阅读说明：本技术 一种有单锭监测传感器和纱线接头装置的agv车 (AGV car that has single spindle monitoring sensor and yarn piecing devices ) 是由 邱丽遐 于 2020-04-15 设计创作，主要内容包括：本发明提供了一种集成了单锭监测传感器和纱线接头装置的AGV车。所采用的技术方案是：所述AGV车是行业成熟的自动导引车,在各个环锭纺机之间自动巡航；可以在一台或者几台环锭纺机之间巡航。所述AGV车上有单锭监测传感器,采用图像传感器,用于监测每个单锭的纱线状态。所述AGV车有纱线接头装置,包括：锭子刹车臂、纱线抓取臂和纱线接头臂。当单锭监测传感器监测到一个锭子纱线断头,AGV车自动定位于该锭子。AGV车上的纱线接头装置开始实施接接头动作：锭子刹车臂将锭子刹车,纱线抓取臂从纱锭上找到纱线,穿入钢丝圈,纱线接头臂将纱线穿过导纱钩,送入前罗拉对,完成接头后,AGV车继续巡航在各个环锭纺机之间。(The invention provides an AGV (automatic guided vehicle) integrating a single spindle monitoring sensor and a yarn splicing device. The adopted technical scheme is as follows: the AGV is an automatic guided vehicle mature in industry and automatically cruises among the ring frames; can cruise among one or more ring spinning machines. A single spindle monitoring sensor is arranged on the AGV, and an image sensor is adopted and used for monitoring the yarn state of each single spindle. AGV car has yarn piecing devices, includes: spindle brake arm, yarn snatch arm and yarn joint arm. When the single spindle monitoring sensor monitors that one spindle yarn is broken, the AGV automatically locates at the spindle. The yarn splicing device on the AGV starts to perform splicing action: the spindle brake arm brakes the spindle, the yarn grabbing arm finds the yarn from the spindle and penetrates into the steel wire ring, the yarn joint arm penetrates the yarn guide hook and sends the yarn into the front roller pair, and after the joint is completed, the AGV continues to cruise among the ring spinning machines.)

1. The utility model provides a AGV car that has single spindle monitoring sensor and yarn piecing devices comprises single spindle monitoring sensor (B), yarn piecing devices (Y) and AGV car (D), characterized by: and the single spindle monitoring sensor (B) and the yarn joint device (Y) are installed on an AGV (D).

2. An AGV vehicle according to claim 1 having a single spindle monitoring sensor and a yarn splicing arrangement, wherein: the single ingot monitoring sensor (B) is an image sensor.

3. An AGV vehicle according to claim 2 having a single spindle monitoring sensor and a yarn splicing arrangement, wherein: and the single ingot monitoring sensor (B) acquires a single ingot image (P) in real time.

4. An AGV according to claim 3 wherein said spindle monitor sensor and said yarn splicing means are further characterized by: the yarn splicing device (Y) consists of a spindle brake arm (A1), a yarn grabbing arm (A2) and a yarn splicing arm (A3).

5. An AGV according to claims 1 to 4 wherein the AGV includes a single spindle monitoring sensor and yarn splicing means, wherein: the spindle brake arm (A1), the yarn grabbing arm (A2), the yarn joint arm (A3) and the single spindle monitoring sensor (B) are sequentially arranged on the AGV car (D) from bottom to top.

6. An AGV according to claim 5 wherein said spindle monitor sensors and said yarn splicing means are arranged such that: the AGV (D) moves independently on two sides of one ring spinner (G) and also can move independently among a plurality of ring spinners (G).

7. An AGV according to claim 6 wherein said spindle monitor sensors and said yarn splicing means are arranged such that: the AGV vehicles cruise among one ring spinning machine (G) or a plurality of ring spinning machines (G); in the cruising process, a single spindle monitoring sensor (B) of an AGV (D) acquires a single spindle image (P) of each spindle in real time and performs image analysis and judgment at the same time; the single spindle monitoring sensor (B) detects that the yarn of one spindle (9) is broken or wound; an AGV (D) is positioned to the spindle (9), a spindle brake arm (A1) of the AGV brakes the spindle (9), and a yarn grabbing arm (A2) grabs the yarn (2) and penetrates into the steel wire ring (7); further, a yarn joint arm (A3) penetrates the yarn (2) into the yarn guide hook (6) and sends the yarn (2) into the front roller pair (3) to complete the joint; further, the spindle brake arm (A1) releases the brake base (10); the AGV vehicle (D) continues to begin cruising.

Technical Field

The invention relates to an AGV (automatic guided vehicle) in the textile industry, which is particularly applied to a ring spinning frame and a roving frame and belongs to the technical field of textile machinery.

Background

Ring spinning, the most important spinning equipment in spinning mills, currently has a nationwide stock keeping of more than 1.2 billion spindles. For the broken ends of the yarns and the joints of the yarns, the operators completely depend on the inspection tour among the spindles, and once the broken ends of the spindles are found visually, the operators manually realize the joints. Due to the large number of ring spinning spindles, a large number of scooters are required to complete this tedious and repetitive work.

Therefore, a device and a method for monitoring a single ingot are proposed and implemented, such as the following patent publications: "CN 2556218Y", "CN 202450212U", etc. The existing single spindle monitoring device mainly focuses on monitoring yarn breakage of a spindle by using a mechanical type, an electrical contact type, an air pressure non-contact type, a photoelectric sensor, an electromagnetic sensor and a temperature sensor, and giving an alarm and a light to prompt a driver to remove a joint. A separate sensor is required for each single ingot. For a spinning frame with 1632 spindles, the cost of each spindle being provided with a single spindle monitoring sensor is too high; another disadvantage is that: the breakage rate of ring spinning is usually 20/thousand spindles (namely: the breakage rate of one thousand spindles per hour is 20), and a large number of spindles cannot be broken frequently in the same time period and keep a normal running state. Therefore, in unit time, about 98% of single-spindle broken-end sensors of the spindles are idle, so that the investment cost is greatly wasted, and the popularization and the use of the single-spindle monitoring sensors are restricted.

The manual joint is replaced, the car stop is liberated from the heavy and repeated joint work, and the schedule is also provided. For example, the invention: CN108842239A 'A ring spinning frame joint robot and method'; for example, the invention: CN10256677013 "an automatic detection broken end, automatic connection spinning and device for spinning frame".

These inventions all propose an automatic piecing device to replace the manual piecing, the basic principle is: detecting the broken end of the spindle; stopping the spindle; finding out a yarn end; the yarn penetrates into the steel wire ring; releasing the spindle; the yarn is twisted and connected to the fiber strip of the front roller to realize yarn connection. These automatic piecing devices typically navigate a fixed track of the ring spinning machine and monitor the yarn condition via a single spindle monitoring sensor for each spindle; when a certain spindle yarn is broken, the piecing device is positioned to the spindle to perform piecing operation. Their disadvantages are: the piecing devices must rely on the single spindle monitoring sensor of each spindle to give a break signal, which the piecing devices then receive and position to that spindle. This requires that there must be a single ingot monitoring sensor for each single ingot; further, the piecing devices can only be walked along a fixed track at one or both sides of the ring frame, and cannot be used in common for a plurality of ring frames, which is lack of flexibility and requires a large investment.

Disclosure of Invention

The invention provides an AGV integrating a single spindle monitoring sensor and a yarn splicing device, aiming at overcoming the defects that the investment cost is high, most single spindle monitoring sensors are idle, and the yarn splicing device moves on a fixed track and the limitation because each single spindle needs one single spindle monitoring sensor at present.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the AGV is an automatic guided vehicle mature in industry and automatically cruises among the ring frames; it is possible to navigate between one or several ring spinners, monitor the yarn condition of the individual spindles and, once a yarn break is detected, locate and complete the piecing operation.

A single spindle monitoring sensor is arranged on the AGV and used for monitoring the yarn state of each single spindle. The sensor adopts an image sensor, the yarn image of each single spindle is obtained in real time, analysis and comparison are carried out, and once the yarn breakage in the image is detected, the AGV is positioned on the spindle with the yarn breakage by means of the automatic navigation function to prepare for joint.

AGV car has yarn piecing devices, includes: spindle brake arm, yarn snatch arm and yarn joint arm. When the single spindle monitoring sensor monitors that one spindle yarn is broken, the AGV automatically locates at the spindle. The yarn splicing device on the AGV starts to perform splicing action: the spindle brake arm brakes the spindle, the yarn grabbing arm finds the yarn from the spindle and penetrates into the steel wire ring, the yarn joint arm penetrates the yarn guide hook and sends the yarn into the front roller pair, and after the joint is completed, the AGV continues to cruise among the ring spinning machines.

The AGV is independent of a ring spinning machine, a track does not need to be laid on the ring spinning machine, and a single spindle monitoring sensor does not need to be arranged on each spindle. Can be directly used for the existing ring spinning machine and can also be used for the ring spinning machine with new investment. The ring spinning machine does not need to install a single spindle monitoring sensor on each spindle, and saves a large amount of investment cost for a spinning mill.

In a preferred embodiment of the present invention, the AGV has a yarn splicing device and a single spindle monitoring sensor.

In a preferred embodiment of the present invention, the AGV is an automated guided vehicle that can autonomously move between spinning mill rooms according to a navigation map or magnetic guide rails.

In a preferred embodiment of the present invention, the yarn splicing device of the AGV comprises a spindle brake arm, a yarn grasping arm and a yarn splicing arm. The spindle braking arm stops the spindle from rotating so as to start the yarn joint work. The yarn grabbing arm grabs the yarn head from the spindle and penetrates into the steel wire ring. And the yarn joint arm penetrates the yarn into the yarn guide hook and sends the yarn into the front roller pair to finish yarn joint.

In a preferred embodiment of the present invention, the single spindle monitoring sensor of the AGV is an image sensor, and is mounted on the AGV. During the cruising process of the AGV in the ring spinning, the image of each spindle is acquired. Preferably, the image acquired is a frontal color image of the spindle. The images comprise images of roving bobbins, front roller pairs, middle roller pairs, rear roller pairs, yarn guide hooks, steel wire rings, spindles, spindle numbers and yarns. The image sensor determines a real-time state of the single ingot based on the acquired image data: yarn breakage, yarn winding, roving sliver breakage, traveler drop, yarn guide hook breakage, and the like. Further, more mechanical part information of the single ingot can be acquired by using the acquired image.

In a preferred embodiment of the present invention, the single spindle monitoring sensor of the AGV acquires a real-time image of each single spindle, analyzes the acquired real-time image, compares the real-time image with a standard image, and determines whether the yarn of the single spindle is broken, wound, twisted, or the like. Preferably, the image of the yarn taken is the section of yarn between the traveller and the pair of front rollers. In general terms: when the yarn breaks, the image of the yarn segment will not appear in the original area. Based on this basic judgment, it is possible to quickly judge whether or not the single ingot is broken.

In a preferred embodiment of the present invention, each AGV is provided with an image sensor by the single spindle monitoring sensor of the AGV.

As a preferred embodiment of the invention, the single spindle monitoring sensor of the AGV car acquires spindle number images of each single spindle. The spindle number is preferably affixed to each single spindle region by an alphanumeric label. The single spindle monitoring sensor obtains the image of the spindle number, and the image is converted into the spindle number of the single spindle, so that the spindle number of each single spindle corresponds to the corresponding spindle image and is stored in the control unit. Further, the AGV car can be positioned to each single spindle by spindle signals of this single spindle monitoring sensor.

In a preferred embodiment of the present invention, the AGV cruises on both sides of one ring spinner, or cruises among a plurality of ring spinners simultaneously. Preferably, the AGV vehicle cruises between 2 and 4 ring spinning machines.

As a preferred embodiment of the present invention, the sequential arrangement positions of the yarn splicing devices and the single spindle monitoring sensors of the AGV from bottom to top are: spindle brake arm, yarn snatch arm, yarn joint arm and single spindle monitoring transducer.

As a preferred embodiment of the present invention, the process of AGV vehicle cruising and yarn splicing is: the AGV cars cruise between each ring spinning machine. In the cruising process, the single spindle monitoring sensor of the AGV acquires images of each spindle in real time, and simultaneously performs image analysis and judgment. The single spindle monitoring sensor detects yarn breakage or winding of a certain spindle. Further, the AGV car is positioned to this spindle, and this spindle is stopped to spindle brake arm of AGV car, and the yarn snatchs the yarn from the spindle, penetrates the steel wire winding. Further, a yarn splicing arm, which penetrates the yarn into the yarn guide hook and feeds the yarn into the front roller pair, combines with the original drafted sliver to form a splice. Further, a brake arm of the AGV releases a brake seat, and the single spindle starts to be normally produced. The AGV continues to cruise and monitors the status of each single spindle. The operation is circulated in such a way.

As a preferred embodiment of the present invention, the AGV vehicle may also cruise between a single roving frame or multiple roving frames, monitor spindle status of each roving spindle, and implement roving splice operation.

The invention has the advantages that: the high investment of installing a single spindle monitoring sensor on each spindle is eliminated, the limitation of laying or installing a fixed slide rail on the ring spinning is also eliminated, the single spindle monitoring sensor and the joint device are integrated on an AGV (automatic guided vehicle), the AGV can freely cruise among one or more ring spinning machines, the broken ends of all the spindles are monitored, the yarn joint work is realized, the real-time detection and the joint function of the broken ends of the yarns of the ring spinning machines are realized, and the AGV has the advantages of low cost and flexible use. The method can be used for upgrading and reconstructing the existing ring spinning machine and can also be directly used for a new ring spinning machine.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic diagram of an AGV according to the present invention cruising between multiple ring spinning frames

FIG. 2 is a schematic view of spindle images (normal yarn) obtained by a single spindle monitoring sensor according to the present invention

FIG. 3 is a schematic view of spindle images (yarn breakage) obtained by a single spindle monitoring sensor of the present invention

FIG. 4 is a schematic view of a single spindle monitoring sensor and yarn splicing device for an AGV of the present invention

In the drawings

1. A roving bobbin;

2. a yarn;

3. a front roller pair;

4. a middle roller pair;

5. a back roller pair;

6. a yarn guide hook;

7. a bead ring;

8. a ring;

9. a spindle;

10. a brake seat;

d, AGV car;

G. a ring spinning machine;

s, an AGV cruising route;

B. a single ingot monitoring sensor;

p. single ingot image;

l. yarn section;

w, single ingot monitoring sensor monitoring range indication;

n. ingot number;

y. a connector device;

A1. a spindle brake arm;

A2. a yarn grasping arm;

A3. a yarn splicing arm;

Detailed Description

In fig. 1, an AGV vehicle D is shown autonomously moving between 4 ring spinning machines G. AGV cars D, cruising back and forth between ring spinning frames G along route S. The single spindle monitoring sensor B on the AGV car D monitors the yarn state of each spindle in real time. Once abnormal working states such as yarn breakage of a certain spindle or winding are monitored, the joint device Y on the AGV car D joints broken yarns.

Further, fig. 2 is a schematic diagram of a single-ingot image acquired by a single-ingot monitoring sensor. The single spindle monitoring sensor B on the AGV car D monitors the yarn state of each spindle in real time. The detection range of the sensor B for single spindle monitoring is shown as W, and a real-time image P of the entire spinning unit can be acquired. The single ingot image P comprises: roving bobbin 1, back roller pair 5, middle roller pair 4, front roller pair 3, yarn guide 6, yarn 2, steel traveler 7, ring 8, spindle 9 and spindle number N. In fig. 2, a yarn segment L of the yarn 2 is shown in the image in the case where the yarn 2 is working normally and no yarn breakage or twisting occurs.

Further, when the yarn 2 is broken (broken end) or twisted, the yarn segment L of the yarn 2 cannot be displayed in the single-spindle image P in fig. 3 because the yarn is broken (broken end) or twisted, as shown in fig. 3. Comparing and analyzing the single ingot image P of the image 3 with a normal single ingot image (see the single ingot image P in the figure 2) by the single ingot monitoring sensor B on the AGV car D: when the yarn is broken, the yarn of the yarn section L does not exist in the image, and it is determined that the yarn is broken (broken end), and it is necessary to perform yarn splicing.

Further, the single spindle monitoring sensor B on the AGV vehicle D analyzes the image ("188") of the spindle number N in the single spindle image P to obtain the spindle number ("188" in fig. 2 and 3) of the spindle.

Further, the single spindle monitoring sensor B sends out information, and a signal that the spindle number 188 is broken is transmitted to the AGV car D. The AGV is informed that the car D is ready for yarn splicing.

As shown in fig. 4: the joint schematic diagram of the AGV with the single spindle monitoring sensor and the yarn joint device is shown.

The AGV car D is provided with a yarn joint device Y. The joint device Y includes: spindle brake arm a1, yarn grabber arm a2, yarn connector arm A3, and single spindle monitor sensor B. From down supreme, the position in proper order is: spindle brake arm a1, yarn grabber arm a2, yarn connector arm A3, and single spindle monitor sensor B.

Further, a detection range W of the single-ingot monitoring sensor B is shown in the figure, and an image P of the single ingot is acquired in real time and is analyzed and compared; when the yarn 2 is monitored to be broken (broken end), the single spindle monitoring sensor B transmits the broken end and spindle number information to the AGV.

Further, the AGV car is positioned to spindle 9 of spindle number 188.

Further, spindle brake arm a1 on AGV car D stops spindle 9 from rotating through brake shoe 10.

Further, yarn grasping arm a2 grasps yarn 2 from spindle 9, penetrating traveler 7.

Further, the yarn splicing arm a3 of the AGV D passes the yarn 2 through the guide hook 6 and feeds it to the front roller pair 3, thereby completing splicing.

Further, spindle brake arm A1 of AGV D releases brake shoe 10. Spindle 9 begins normal production.

Further, the AGV vehicle D starts to continue cruising at the ring spinning machine G (one or more), acquires an image P of each spindle in real time, analyzes and judges whether a yarn break (end breakage) occurs or a yarn is wound. So circulated, the autonomous navigation is between the ring spinning machines G.

Various modifications or additions may be made or equivalents may be substituted for those skilled in the art without departing from the spirit and scope of the invention as defined in the claims.