CN106995955A - A kind of automatic doffer with vision - Google Patents

Abstract

The invention provides an automatic doffing machine with vision, which includes front and rear screw rods, front and rear linear modules, front and rear direction servo motors, left and right screw rods, left and right direction servo motors, left and right linear modules, up and down linear modules, and up and down direction servo motors. A Cartesian coordinate system mechanical arm composed of a servo motor and an end effector, a photoelectric sensor, a main vehicle speed encoder, a main vehicle, a machine vision control system and a PLC control system. Beneficial effects of the present invention: use machine vision and optical-mechanical-electrical integration to realize the entire process of fully automatic doffing machine travel, yarn pulling, doffing, and empty tube insertion, and accurately determine the yarn position by using the control method of machine vision to realize It improves the efficiency, speed and accuracy of the doffing process, and reduces labor costs.

Description

An automatic doffing machine with vision

technical field

The invention relates to intelligent control of textile machinery, in particular to an automatic doffing machine with vision.

Background technique

The textile industry has made great contributions to the country's economic development. At the same time, the textile industry is an extremely labor-intensive industry. About 1/13 of China's population is engaged in related work. The main factors restricting the development of my country's textile industry are the low degree of automation of textile equipment and the high failure rate of textile machinery and equipment, which makes it difficult to meet the requirements of rapid production.

There are about 115 million cotton spinning spindles in China. Except for some advanced long spinning frames with a large number of spindles that adopt collective automatic doffing, no less than 95% of them are installed on short spinning frames with 480 spindles or less. Traditional doffing The yarn is doffed by hand. Manual doffing has the following disadvantages:

1) Due to the tight adhesion between the full bobbin and the spindle, it takes a lot of pulling force to separate the full bobbin from the spindle, and at the same time insert the empty bobbin into the empty spindle, which increases the labor intensity of the doffing workers and reduces Improve the production efficiency of the spinning mill;

2) Due to the harsh production environment in the spinning workshop, such as high noise, high temperature, high humidity, and serious air dust pollution, it directly endangers the health of workers, reducing the number of workers engaged in doffing work, and the factory is facing great labor pressure;

3) Due to the impact of the financial crisis, the recent spinning industry has been in a downturn and the profit margin of spinning has declined, but labor costs are increasing day by day, and enterprises are facing greater pressure on operating costs. The shortcomings of the above existence, especially the labor pressure, make many spinning factories have to be in a semi-shutdown state. The need to develop doffing cars for old-style short-spindle spinning frames is very urgent, so the research and development of automatic doffing cars has been accelerated at home and abroad.

Countries with advanced technology in the world, such as Germany, Japan, and the United States, have fully realized automatic production of textile equipment in the textile process, while our country has only realized semi-automatic production in recent years. Take the smart doffing machine used as an example. After the new century, a large number of factories in China still use manual doffing. The biggest drawback of manual labor is that it is prone to fatigue, which leads to some unexpected accidents. Some of them are using the collective intelligent doffing machine to realize the doffing process. The use of the collective intelligent doffing machine can indeed reduce the labor force, but this will greatly increase the production cost of the factory, because the use conditions of the collective intelligent doffing machine are one-to-one , that is, one machine corresponds to one intelligent doffing machine. Very few factories are using stand-alone smart doffers, but domestically produced smart doffers continue to break down, making it difficult to meet work needs, so the application of smart doffers in China is relatively limited.

As far as the doffing link of the textile process is concerned, there is an urgent need in China for a fully automated intelligent doffing machine that can be quickly plugged and unplugged, has high efficiency and low failure rate, so as to make up for the shortcomings of existing doffers.

Contents of the invention

In view of this, the embodiment of the present invention provides an automatic doffing machine with vision.

An embodiment of the present invention provides an automatic doffing machine with vision, including front and rear screw rods, front and rear linear modules, front and rear direction servo motors, left and right screw rods, left and right direction servo motors, left and right linear modules, up and down linear modules, Up and down direction servo motors, end effectors, front and rear connectors, main vehicle, photoelectric sensor, machine vision control system and control system; the front and rear screw rods, front and rear linear modules, front and rear direction servo motors, left and right screw rods, left and right direction servo motors The motor, the left and right linear modules, the up and down linear modules, the up and down servo motors and the end effector are connected to form a three-dimensional coordinate system mechanical arm; the mechanical arm is fixed on the main vehicle, and the end effector can move forward and backward, up and down, The left and right three dimensions move in a straight line relative to the main car, and the superposition of the three-dimensional motion forms the motion track of the end effector of the mechanical arm; the photoelectric sensor is used to detect when the main car of the doffer is moving along the spinning machine at a uniform speed The fixed distance and the number of spindles on the assembly line give the movement position of the end effector; the vision control system is used to identify the end effector and the spindles to obtain the exact position of the end effector and the exact position of the spindles to be grasped. Position, the expected position of the end effector is calculated by the exact position of the spindle, and the deviation is obtained by comparing the exact position of the end effector with the expected position, which gives the position where the end effector of the mechanical arm needs to move to grab the spindle.

Further, the speed encoder of the main vehicle records the speed of the main vehicle in real time and feeds it back to the control system, so that the control system can control the left and right screw rods of the mechanical arm to track the speed of the main vehicle accurately in real time, and keep the direction of motion of the left and right screw rods consistent with that of the main vehicle. On the contrary, the speed of movement of the left and right screw rods is consistent with the speed of the main vehicle.

Further, the end effector of the mechanical arm is provided with 2N yarn inserting and pulling devices, the first N yarn inserting and pulling devices are responsible for doffing, and the rear N yarn inserting and pulling devices are responsible for inserting the tube, and N is greater than or equal to 1 an integer of .

Further, the yarn inserting and pulling device on the end effector of the mechanical arm includes a top loosening air hole, a top loosening piston, a pipe grab airbag and a pipe grab air bag air inlet; when doffing, the pipe grab airbag cover Hold the upper part of the unwrapped yarn of the bobbin full of yarn, and at the same time, the high-pressure air enters the air bag of the gripper air bag through the air hole of the gripper air bag, and the air bag of the gripper expands rapidly, clamping the unwound yarn of the bobbin full of yarn The upper part of the yarn winding; when the bobbin is pulled out by the yarn inserting and pulling device, the air flow passes through the top loosening air hole to push the top loosening piston to move and separate the bobbin full of yarn from the spindle rod, so as to realize the bobbin full of yarn winding pull away. The yarn pulling method is completed by quickly inflating and deflating the tube grab airbag; there is a certain friction between the tube grab airbag and the bobbin, and the tube grab airbag clamps the bobbin full of yarn during the yarn pulling process. The upper part of the unwrapped bobbin gives a vertical upward force to the bobbin, and at the same time, the loosening piston gives a downward force to push the spindle rod, and the bobbin full of yarn is vertically upward under the action of the two combined forces. pull up.

Further, the photoelectric sensor detects the fixed distance and the number of spindles on the assembly line during the uniform linear motion of the main car of the doffing machine along the spinning machine, and sends a motion signal to the control system when the number of grabs is reached, and the control system according to The fixed distance of each spindle in the assembly line makes the end effector of the mechanical arm move to the action position, and the end effector accelerates to move to the action position, and keeps the movement of the left and right screw rods opposite to the movement direction of the main car, so that the end effector and The spindle remains relatively still to complete the tracking control.

Further, the machine vision control system communicates with the control system through the serial port; the machine vision control system processes the visual information of the working environment of the doffer, recognizes the end effector and the spindle of the mechanical arm, and obtains the information of the end effector of the mechanical arm. The exact position and the exact position of the spindle to be grasped, the expected position of the end effector is calculated through the accurate position of the spindle, and the deviation is obtained by comparing the exact position of the end effector with the expected position, and the machine vision control system gives the machine vision according to the deviation. The position where the end effector of the arm needs to move and send positioning data to the control system, so that the end effector of the mechanical arm is aligned with the spindle, and at the same time the machine vision control system sends an instruction to insert and pull the spindle to the control system, and the end effector of the mechanical arm performs the insertion and removal action; After completing a plugging task, the end effector of the mechanical arm returns to the initial position and waits for the photoelectric sensor to send the next motion signal to perform the next plugging and unplugging spindle movement.

Further, the control system adopts PLC control system.

The beneficial effect brought by the technical solution provided by the embodiments of the present invention is: the whole process of the automatic doffing machine moving, yarn pulling, doffing, and empty tube insertion is realized by using machine vision and optical-mechanical-electrical integration. The visual control method accurately determines the yarn position, realizes the efficient, fast and accurate doffing process, and reduces labor costs.

Description of drawings

Fig. 1 is a schematic structural diagram of an automatic doffing machine with vision in the present invention.

Fig. 2 is a structural schematic diagram of the yarn inserting and pulling device on the end effector of the robotic arm of the present invention.

Fig. 3 is a schematic diagram of the yarn pulling state of the yarn inserting and pulling device on the end effector of the mechanical arm of the present invention.

Fig. 4 is a schematic diagram of the state of inserting and pulling out the yarn device on the end effector of the robotic arm of the present invention.

In the figure: 1. Front and rear screw rods; 2. Front and rear linear modules; 3. Front and rear direction servo motors; 4. Left and right screw rods; 5. Left and right direction servo motors; 6. Left and right linear modules; 7. Up and down linear modules; 8. Up and down direction servo motor; 9. End effector; 10. Front and rear connectors; 11. Photoelectric sensor; 12. Main vehicle speed encoder; 13. Machine vision control system; 14. Main vehicle; 15. Top loose air intake Hole; 16, top loose piston; 17, pipe grabber airbag; 18, pipe grabber airbag air inlet; 19, bobbin; 20, spindle bar (dotted line represents spindle bar).

detailed description

In order to make the purpose, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings. The specific language or order in the specific embodiments is only for explanation and demonstration, and should not be used for the purposes of the present invention. There are no limitations on the scope of protection.

Please refer to Figure 1, an automatic doffing machine with vision includes: front and rear screw rods 1, front and rear linear modules 2, front and rear direction servo motors 3, left and right screw rods 4, left and right direction servo motors 5, left and right linear modules 6. Up and down linear modules 7, up and down servo motors 8, end effectors 9, front and rear connectors 10, photoelectric sensors 11, main vehicle speed encoders 12, machine vision control systems 13, main vehicle 14 and PLC control systems (Fig. not shown).

The front and rear screw rods 1, the front and rear linear modules 2, the front and rear direction servo motors 3, the left and right screw rods 4, the left and right direction servo motors 5, the left and right linear modules 6, the up and down linear modules 7, the up and down direction servo motors 8 and the terminal execution The devices 9 together form a three-dimensional Cartesian coordinate system mechanical arm, which can realize the linear motion of the end effector 9 in three dimensions: front and rear, up and down, and left and right. The superposition of the three-dimensional motion forms the motion track of the mechanical arm; On the main car 14.

The specific movement mode of the end effector 9 of the mechanical arm is as follows: the PLC control system sends control commands to the servo motor 3 in the forward and backward direction to control the end effector 9 of the mechanical arm to move forward and backward relative to the automatic doffing machine; the PLC control system sends the servo motor 3 in the left and right direction 5 Send out a control command to control the end effector 9 of the mechanical arm to move left and right relative to the automatic doffing machine; the PLC control system sends a control command to the servo motor 8 in the up and down direction to control the end effector 9 of the mechanical arm to move up and down relative to the automatic doffing machine sports.

The PLC control system controls the main car 14 of the doffing machine to move in a straight line at a constant speed along the spinning machine; the speed encoder 12 of the main car records the speed of the main car 14 in real time and feeds it back to the PLC control system, so that the PLC control system controls the left and right screw rods 4 in real time and accurately It is necessary to track the speed of the main vehicle 14, keep the movement direction of the left and right screw mandrels 4 opposite to that of the main vehicle 14, and the movement speed of the left and right screw mandrels 4 is consistent with the speed of the main vehicle 14, so that the end effector 9 of the mechanical arm and the spindle remain relatively stationary .

The photoelectric sensor 11 is used to detect the fixed distance and the number of spindles on the assembly line during the uniform linear motion of the doffing machine along the spinning machine. When the number of grabs is reached, the photoelectric sensor 11 sends a motion signal to the PLC control system, and the PLC control system According to the fixed distance of each spindle in the assembly line, the end effector 9 of the mechanical arm is moved to the action position, and the end effector 9 is accelerated to move to the action position, and the movement direction of the left and right screw rods 4 is opposite to that of the main vehicle 14 and the size is the same. Thus, the end effector 9 and the spindle remain relatively stationary, and the tracking control is completed.

The machine vision control system 13 communicates with the PLC control system through the serial port; the machine vision control system 13 recognizes the end effector 9 and the spindle of the mechanical arm by monitoring the visual information of the working environment of the doffer, and obtains the end effector 9 of the mechanical arm. The exact position of the end effector and the exact position of the spindle to be grasped, the expected position of the end effector 9 is calculated through the accurate position of the spindle, and then the exact position of the end effector is compared with the expected position to obtain the deviation, and the machine vision control system 13 According to the deviation, the position where the end effector 9 of the mechanical arm needs to be moved is given and positioning data is sent to the PLC control system, so that the end effector 9 of the mechanical arm is aligned with the spindle, and the machine vision control system 13 sends an instruction to insert and pull the spindle to the PLC control system, The end effector 9 of the mechanical arm performs the insertion and extraction action. After completing a plugging task, the end effector 9 of the mechanical arm returns to the initial position and waits for the next motion signal sent by the photoelectric sensor 11 to perform the next motion of plugging and pulling out the spindle.

Please refer to Fig. 2 and Fig. 3, which are structural schematic diagrams of the yarn inserting and pulling device 91 on the end effector 9 of the mechanical arm. Air bag 17, pipe grab air bag air inlet 18; during doffing, the pipe grab air bag 18 covers the upper part of the unwrapped yarn of the bobbin 19 full of yarn, and high-pressure air passes through the pipe grab air bag air inlet 18 at the same time Enter the tube grabber airbag 17, the tube grabber airbag 17 expands rapidly, and clamps the upper part of the unwrapped yarn of the bobbin 19 full of yarn (referring to Fig. 3); When the bobbin 19 is pulled out, the air flow passes through the top loose air inlet 15 to push the top loose piston 16 to move and separate the full yarn bobbin 19 from the spindle bar 20, thereby realizing the pulling out of the full yarn bobbin 19. The above-mentioned yarn pulling mode adopts the quick inflation and deflation of the tube grabber air bag 17 to complete. There is a certain frictional force between the tube grabber airbag 17 and the bobbin 19. During the yarn pulling process, the tube grabber airbag 17 clamps the upper part of the unwrapped yarn of the bobbin 19 full of yarn and feeds the upper part of the bobbin 19. A vertical upward force, while the loosening piston 16 gives a force to push the spindle bar 20 downwards, and the bobbin 19 that is full of yarn is pulled up vertically under the effect of the two resultant forces. The method of vertical yarn pulling can effectively avoid damage to the bobbins and yarns.

Please refer to Fig. 2 and Fig. 4, when the yarn inserting and pulling device 91 on the end effector 9 of the mechanical arm inserts the empty bobbin 19, the tube grab airbag 17 covers the upper part of the empty bobbin 19, and the high-pressure air passes through The pipe grabber airbag air inlet 18 enters the pipe grabber airbag 17, and the pipe grabber airbag 17 expands rapidly, clamping the top of the empty bobbin tube 19 (see Fig. 4); When the iron ingot 20 is inserted into the empty bobbin 19, the air bag 17 of the pipe grabber is deflated quickly, and the empty bobbin 19 breaks away from the constraint of the air bag 17 of the pipe grabber, thereby realizing the insertion of the empty bobbin 19 on the iron ingot 20.

The yarn inserting and extracting devices 91 on the end effector 9 of the mechanical arm have the same structure, which can not only doff yarn but also insert empty bobbins 24 .

The number of inserting and pulling out yarn devices 91 on the end effector 9 of the mechanical arm is 2N (N is an integer greater than or equal to 1), the first N yarn inserting and pulling out devices 91 are responsible for doffing, and the rear N yarn inserting and pulling out devices 91 It is responsible for inserting the bobbin tube. In this embodiment, the end effector 9 of the mechanical arm has ten inserting and pulling devices 91 (see Fig. 1). One plugging and pulling device 91 pulls out five full yarn bobbins, and the last five plugging and pulling devices 91 grab the empty bobbin on the main car while putting down the full yarn bobbin. During the second action, the first five yarn inserting and pulling devices 91 pull out the full yarn bobbins, and the last five doffers remove the iron ingots for the previous action to remove the full yarn bobbins and insert the empty bobbins; the subsequent continuous cycle of the second action , so that the process of doffing and bobbin insertion is completed in one doffing process, which improves work efficiency.

The working process of a kind of automatic doffing machine with vision in the present invention is as follows: doffing machine main car 14 moves on the track in front of the spinning machine, and the output signal of the PLC control system drives the doffer main car 14 to make a straight line at a constant speed along the spinning machine Movement, during the uniform linear motion of the doffing machine along the spinning machine, the photoelectric sensor 11 detects the fixed distance and the number of spindles on the assembly line, and sends a motion signal to the PLC control system when the number of grabs is reached. The fixed distance of each spindle makes the end effector 9 of the mechanical arm move to the action position; the end effector 9 of the mechanical arm accelerates to move to the action position, and at the same time, the end effector 9 of the mechanical arm maintains the speed of the main vehicle in the direction of the left and right screw rod movement. The sizes are the same and the directions are opposite, so that the end effector 9 of the mechanical arm and the spindle remain relatively stationary to complete the tracking control. At the same time, the machine vision control system 13 recognizes the end effector 9 and the spindle of the mechanical arm through the visual information of the working environment of the doffer, and obtains the exact position of the end effector 9 of the mechanical arm and the exact position of the spindle to be grasped, The expected position of the end effector is calculated by the exact position of the spindle, and the deviation is obtained by comparing the exact position of the end effector 9 with the expected position. The machine vision control system 13 gives the position where the end effector 9 of the mechanical arm needs to move according to the deviation and Send positioning data to the PLC control system, so that the end effector 9 of the mechanical arm is aligned with the spindle, and at the same time, the machine vision control system 13 sends an instruction to insert and pull the spindle to the PLC control system, and the end effector 9 of the mechanical arm performs the insertion and removal action. After completing a plugging task, the end effector 9 of the mechanical arm returns to the initial position and waits for the next motion signal sent by the photoelectric sensor 11 to perform the next motion of plugging and pulling out the spindle.

In this article, the orientation words such as front, rear, upper, and lower involved are defined by the parts in the drawings and the positions between the parts in the drawings, just for the clarity and convenience of expressing the technical solution. It should be understood that the use of the location words should not limit the scope of protection claimed in this application.

In the case of no conflict, the above-mentioned embodiments and features in the embodiments herein may be combined with each other.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (7)

1. a kind of automatic doffer with vision, it is characterised in that：Watched including front and rear screw mandrel, front and rear linear module, fore-and-aft direction Take motor, left and right screw mandrel, left and right directions servomotor, the linear module in left and right, upper lower linear module, above-below direction servomotor, End effector, front and rear connector, main car, photoelectric sensor, machine vision control system and control system；Silk before and after described Bar, front and rear linear module, fore-and-aft direction servomotor, left and right screw mandrel, left and right directions servomotor, the linear module in left and right, up and down Linear module, above-below direction servomotor and end effector are by connecting and composing a three-dimensional system of coordinate mechanical arm；It is described Mechanical arm be fixed on main car, end effector can it is front and rear, up and down, left and right three dimensions transported relative to main car straight line Dynamic, the superposition of three dimension motions forms the movement locus of robot arm end effector；The photoelectric sensor is used to doff The fixed range and spindle number of detection each spindle of streamline, provide end during owner's car does linear uniform motion along spinning machine Hold the operating position of actuator motions；The vision control system is used to identify end effector and spindle, obtains to end and holds The accurate location of the accurate location of row device and the spindle that will be captured, end effector is calculated by the accurate location of spindle Desired locations, the accurate location of end effector is compared with desired locations and obtains deviation, robot arm end effector is provided Capturing spindle needs mobile position.

2. a kind of automatic doffer with vision as claimed in claim 1, it is characterised in that：The main vehicle speed encoder is real The speed of the main cars of Shi Jilu simultaneously feeds back to control system, makes the left and right screw mandrel of control system control machinery arm is accurate in real time must track Main vehicle speed, keeps the direction of motion of left and right screw mandrel with main car on the contrary, the movement velocity of left and right screw mandrel and main vehicle speed size one Cause.

3. a kind of automatic doffer with vision as claimed in claim 1, it is characterised in that：The end of the mechanical arm is performed Device is responsible for doffing provided with 2N plug yarn feeding device, top n plug yarn feeding device, and rear N number of plug yarn feeding device is responsible for insertion tube pipe, and N is Integer more than or equal to 1.

4. a kind of automatic doffer with vision as claimed in claim 3, it is characterised in that：The end of the mechanical arm is performed Plug yarn feeding device on device includes the loose air admission hole in top, the loose piston in top, pipe grabbing device air bag and pipe grabbing device air bag air admission hole；Doffing When pipe grabbing device air bag entangle the top for not twining yarn of the bobbin for being wrapped over yarn, while pressure-air passes through pipe grabbing device air bag air admission hole Into pipe grabbing device air bag, pipe grabbing device air bag expands rapidly, clamps the top for not twining yarn for the bobbin for being wrapped over yarn；When plug yarn Air-flow promotes the loose piston movement in top to depart from the bobbin for being wrapped over yarn with spindle blade by the loose air admission hole in top when bobbin is pulled out on device, so that Realize pulling away for the bobbin to being wrapped over yarn.

5. a kind of automatic doffer with vision as claimed in claim 1, it is characterised in that：The photoelectric sensor is doffing The fixed range and spindle number of detection each spindle of streamline during owner's car does linear uniform motion along spinning machine, when reaching Motor message is sent to control system during crawl number, control system makes mechanical arm according to the fixed range of each spindle of streamline End effector moves to operating position, and end effector, which is accelerated, arrives operating position, and keep the motion of left and right screw mandrel with The opposite size of the direction of motion of main car is identical, so that end effector keeps geo-stationary with spindle, completes tracing control.

6. a kind of automatic doffer with vision as claimed in claim 1, it is characterised in that：The machine vision control system It is in communication with each other by serial ports with control system；Machine vision control system handles the visual information of doffer working environment, identification Go out the end effector and spindle of mechanical arm, obtain the accurate location and the spindle that will be captured of the end effector of mechanical arm Accurate location, the desired locations of end effector are calculated by the accurate location of spindle, by the accurate location of end effector Compared with desired locations and obtain deviation, machine vision control system provides robot arm end effector according to deviation needs movement Position and send location data to control system, make robot arm end effector be aligned spindle, while machine vision control system Unite and send plug spindle instruction to control system, robot arm end effector performs Plug Action；Complete after once plug task, Robot arm end effector returns to initial position and waits photoelectric sensor to send next motor message, and yarn is plugged next time Ingot is moved.

7. a kind of automatic doffer with vision as claimed in claim 1, it is characterised in that：The control system uses PLC Control system.