CN106643519A - Device and method of positioning doffing trolley of automatic winder - Google Patents

Abstract

The invention discloses a positioning device and method for a doffing trolley of an automatic winding machine, belonging to the technical field of textiles; the device includes a doffing trolley walking track, a scale grating, a grating reading head, a fixed plate, a controller, a doffing trolley, Control panel, calibration pin; the scale grating is installed on the straight track of the trolley, the grating reading head is mounted on the trolley, and the controller realizes high-precision real-time monitoring of the running speed and displacement of the trolley to ensure the accuracy of the doffing trolley. Parking; the controller can communicate with the main machine of the automatic winding machine, determine the winding sequence according to the current spindle position and realize fault self-checking; the controller can clear the stored data of the previous displacement through the memory program, and select the current one. The spindle position is the reference point; the device and method simplify the current trolley positioning device and effectively improve the working efficiency of the automatic winding machine.

Description

An automatic winding machine doffing trolley positioning device and method

technical field

The invention specifically relates to a positioning device and method for a bobbin doffing trolley of an automatic winding machine, and belongs to the technical field of textiles.

Background technique

During the winding process of the automatic winding machine, the doffing trolley performs information interaction with the full bobbin single spindle and the upper computer through accurate positioning on the moving track, so as to realize the doffing, bobbin changing and clearing of the full bobbin spindle position . The movement track of the doffing trolley is installed on the bracket rail on the upper part of the automatic winding machine, located on the upper part of the automatic doffing trolley, and also plays the role of supporting the trolley. The bracket directly under the rail is the storage place for empty bobbins, which is manually added to reserve for the automatic replacement of bobbins by the mechanical arm of the doffing trolley. Among them, one of the main tasks in the automatic doffing system is that the automatic doffing trolley moves to the position where the doffing is required through the corresponding displacement sensor signal, and a series of doffing operations can only be performed after accurate parking.

The automatic doffing trolley positioning control system will record the current position of the trolley in real time. Once the main control system of the winder gets the information that the spindle position is full, it will immediately send it to the control system of the automatic doffing system, and the doffing trolley will start to continuously adjust the trolley operation. The speed enables the trolley to reach the spindle position accurately, and after arriving at the spindle position, a series of tasks such as yarn breakage, doffing, and bobbin changing begin to be processed. However, there are some problems in the domestic automatic doffing trolley positioning system at present, such as the lack of independent intellectual property rights; the Bluetooth positioning technology used has certain limitations, the system is easily affected by the noise environment during the doffing process, and the stability is slightly poor; the price is expensive and there are many key technologies It is introduced from abroad, leading to an increase in the cost of domestic producers. Moreover, the current positioning method used by the international advanced automatic doffing trolley is a combination of fuzzy positioning and positioning pins, which cannot directly detect the displacement of the doffing trolley, so it is impossible to directly perform precise positioning of the doffing trolley.

Contents of the invention

The technical problem mainly solved by the present invention is to provide a doffing trolley positioning device and method for an automatic winding machine. The device realizes real-time recording of the displacement of the doffing trolley by directly installing a grating ruler on the running track of the doffing trolley. Use the pulse signal generated when the scale grating and the indicator grating have relative displacements to accurately calculate the current displacement of the trolley, and install a calibration pin at the initial position of the track for 0-point calibration. The external controller receives and processes the displacement signal, and feeds the information back to the motor control The module can directly realize the precise parking of the car, and can realize the automatic calibration of the car coordinates to repair the error.

The technical solution of the present invention is as follows: The present invention is a positioning device for doffing trolley of automatic winding machine, which is characterized in that it includes an incremental grating ruler and a controller. The incremental grating ruler includes two parts: a scale grating and a grating reading head. The scale grating is installed on the traveling track of the doffing trolley, and the grating reading head and the controller are installed on the trolley; the positioning device is integrally installed on the top of the doffing trolley close to the track. Location.

Further, the grating reading head is composed of a light source, an indicating grating, a photoelectric sensor and an adjustment mechanism.

Further, the scale grating is fixed on the linear running track of the trolley and is parallel to the track, the grating reading head is fixed on the doffing trolley, the indicating grating is bonded to the sliding bearing, and the indicating grating acts on the scale grating through the sliding bearing, and the sliding bearing can drive The indicator grating moves on the scale grating, and when the relative displacement occurs, the moiré effect of light is combined with the photoelectric sensor to convert the displacement into a digital signal.

Further, the gap between the indicating grating and the scale grating is set to 0.03mm.

Further, the head end of the scale grating includes a displacement calibration pin, and when the doffing trolley moves to this point, it is aligned with the No. 1 winding spindle, and this point is set as the absolute reference coordinate 0 point.

Further, the controller information processing unit is capable of receiving the spindle position request signal from the main control machine, analyzing the spindle position closest to the current position of the trolley to determine the displacement of the trolley, and feeding back the signal to the motor control module to realize the adjustment of the displacement and speed of the trolley.

Further, the controller can automatically carry out troubleshooting, send an initialization signal, and the trolley returns to the original absolute coordinate position and restarts when there is a fault in positioning, that is, when there is a deviation between the command signal and the actual position feedback signal.

A doffing dolly positioning method of an automatic winder of the present invention comprises the following steps:

Step 1: Start the positioning device of the doffing trolley, clear the data and restore the initial state, calibrate the coordinates of the trolley so that it is located at the original absolute coordinate x-axis 0 point, start the data connection module between the controller and the main control machine, and the information processing unit of the controller receives the target spindle position coordinate;

Step 2: The controller unit performs data analysis and processing, and the controller calculates the coordinate displacement of the target spindle position and feeds it back to the trolley motor control module;

Step 3: Moiré fringes are generated when the relative displacement of the scale grating and the indicator grating occurs during the driving of the trolley. The moiré fringes are converted into sinusoidal pulse signals by the photoelectric device in the grating reading head and sent to the controller. The controller calculates the grating The output pulse of the ruler measures the current displacement of the trolley, confirms the current coordinates of the trolley, and calculates the displacement from the target spindle position at the same time. accurate parking;

Step 4: The controller of the doffing trolley positioning device will set the current actual coordinates and the 0-point coordinates as reference points after the doffing trolley reaches the target spindle position and completes the canister change, and clears the previous displacement and coordinates.

Further, the controller will detect whether the trolley is successfully positioned to the target spindle position and can be changed smoothly, and at the same time set the displacement deviation range of the trolley. If the positioning is not successful or exceeds the deviation range, it will display an abnormal positioning system, the controller will send an alarm signal, and the trolley will return to the calibration point Return the positioning system to its original state.

Beneficial effects of the present invention:

The present invention relates to a doffing trolley positioning device and method for an automatic winding machine. The relative displacement of the doffing trolley is directly installed on the running track of the doffing trolley, and the pulse signal sent out when the scale grating and the indicating grating are relatively displaced is used to accurately calculate the doffing trolley. For the current displacement, use the controller to process the displacement signal, and install the calibration pin at the initial position of the track for calibration, so that the stroke of the doffing trolley can be accurately and controllable. The base of the barrel system.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings.

Figure 1 is a front view of the doffing trolley positioning device of an automatic winding machine of the present invention installed on the doffing trolley

Fig. 2 is a left view of the doffing trolley positioning device of an automatic winding machine installed on the doffing trolley of the present invention

In the figure: 1-traveling track of doffing trolley, 2-grating reading head, 3-scale grating, 4-fixing plate, 5-controller, 6-doffing trolley, 7-control panel, 8-calibration pin

Specific implementation method

The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, so as to define the protection scope of the present invention more clearly.

The present invention will be described in further detail below in conjunction with the accompanying drawings.

Example 1:

As shown in the figure, a doffing trolley positioning device for an automatic winding machine in this embodiment includes a scale grating 3 mounted on the doffer trolley walking track 1 by a fixing plate 4, and a grating reading head 2 fixed on the doffing trolley 6 1. It consists of a controller 5 that receives the pulse signal sent by the relative displacement between the scale grating 3 and the grating reading head 2, and a calibration pin 8 that can calibrate the displacement.

When the automatic winder starts to work, the trolley is in the waiting state. When a spindle needs to be changed and doffed, the host of the automatic winder sends a signal to the controller 5 installed on the doffing trolley 6, and the positioning device controller 5. Calculate the required movement displacement of the trolley after the full-bore spindle position sends a request, and the motor control module controls the trolley to start moving to the spindle position after receiving the displacement signal; Stripes and Moiré fringes are converted into sinusoidally changing pulse signals by the photoelectric device in the grating reading head 2 and sent to the controller 5. The controller 5 calculates the output pulse of the grating ruler to directly measure the current displacement of the trolley, and simultaneously calculates the target spindle position. The phase difference displacement confirms the current coordinates of the trolley, and the motor control module continuously adjusts the speed of the trolley 6 according to the change of the phase difference displacement sent by the controller 5, and finally stops accurately at the target spindle position; when the controller 5 receives the automatic winding machine host When multiple spindle position requests are sent, the winding sequence is determined according to the coordinates of the current spindle position and the absolute coordinate 0.

When there is a deviation between the command signal and the actual position feedback signal, the controller 5 automatically clears the fault, sends an initialization signal, and the trolley returns to the original absolute coordinate position to perform 0-point calibration through the calibration pin. After the calibration is completed, the trolley restarts; if the trolley fails If it cannot be automatically repaired, an alarm signal occurs and is manually restarted by the control panel 7 to make the dolly 6 get back to the initial position. When the trolley 6 successfully completes the canister change at the current spindle position, the controller 5 clears the previous displacement data through its own memory program, and selects the current spindle position and coordinate 0 as the reference point to determine the next doffing sequence; the device and The method simplifies the current trolley positioning device and effectively improves the working efficiency of the automatic winder.

Claims (7)

1. A positioning device for doffing trolley of automatic winding machine, characterized in that: the device includes doffing trolley walking track, scale grating, grating reading head, fixed plate, controller, doffing trolley, control panel, calibration pin The scale grating is installed on the straight running track of the trolley, the grating reading head is on the trolley, and the controller realizes the high-precision real-time monitoring of the running speed and displacement of the trolley, so as to ensure the accurate parking of the doffing trolley; the control The controller can communicate with the main machine of the automatic winding machine, determine the winding sequence according to the current spindle position and realize fault self-checking; the controller can clear the stored data of the previous displacement through the memory program, and select the current spindle position as a reference point; the device and method simplify the current trolley positioning device and effectively improve the working efficiency of the automatic winding machine. 2. A positioning device for doffing trolley of automatic winding machine according to claim 1, characterized in that: the incremental grating ruler includes two parts: a scale grating and a grating reading head, and the scale grating is installed on the track of the doffing trolley , the grating reading head and the controller are installed on the trolley; the positioning device is installed on the top of the doffing trolley close to the track. 3. The grating reading head is composed of a light source, an indicating grating, a photoelectric sensor and an adjustment mechanism. 4. A positioning device for doffing trolley of automatic winding machine according to claim 1, characterized in that: the scale grating is fixed on the track of the trolley, and the length can reach up to 30040mm, and the grating reading head is fixed on the mobile The trolley is called a moving ruler, and the moving ruler moves a grid distance relative to the fixed ruler to generate a counting pulse, and the measurement accuracy is ±10μm. 5. A positioning device for doffing trolley of automatic winding machine according to claim 1, characterized in that: the linear travel track of the scale grating is the x-axis walking coordinate, and when the doffing trolley is aligned with the No. 1 spindle position, it is fixed at A calibration pin is installed at this point, and the scale of this point is the absolute reference coordinate 0 point of the moving scale. 6. A doffing trolley positioning device for automatic winding machine according to claim 1, characterized in that: the controller information processing unit receives the command signal from the main control machine and feeds back the signal to the motor control module. 7. A doffing trolley positioning device for an automatic winding machine according to claim 1, characterized in that: the controller can automatically perform troubleshooting when a fault occurs in the positioning, that is, when a deviation occurs between the command signal and the feedback signal, Send the initialization signal, the car returns to the original absolute coordinate position and clears the data to correct the deviation. The positioning method of the doffing trolley positioning device according to any one of claims 1-6, comprising the following steps: Step 1: Start the positioning device of the doffing trolley, clear the data and restore the initial state, calibrate the coordinates of the trolley so that it is located at the original absolute coordinate x-axis 0 point, start the data connection module between the controller and the main control machine, and the information processing unit of the controller receives the target spindle position coordinate; Step 2: The controller unit performs data analysis and processing, and the controller calculates the coordinate displacement of the target spindle position and feeds it back to the trolley motor control module; Step 3: Moiré fringes are generated when the relative displacement of the scale grating and the indicator grating occurs during the driving of the trolley. The moiré fringes are converted into sinusoidal pulse signals by the photoelectric device in the grating reading head and sent to the controller. The controller calculates the grating The output pulse of the ruler measures the current displacement of the trolley, confirms the current coordinates of the trolley, and calculates the displacement difference from the target spindle position at the same time. The motor control module continuously adjusts the speed of the trolley according to the change of the difference displacement, and finally stops accurately at the target spindle position; Step 4: The controller of the doffing trolley positioning device will set the current actual coordinates and the 0-point coordinates as reference points after the doffing trolley reaches the target spindle position and completes the canister change, and clears the previous displacement and coordinates. Step 5: The controller of the positioning device of the doffing trolley will detect whether the trolley is successfully positioned to the target spindle position and change the canister smoothly. At the same time, set the deviation range of the trolley displacement. If the positioning is not successful or exceeds the deviation range, the positioning system is abnormal and the controller sends out an alarm. signal, the trolley returns to the calibration point to restore the positioning device to its initial state.