, and the original manual yarn changing mode is compatible. The existing yarn changing mode of a mechanical arm walking in the air needs to erect a large number of supporting frames, guide rails and linear modules, is limited by the discontinuity of guide rail tables and tables of a twisting machine, and the mechanical arm cannot circularly serve a plurality of twisting machines, so that the cost is high and the efficiency is low. The automatic yarn changing system does not need workshop construction and equipment transformation, has low cost, small installation and debugging workload and short period, and can freely shuttle in a workshop passageway to serve a plurality of twisting machines. Walk from the dolly, location, arm snatch, go up the yarn and all accomplish on ground, compare with creel or mechanical arm area raw yarn walking and action in the air, the risk that no raw yarn, part dropped does not cause the security threat to ground pedestrian and operator. By adopting the scheme of the rotatable creel, the technical problem of automatic yarn changing of the original yarn at the inner side of the creel is solved. The mechanical arm can complete grabbing of the empty bobbin and installing of the raw yarn in one action, and operation efficiency is greatly improved. The self-walking trolley can complete the package and stacking of raw yarns and finished products, and achieves multiple purposes. A creel of the twisting machine is provided with a raw yarn sensor, the consumption state of raw yarn is monitored in real time, a signal is sent to a dispatching control system, a self-walking trolley is informed, and the accurate supply of the yarn lack spindle position is intelligently carried out on the self-walking trolley. Set up the gripper camera on the arm, through image recognition, the position of location gripper to can detect raw yarn and finished product quality through image processing and algorithm, it is more reliable, more accurate to detect than the people's eye. The invention can comprehensively and systematically manage the implementation of yarn changing tasks and the statistics of various parameters and yield efficiency of the self-walking trolley through the dispatching control system, has high automation and intelligence degree and can reduce more than half of the labor used in workshops.

Drawings

The following further description is made in conjunction with the accompanying drawings and examples.

FIG. 1 is a schematic representation of the upper yarn structure of the present invention.

FIG. 2 is a schematic structural view of the self-walking trolley of the invention.

Fig. 3 is a schematic diagram of the overall structure of the control system of the present invention.

Fig. 4 is a front view of the twisting machine of the present invention.

FIG. 5 is a perspective view of the self-propelled trolley of the present invention.

Fig. 6 is a perspective view of the present invention self-propelled cart for unloading a finished package from a twisting machine.

Fig. 7 is a perspective view of a self-propelled trolley of another preferred construction of the invention.

Fig. 8 is a schematic view of the creel structure of the present invention.

Fig. 9 is a partial structure schematic diagram of the creel of the present invention.

In the figure: the automatic yarn feeding device comprises a raw yarn 1, a twisting machine 2, a creel 3, an inner yarn position 301, an outer yarn position 302, a positioning rod 303, a rotating shaft 304, a yarn position driving device 305, a yarn position seat 306, a bobbin 4, a self-walking trolley 5, a raw yarn stacking position 51, a mechanical arm 6, a mechanical claw camera 61, a first mechanical claw 62, a second mechanical claw 63, a raw yarn sensor 7, a partition plate 8, an empty bobbin storage box 9, a trolley wireless controller 10, a yarn stack 11, a scheduling control system 12, a communication module 13, a switch 14, a wireless WiFi module 15, a wireless relay 16, a twisting machine wireless communication module 17, a standby point 18, a navigation device 19, a yarn taking area 20, a charging position 21, a finished product package 22, a finished product conveying belt 23, a finished product base 24, a stacking disc 25 and a mechanical arm storage box 26.

Detailed Description