CN109612695B - Method and device for judging shifting fork operation condition based on spinning cake surface temperature - Google Patents
Method and device for judging shifting fork operation condition based on spinning cake surface temperature Download PDFInfo
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Abstract
The invention relates to a method and a device for judging the running condition of a shifting fork based on the surface temperature of a spinning cake, wherein the device comprises a spinning cake surface temperature detection device, a central processing unit and a result display element, wherein the spinning cake surface temperature detection device is used for detecting the surface temperature of the spinning cake and sending a temperature signal to the central processing unit; the central processor is used for processing the temperature signal, comparing the temperature signal with the first interval, the second interval and the third interval to determine the operation condition of the shifting fork and then sending the operation condition to the result display element; the method using the device comprises the following steps: the running condition of a shifting fork corresponding to each spinning cake is determined by collecting the surface temperatures of a plurality of spinning cakes on the same rotating shaft in the winding process, and the running condition is failure or abrasion. The device provided by the invention is simple to operate and high in automation degree, the shifting fork operation condition of each spinning cake is obtained after the surface temperature of each spinning cake is detected and obtained by the method of the device and is processed by the central processing unit, the efficiency is high, the accuracy is high, and the device has a great application prospect.
Description
Technical Field
The invention belongs to the field of shifting forks of winding machines, relates to a method and a device for judging the operating condition of a shifting fork based on the surface temperature of a spinning cake, and particularly relates to a method for judging the wear and fault conditions of the shifting fork by detecting the surface temperature of the spinning cake when the spinning cake is wound by a winding machine and a device applying the method.
Background
In the process of producing the spinning cakes by the chemical fiber spinning cake winding machine, the surface temperature of the spinning cakes is very important to detect, if the surface temperature of the spinning cakes is abnormal, the fact that a shifting fork moving at a high speed possibly breaks down is shown, the internal tension and the surface quality of silk threads of the spinning cakes can be directly influenced when the shifting fork breaks down, the quality of products is reduced, adverse effects can be brought to the subsequent processing process of the products, and huge economic losses are caused.
At present, people usually directly measure the temperature of the surface of the spinning cake by a handheld digital display infrared temperature measuring instrument so as to obtain the surface temperature of the spinning cake. However, in the spinning cake production process, the number of winding machines is large, the operation space of workers is narrow, and a single winding machine is required to measure multiple groups of data. The staff not only need consume a large amount of labours to a plurality of winder measurement multiunit temperature data, detects the condition that the cake surface temperature very easily produces hourglass inspection, false detection or repeated detection especially at night moreover to the manual work, is unfavorable for follow-up quality to trace back and the judgement to the shift fork operation condition to the product, and the automation degree that cake surface temperature detected and shift fork operation condition judgement is low, and is inefficient, and the accuracy is also lower. In addition, because the station of the spinning cake winding sand table of the spinning cake winding machine is generally low and the spinning cake winding process is a high-speed rotating process, the worker holds the temperature detector by hand to measure the temperature of the spinning cake in a narrow operation space, so that safety accidents are easily caused, and the personal health of the worker is threatened.
Therefore, it is very important to research a method for efficiently judging the operating condition of the shifting fork based on the surface temperature of the spinning cake.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a method and a device for efficiently judging the operating condition of a shifting fork based on the surface temperature of a spinning cake.
In order to achieve the purpose, the invention adopts the technical scheme that:
collecting the surface temperatures of a plurality of spinning cakes on the same rotating shaft in the winding process; comparing the surface temperature of each spinning cake with the first interval [ f, g ], and if the surface temperature of each spinning cake is not in the interval, determining the running condition of the shifting fork as a fault; otherwise, comparing the absolute value of the surface temperature difference of each spinning cake at any two different moments with a second interval [0, h ], and if the absolute value is not in the interval, determining that the operating condition of the shifting fork is seriously worn; otherwise, comparing a characteristic value representing the degree that the surface temperature of the spinning cake exceeds the normal temperature with a third interval [ k, z ], and if the characteristic value is in the interval, determining the running condition of the shifting fork as normal wear; if the operating condition of the shifting fork is less than k, determining the operating condition of the shifting fork to be slight abrasion; if the operating condition of the shifting fork is more than z, determining that the shifting fork is seriously worn;
the spinning cakes are more than 7 spinning cakes, the normal temperature is the average value of the surface temperatures of the spinning cakes, the first interval, the second interval and the third interval are obtained by collecting and processing the data of the running conditions of historical shifting forks corresponding to the spinning cakes in the same rotating shaft in the time from the start of use to the failure and the data of the surface temperatures of the corresponding spinning cakes, the historical shifting forks are shifting forks used in the historical production process and have the same material as the current shifting forks, and the historical shifting forks and the current shifting forks are made of No. 45 steel. The first interval, the second interval and the third interval are determined by using an infrared temperature detector held by a worker to detect the temperature of two ends of the surface of each spinning cake disc and record a large amount of data, and the data are obtained through analysis and calculation, for example, the first interval is obtained by recording and analyzing the data of the corresponding spinning cake surface temperature when a large number of historical shifting forks fail, the large amount of temperature data are arranged from small to large, two adjacent temperature values with the largest difference value are searched from the data, namely the maximum value and the minimum value of the first interval, the second interval is obtained by recording and analyzing the data of the corresponding spinning cake surface temperature when a large number of historical shifting forks are seriously worn, the minimum temperature value searched from the large amount of temperature data is the maximum value of the second interval, and the third interval is obtained by recording and analyzing the data of the corresponding spinning cake surface temperatures when a plurality of historical shifting forks are worn to other degrees and the data of the corresponding spinning cake surface temperatures of other spinning cakes on the same rotating shaft The obtained data is that if the wear of other degrees is divided into three kinds of wear, namely, more serious wear, normal wear and slight wear, the data of the surface temperature of the spinning cake corresponding to the normal wear of a plurality of groups of historical shifting forks and the data of the surface temperature of other spinning cakes on the same rotating shaft are recorded, the characteristic value of each group is calculated, the maximum value and the minimum value of the characteristic value are the maximum value and the minimum value of a third interval, the data of the surface temperature of the spinning cake corresponding to the slight wear of the plurality of groups of historical shifting forks and the data of the surface temperature of other spinning cakes on the same rotating shaft can also be recorded, the data of the surface temperature of the spinning cake corresponding to the more serious wear of the plurality of groups of historical shifting forks and the data of the surface temperature of other spinning cakes on the same rotating shaft are recorded at the same time, a group of characteristic value P corresponding to the slight wear and a group, the maximum value of the characteristic value P and the minimum value of the characteristic value Q are the minimum value and the maximum value in the third interval.
The method for judging the running state of the shifting fork based on the surface temperature of the spinning cakes comprises the steps of collecting the surface temperatures of a plurality of spinning cakes on the same rotating shaft, comparing the surface temperatures of the spinning cakes, the absolute value of the surface temperature difference of the spinning cakes at two different moments and the characteristic value with corresponding intervals, and determining the fault or abrasion condition of the shifting fork according to the comparison result. When the shifting fork breaks down, is worn seriously or is worn seriously, the staff can timely replace the shifting fork, and the economic loss caused by the wear or the failure of the shifting fork is reduced.
As a preferred technical scheme:
the method for judging the running condition of the shifting fork based on the surface temperature of the spinning cakes comprises the steps of collecting the surface temperatures of the spinning cakes in sequence along a straight line parallel to a rotating shaft, wherein the collecting process is a reciprocating process, the two ends of the rotating shaft are respectively an A end and a B end, the collection is carried out from the A end to the B end, and then the collection is carried out from the B end to the A end.
According to the method for judging the operating condition of the shifting fork based on the surface temperature of the spinning cake, the surface temperature of the spinning cake is the temperature of each point on a straight line on the surface of the spinning cake;
when the temperature of each point on the surface of the spinning cake is in the first interval in the reciprocating process, and the temperature of at least one point on the surface of the spinning cake is not in the first interval in the non-interval, namely as long as the temperature of one point on the surface of the spinning cake is not in the first interval, the running condition of the shifting fork corresponding to the spinning cake is a fault;
when the temperature difference of the points on the surface of the spinning cake in the reciprocating process is compared with the first interval, the absolute value of the temperature difference of the points on the surface of the spinning cake in the reciprocating process is in the first interval, and the absolute value of the temperature difference of at least one point on the surface of the spinning cake in the reciprocating process is not in the first interval;
the calculation method of the characteristic value comprises the following steps: setting the number of a plurality of spinning cakes on the same rotating shaft as n, respectively taking t equally-spaced points on the surface of each spinning cake, acquiring 2t temperatures corresponding to the t points on the surface of the ith spinning cake in the reciprocating process, and then calculating the average value a of the 2t temperatures i1,2,.. n, acquiring 2n × t temperatures corresponding to n × t points on the surfaces of n spinning cakes in the reciprocating process, and then calculating the average value b, a of the 2n × t temperaturesiThe ratio of the absolute value of the difference value of b to b is the characteristic value.
In the method for determining the operating condition of the shift fork based on the surface temperature of the spinning cake as described above, n is 12, t is 10, and f, g, h, k and z are 38,39, 0.5, 0.1 and 0.07, respectively. The values of f, g, h, k and z include but are not limited to the values, and production workers can carry out adaptive adjustment according to actual production needs and daily experience of producing spinning cakes.
The invention also provides a device adopting the method for judging the operating condition of the shifting fork based on the surface temperature of the spinning cake, which comprises a spinning cake surface temperature detection device, a central processing unit and a result display element;
the spinning cake surface temperature detection device is used for detecting the temperatures of the surfaces of a plurality of spinning cakes on the same rotating shaft and sending temperature signals to the central processing unit, and the two ends of the rotating shaft are respectively an A end and a B end;
the central processor is used for processing the temperature signal, comparing the temperature signal with the first interval, the second interval and the third interval to determine the operating condition of the shifting fork and then sending the operating condition to the result display element;
the result display element is used for displaying the operating condition of the shifting fork.
The device firstly collects the surface temperatures of a plurality of spinning cakes through the spinning cake surface temperature detection device, then processes the detection result through the central processing unit to obtain the operation condition of the shifting fork and displays the operation condition on the result display element, the operation is simple, the automation degree is high, the operator can visually determine the operation condition of the shifting fork according to the display result of the result display element, the processing efficiency is high, and the judgment accuracy is high. In the prior art, only one time of detection is carried out, workers hold an infrared temperature sensor in hand, the infrared temperature sensor is drilled between two machines, the infrared temperature sensor is measured while the infrared temperature sensor is drilled, and the infrared temperature sensor is used for recording with a pen, because spinning cakes rotate at a high speed, the operation space of the workers holding the sensor is very limited, great safety risk exists, the temperature at two ends of each spinning cake is only detected, and only two temperature values are taken for one spinning cake.
As a preferred technical scheme:
according to the device, the spinning cake surface temperature detection device mainly comprises a control module, a trolley walking module, a mechanical arm module, a temperature detection module and a communication module, wherein the mechanical arm module and the temperature detection module are installed on the trolley, and the temperature detection module is installed on the mechanical arm module;
the control module is used for sending a walking starting instruction to the trolley walking module at the beginning, sending a walking stopping instruction to the trolley walking module when the trolley walks to a specified position and sending an elongation starting instruction to the mechanical arm module at the same time, when the temperature detection module starts to approach the surface of the spinning cake closest to the end A of the rotating shaft in the extension movement stage of the mechanical arm module, a temperature detection starting instruction is sent to the temperature detection module, when the temperature detection module starts to be far away from the surface of the spinning cake closest to the end B of the rotating shaft in the extension movement stage of the mechanical arm module, an extension stopping instruction and a contraction starting instruction are sent to the mechanical arm module, when the temperature detection module starts to be far away from the surface of the spinning cake closest to the end A of the rotating shaft in the contraction motion stage of the mechanical arm module, sending a temperature detection stopping instruction to the temperature detection module and simultaneously sending a contraction stopping instruction to the mechanical arm module;
the trolley walking module is used for driving the trolley to walk to a specified position after receiving the walking starting instruction;
the mechanical arm module is used for driving the temperature detection module to make linear motion parallel to the rotating shaft at a position close to the surface of the spinning cake after receiving an extension starting instruction or a contraction starting instruction;
the temperature detection module is used for detecting the temperature of each point on the surface of the spinning cake passing through the temperature detection module in the running process and sending the temperature to the central processing unit through the communication module;
the communication module is used for signal transmission.
According to the device, the mechanical arm module uniformly accelerates and decelerates in the extension movement stage and the contraction movement stage. The manipulator module extension motion phase and shrink motion phase adopt even acceleration and even deceleration motion earlier, can realize going fast the effect of returning soon, improve temperature detection efficiency and manipulator module and be used for the stability of flexible scissors formula telescopic link motion, and the even accelerated motion model and the even deceleration motion model of its adoption can be as follows:
the uniform acceleration motion model is as follows:
the uniform deceleration motion model is as follows:
wherein, a1For uniform accelerationAcceleration value, v1The maximum speed value during uniform acceleration1Time spent for uniform acceleration of motion, S1For uniform acceleration of the distance covered, v2Is the minimum speed value (v) in the process of uniform deceleration movement2Preferably 0, i.e. 0) when the scissor-type extension rod of the manipulator module reaches the longest position, a2Acceleration value, t, for uniform deceleration2Time spent for uniform deceleration of the movement, S2The distance covered by the uniform deceleration motion.
According to the device, the mechanical arm module mainly comprises a servo driver, a servo motor, a disc, two rollers, two connecting rods and a scissor type telescopic rod, wherein the scissor type telescopic rod is composed of a plurality of repeating units, each unit is X-shaped and is formed by movably connecting two staggered rods, and two adjacent units are connected into a quadrangle;
the servo driver is connected with the servo motor, the disc is arranged on a driving shaft of the servo motor, two curve-shaped guide grooves are carved on the end face of the disc, the curve is a single-time bending curve, one end of the curve is close to the edge of the disc, the other end of the curve is close to the central shaft of the disc, the centers of the two curves are symmetrical and are positioned on the central shaft of the disc, the two rollers are respectively embedded in the two guide grooves and are respectively hinged with the two connecting rods, and the two connecting rods are respectively connected with the two rods at the;
the temperature detection module is arranged at one end of the scissor type telescopic rod, which is far away from the connecting rod;
the trolley walking module is mainly connected with a driving motor through a trolley, and the driving motor is connected with a driving wheel of the trolley.
In the above device, the control module is a PLC, the communication module is an RS232 module, the central processing unit is a computer, the result display element is a display, and the temperature detection module is a laser sensor probe.
The signal transmission process in the device for judging the shifting fork state of the spinning cake is as follows:
when the state of a shifting fork of a spinning cake at a certain position is to be judged, a control module of the spinning cake surface temperature detection device sends a traveling starting instruction to a trolley traveling module, the trolley traveling module drives a driving wheel of the trolley to travel to a specified position after receiving the traveling starting instruction, and when the trolley travels to the specified position (in a factory, as long as the distance between every two machines is constant, the distance of each time the trolley moves is the distance between every two machines, and the trolley can be determined to travel to the specified position along a straight line), the control module sends a traveling stopping instruction to the trolley traveling module and simultaneously sends an extending starting instruction to a mechanical arm module, and a servo driver of the mechanical arm module drives a servo motor to drive a scissor type telescopic rod to extend after receiving the extending starting instruction, so that the temperature detection module is driven to do straight line motion which is parallel to a rotating shaft and is from an A end to a B end of the rotating shaft at a position close to the spinning cake surface, meanwhile, the control module sends a starting temperature detection instruction to the temperature detection module when the temperature detection module starts to be close to the surface of the spinning cake closest to the end A of the rotating shaft, when the temperature detection module detects that the temperature value rapidly rises (namely reaches 38-39 ℃), the temperature detection module is indicated to start to be close to the surface of the spinning cake closest to the end A of the rotating shaft, the temperature detection module detects the temperature of each point in a straight line of each passing spinning cake surface one by one and sends a temperature signal to the central processing unit through the communication module, when the temperature detection module detects that the temperature value rapidly falls (namely the maximum axial distance L of the spinning cake designed by the model is reached), the temperature detection module is indicated to start to be far away from the surface of the spinning cake closest to the end B of the rotating shaft, the control module sends an elongation stopping instruction and a contraction starting instruction to the mechanical arm module, and after the mechanical arm module receives the contraction starting instruction, a servo driver Moving to drive the temperature detection module to do linear motion parallel to the rotating shaft and from the B end of the rotating shaft to the A end at a position close to the surface of the spinning cake, in the process, the temperature detection module correspondingly detects the temperature of each point in a straight line passing through the surface of each spinning cake again and sends a temperature signal to the central processor through the communication module, when the temperature detection module detects the rapid drop of the temperature value again (namely the temperature reaches the axial retraction L distance of the spinning cake designed by the model), namely the temperature detection module is indicated to be away from the surface of the spinning cake closest to the A end of the rotating shaft, the control module sends a stop temperature detection instruction to the temperature detection module and simultaneously sends a stop contraction instruction to the mechanical arm module, finally the central processor processes the received temperature signal and compares the temperature signal with the first interval, the second interval and the third interval to determine the running state of the shifting fork and then sends the stop temperature detection instruction to the result display element, and as a result, the display element can visually display the operating condition of the shifting fork.
Has the advantages that:
(1) the device for judging the running state of the shifting fork based on the surface temperature of the spinning cake is simple to operate and high in automation degree, realizes real-time monitoring of the surface temperature of the spinning cake, reduces the time for manually checking and determining the fault position, and is low in economic cost;
(2) according to the device for judging the running state of the shifting fork based on the surface temperature of the spinning cake, the central processing unit processes and compares the detected surface temperature of the spinning cake, then the state information of the shifting fork can be visually displayed in the result display element, the abrasion grade of the shifting fork of the spinning cake can be directly displayed, when the shifting fork is seriously abraded or seriously abraded, a worker can replace the shifting fork, and the economic loss caused by abrasion is reduced;
(2) the method for judging the operating condition of the shifting fork by using the device based on the surface temperature of the spinning cake has high efficiency and high accuracy, reduces the labor time of workers and ensures the personal safety of the workers.
Drawings
FIG. 1 is a flow chart of a method for determining the operating condition of a shift fork based on the surface temperature of a spinning cake according to the present invention;
FIG. 2 is a schematic view of a spinning cake surface temperature detecting device according to the present invention;
FIG. 3 is a schematic view of the construction of the cart assembly of the present invention;
FIG. 4 is a schematic structural view of a scissor-type retractable arm of the robot module according to the present invention;
FIG. 5 is a schematic structural diagram of a servo motor driving disk according to the present invention;
FIG. 6 is a schematic view of the robot module in the guiding slot when the robot module executes the extending command;
FIG. 7 is a schematic view of the robot module in the guiding slot during the extending command and the retracting command;
FIG. 8 is a schematic view of the position of the roller in the guide groove when the scissor-type extendable rod extends to the maximum;
FIG. 9 is a schematic view of the construction of a cake winder;
FIG. 10 is a schematic representation of surface temperature values for spinning cakes of the invention Nos. 1-12;
FIG. 11 is a schematic representation of the differences in surface temperature of cakes of the invention numbered 1-12;
the temperature detection device comprises a head case 1, a servo motor 2, a disc 3, a connecting rod 4, a roller 5, a scissor type telescopic rod 6 and a temperature detection module 7.
Detailed Description
The invention will be further illustrated with reference to specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
A method for judging the running state of a shifting fork based on the surface temperature of spinning cakes is characterized by collecting the surface temperatures of a plurality of spinning cakes on the same rotating shaft in the winding process; comparing the surface temperature of each spinning cake with the first interval [ f, g ], and if the surface temperature of each spinning cake is not in the interval, determining the running condition of the shifting fork as a fault; otherwise, comparing the absolute value of the surface temperature difference of each spinning cake at any two different moments with a second interval [0, h ], and if the absolute value is not in the interval, determining that the operating condition of the shifting fork is seriously worn; otherwise, comparing a characteristic value representing the degree that the surface temperature of the spinning cake exceeds the normal temperature with a third interval [ k, z ], and if the characteristic value is in the interval, determining the running condition of the shifting fork as normal wear; if the operating condition of the shifting fork is less than k, determining the operating condition of the shifting fork to be slight abrasion; if the operating condition of the shifting fork is more than z, determining that the shifting fork is seriously worn;
the plurality of spinning cakes are more than 7 spinning cakes, the normal temperature is the average value of the surface temperatures of the plurality of spinning cakes, the first interval, the second interval and the third interval are obtained by collecting and processing the data of the operating conditions of the historical shifting forks corresponding to the plurality of spinning cakes on the same rotating shaft in the time from the start of use to the failure and the data of the surface temperatures of the corresponding spinning cakes, and the historical shifting forks are shifting forks which are used in the historical production process and have the same material as the current shifting forks;
collecting the surface temperatures of a plurality of spinning cakes refers to collecting the surface temperatures of the spinning cakes in sequence along a straight line parallel to a rotating shaft, wherein the collecting process is a reciprocating process, the two ends of the rotating shaft are respectively an A end and a B end, the collection is carried out from the A end to the B end, and then from the B end to the A end;
the surface temperature of the spinning cake is the temperature of each point on a straight line on the surface of the spinning cake;
when the temperature of the surface of the spinning cake is compared with the first interval, the temperature of each point on the surface of the spinning cake is in the first interval in the reciprocating process, and the temperature of at least one point on the surface of the spinning cake is not in the first interval in the non-interval process;
when the temperature difference is compared with the second interval, the temperature difference of each point on the surface of the spinning cake in the reciprocating process is within the second interval in the interval, and the temperature difference of at least one point on the surface of the spinning cake in the reciprocating process is not within the second interval in the interval;
the calculation method of the characteristic value comprises the following steps: setting the number of a plurality of spinning cakes on the same rotating shaft as n, respectively taking t equally-spaced points on the surface of each spinning cake, acquiring 2t temperatures corresponding to the t points on the surface of the ith spinning cake in the reciprocating process, and then calculating the average value a of the 2t temperatures i1,2,.. n, acquiring 2n × t temperatures corresponding to n × t points on the surfaces of n spinning cakes in the reciprocating process, and then calculating the average value b, a of the 2n × t temperaturesiThe ratio of the absolute value of the difference value of the characteristic value and the b to the b is a characteristic value;
n is 12, t is 10, f, g, h, k and z are 38,39, 0.5, 0.1 and 0.07 respectively.
The device comprises a spinning cake surface temperature detection device, a central processing unit and a result display element, wherein the central processing unit is a computer, and the result display element is a display.
The spinning cake surface temperature detection device is used for detecting the temperature of the surfaces of a plurality of spinning cakes on the same rotating shaft and sending temperature signals to the central processing unit, the two ends of the rotating shaft are respectively an A end and a B end, the central processing unit is used for processing the temperature signals, determining the operation condition of the shifting fork by comparing the temperature signals with f, g, h, k and z and then sending the temperature signals to the result display element, and the result display element is used for displaying the operation condition of the shifting fork, wherein f, g, h, k and z are respectively 38,39, 0.5, 0.1 and 0.07, and the unit is ℃.
The spinning cake surface temperature detection device mainly comprises a control module, a trolley walking module, a mechanical arm module, a temperature detection module and a communication module, and is shown in figure 2. A temperature detection module 7 and a mechanical arm module (including a servo driver, two connecting rods 4 and a scissor type telescopic rod 6 arranged in the head case 1 are arranged on the trolley, the temperature detection module 7 is arranged on the mechanical arm module, and as shown in fig. 3, the temperature detection module is a laser sensor probe.
The control module is a PLC and is used for sending a walking starting instruction to the trolley walking module at the beginning, when the trolley travels to a designated position, a stop traveling instruction is sent to the trolley traveling module, and an extension starting instruction is sent to the mechanical arm module, when the temperature detection module starts to approach the surface of the spinning cake closest to the end A of the rotating shaft in the extension movement stage of the mechanical arm module, a temperature detection starting instruction is sent to the temperature detection module, when the temperature detection module starts to be far away from the surface of the spinning cake closest to the end B of the rotating shaft in the extension movement stage of the mechanical arm module, an extension stopping instruction and a contraction starting instruction are sent to the mechanical arm module, and when the temperature detection module starts to be far away from the surface of the spinning cake closest to the end A of the rotating shaft in the contraction motion stage of the mechanical arm module, sending a temperature detection stopping instruction to the temperature detection module and simultaneously sending a contraction stopping instruction to the mechanical arm module.
The trolley walking module is mainly connected with a driving motor through a trolley, the driving motor is connected with a driving wheel of the trolley, and the driving motor is used for driving the trolley to walk to a specified position after receiving a walking starting instruction.
The mechanical arm module is used for driving the temperature detection module 7 to do linear motion parallel to the rotating shaft at a position close to the surface of the spinning cake after receiving an extension starting instruction or a contraction starting instruction, and mainly comprises a servo driver, a servo motor 2, a disc 3, two rollers 5, two connecting rods 4 and a scissor type telescopic rod 6, as shown in figure 4, the two connecting rods 4 are respectively connected with the two rods at the tail end of the scissor type telescopic rod 6, the scissor type telescopic rod 6 is composed of a plurality of repeated units, each unit is X-shaped and is formed by movably connecting the two rods after being staggered, and two adjacent units are connected into a quadrangle; the servo driver is connected with the servo motor 2, and the disc 3 is sleeved on a driving shaft of the servo motor 2, as shown in fig. 5; the structural schematic diagram of the disc 3 is shown in fig. 6-8, two curve-shaped guide grooves are carved on the end face of the disc 3, the curve is a single-time bending curve, one end of the curve is close to the edge of the disc 3, the other end of the curve is close to the central shaft of the disc 3, the centers of the two curves are symmetrical and the symmetrical center is located on the central shaft of the disc 3, and the two rollers 5 are respectively embedded in the two guide grooves and respectively hinged with the two connecting rods 4. Before the manipulator module executes an extension command, the two connecting rods 4 drive the two rollers 5 to be positioned at the edge of the disc 3, as shown in fig. 6, when the extension motion is started, the two connecting rods 4 drive the two rollers 5 to gradually approach to the central axis of the disc 3, as shown in fig. 7, when the rollers 5 are positioned at the central axis, as shown in fig. 8, namely, the scissor type telescopic rod 6 extends to the longest length, the manipulator module starts to perform a retraction motion, the two connecting rods 4 drive the two rollers 5 to start to approach to the edge of the disc 3 again, as shown in fig. 7, until the retraction motion is finished, the two rollers 5 return to the initial state. The mechanical arm module uniformly accelerates and decelerates in the extension movement stage and the contraction movement stage.
The temperature detection module 7 is arranged at one end of the scissor type telescopic rod 6, which is far away from the connecting rod 4, and is used for detecting the temperature of each point on the surface of the spinning cake passing through the operation process and sending the temperature to the central processor through the communication module.
The communication module is an RS232 module and is used for signal transmission.
The method for judging the operating condition of the shifting fork by adopting the device has the following specific steps as shown in a flow chart shown in figure 1:
(1) the method comprises the steps of sequentially collecting the temperatures of all points on the surfaces of 12 spinning cakes on the same straight line along a straight line parallel to a rotating shaft (shown in figure 9) of a spinning cake winding machine by using a spinning cake surface temperature detection device, wherein the collection process is a reciprocating process, the two ends of the rotating shaft are respectively an A end and a B end, namely, the collection is carried out from the A end to the B end, then the collection is carried out from the B end to the A end, the extension and contraction actions are carried out by a scissor type telescopic rod, the temperature data of all points on the surfaces of the 12 spinning cakes can be obtained twice, the 12 spinning cakes arranged from the A end to the B end are numbered according to 1-12, when the scissor type telescopic rod carries out the extension action, the collected temperature values of all points on the 12 spinning cakes are recorded as real-time spinning cake surface temperatures, a real-time spinning cake surface temperature graph is made and is shown in figure 10, and when the scissor type telescopic rod carries out the contraction action, a real-time spinning, subtracting the temperature value of each point acquired during contraction from the temperature value of the corresponding point during elongation to obtain the surface temperature difference of the corresponding point of the spinning cake with the corresponding number, and then making a spinning cake surface temperature difference chart shown in fig. 11;
(2) the central processing unit processes the temperatures of the 12 spinning cake surfaces to obtain b, and the calculation method comprises the following steps of taking 10 points which are arranged at equal intervals along a straight line on the surfaces of the spinning cakes, and obtaining the average value of 2 × 12 × 10 temperatures corresponding to the 10 points of 12 spinning cake surfaces 12 × 10 in the reciprocating process to obtain b;
(3) let i equal to 1;
(4) judging whether i is larger than 12, if so, ending, otherwise, entering the next step;
(5) the central processor calculates the temperature (T) of each point on the surface of the cake numbered ii) And interval [38,39 ]]Comparing and judging whether a fault occurs, if the temperatures of all points are in the interval, judging that no fault occurs, entering a step (6), otherwise, if the temperatures of all points are not in the interval, judging that the fault occurs, outputting the shift fork fault corresponding to the spinning cake with the number i to a result display element by the central processing unit, and entering a step (10);
(6) the central processing unit calculates the absolute value (delta T) of the surface temperature difference of each point on the spinning cake with the serial number i at two different moments in the reciprocating processi) And 0.5 intoLine comparison (also corresponding to the interval [0,0.5 ]]Comparing), if the absolute value of the temperature difference of all the points is less than or equal to 0.5, the wire is not seriously worn, and entering the step (7), otherwise, if the absolute value of the temperature difference of one point is more than 0.5, the wire is seriously worn, and the shifting fork corresponding to the wire cake with the output number i of the central processing unit is seriously worn until the result display element enters the step (10);
(7) calculating a characteristic value EiThe central processor calculates the average value a of 2 × 10 temperatures corresponding to 10 points set on the surface of the spinning cake with the number i in the reciprocating processi，aiThe ratio of the absolute value of the difference between b and b is the characteristic value Ei；
(8) The CPU will determine the characteristic value EiComparing with 0.1, if the abrasion is more than 0.1, the abrasion is more serious, the shifting fork corresponding to the spinning cake with the output number i of the central processing unit is more serious, the step (10) is carried out after the shifting fork corresponding to the spinning cake with the output number i is seriously abraded until a result display element is obtained, otherwise, the step (9) is carried out;
(9) the CPU will determine the characteristic value EiComparing with 0.07, if the number is more than or equal to 0.07, the wear is normal, the shifting fork corresponding to the spinning cake with the number i output by the central processing unit is normally worn until the result display element is worn, and then the step (10) is performed, otherwise, the wear is slight, and the shifting fork corresponding to the spinning cake with the number i output by the central processing unit is slightly worn until the result display element is worn;
(10) and (4) returning to the step (4) after i is equal to i + 1.
In the above process, the steps (8) and (9) can be combined into one step, i.e. the characteristic value EiAnd [0.07,0.1 ]]Comparing, and if the operating condition of the shifting fork is within the interval, determining that the operating condition of the shifting fork is normal abrasion; if the abrasion resistance is less than 0.07, determining the operating condition of the shifting fork to be slight abrasion; and if the wear rate is more than 0.1, determining the running condition of the shifting fork to be more serious wear. Both schemes are within the scope of the present invention.
The method and the device are adopted to judge the operating condition of the shifting fork, and the specific process is as follows:
when the state of a spinning cake shifting fork at a certain position is judged, a control module of the spinning cake surface temperature detection device sends a traveling starting instruction to a trolley traveling module, the trolley traveling module drives a driving motor to drive a driving wheel of a trolley to travel to a specified position after receiving the traveling starting instruction, when the trolley travels to the specified position, the control module sends a traveling stopping instruction to the trolley traveling module and simultaneously sends an elongation starting instruction to a mechanical arm module, a servo driver of the mechanical arm module drives a servo motor to drive a scissor type telescopic rod to perform elongation movement after receiving the elongation starting instruction, so that the temperature detection module is driven to perform linear movement which is parallel to a rotating shaft and is from an A end to a B end of the rotating shaft at a position close to the spinning cake surface, and simultaneously the control module sends a temperature detecting starting instruction to the temperature detection module when the temperature detection module starts to be close to the spinning cake surface closest to, when the temperature detection module detects that the temperature value rapidly rises (namely reaches 38-39 ℃), the temperature detection module indicates that the temperature detection module starts to be close to the surface of the spinning cake nearest to the end A of the rotating shaft, the temperature detection module detects the temperature of each point in a straight line of each passing spinning cake surface one by one, and sends a temperature signal to the central processing unit through the communication module, when the temperature detection module detects that the temperature value rapidly falls (namely the maximum distance L in the axial direction of the spinning cake designed by the model is reached), the temperature detection module indicates that the temperature detection module starts to be far away from the surface of the spinning cake nearest to the end B of the rotating shaft, the control module sends an extension stopping instruction and a contraction starting instruction to the mechanical arm module, a servo driver of the mechanical arm module drives a servo motor to drive a scissor type telescopic rod to perform contraction movement after the mechanical arm module receives the contraction starting instruction, and therefore the temperature detection module is driven to perform linear movement which is parallel, in the process, the temperature detection module correspondingly detects the temperature of each point in a straight line of the surface of each passing spinning cake again and sends a temperature signal to the central processor through the communication module, when the temperature detection module detects that the temperature value drops sharply again (namely the distance of the axial retraction L of the spinning cake designed by the model is reached), namely the temperature detection module is indicated to be away from the surface of the spinning cake closest to the end A of the rotating shaft, the control module sends a temperature detection stopping instruction to the temperature detection module and sends a contraction stopping instruction to the mechanical arm module, finally the central processor processes the received temperature signal, namely the detected temperature value is compared with the first interval, the second interval and the third interval through the steps (1) - (10) to determine the running state of the shifting fork, and finally the detection result is sent to the result display element, and as a result, the display element can visually display the operating condition of the shifting fork.
According to the method and the device for judging the operating condition of the shifting fork, the surface temperature of the spinning cake can be collected through the temperature detection module, the data are analyzed by the central processing unit, the fault or the abrasion degree of the shifting fork at the position can be visually shown, and a worker is reminded of replacing the shifting fork in time. And the machine number and the spinning cake position number are used as address searching modes, the fault position can be directly found, the automation is realized, the time for checking and removing the fault position is reduced, the economic loss is greatly reduced, the production efficiency is improved, and the method has wide application prospect.
Claims (7)
1. A device adopting a method for judging the operating condition of a shifting fork based on the surface temperature of a spinning cake is characterized in that: comprises a spinning cake surface temperature detection device, a central processing unit and a result display element;
collecting the surface temperatures of a plurality of spinning cakes on the same rotating shaft in the winding process; comparing the surface temperature of each spinning cake with the first interval [ f, g ], and if the surface temperature of each spinning cake is not in the interval, determining the running condition of the shifting fork as a fault; otherwise, comparing the absolute value of the surface temperature difference of each spinning cake at any two different moments with a second interval [0, h ], and if the absolute value is not in the interval, determining that the operating condition of the shifting fork is seriously worn; otherwise, comparing a characteristic value representing the degree that the surface temperature of the spinning cake exceeds the normal temperature with a third interval [ k, z ], and if the characteristic value is in the interval, determining the running condition of the shifting fork as normal wear; if the operating condition of the shifting fork is less than k, determining the operating condition of the shifting fork to be slight abrasion; if the operating condition of the shifting fork is more than z, determining that the shifting fork is seriously worn; the plurality of spinning cakes are more than 7 spinning cakes, the normal temperature is the average value of the surface temperatures of the plurality of spinning cakes, the first interval, the second interval and the third interval are obtained by collecting and processing the data of the running conditions of historical shifting forks corresponding to the plurality of spinning cakes on the same rotating shaft in the time from the start of putting into use to the failure and the data of the surface temperatures of the corresponding spinning cakes, and the historical shifting forks are shifting forks which are used in the historical production process and have the same material as the current shifting forks;
the spinning cake surface temperature detection device is used for detecting the temperatures of the surfaces of a plurality of spinning cakes on the same rotating shaft and sending temperature signals to the central processing unit, and the two ends of the rotating shaft are respectively an A end and a B end;
the central processor is used for processing the temperature signal, comparing the temperature signal with the first interval, the second interval and the third interval to determine the operating condition of the shifting fork and then sending the operating condition to the result display element;
the result display element is used for displaying the running condition of the shifting fork;
the spinning cake surface temperature detection device mainly comprises a control module, a trolley walking module, a mechanical arm module, a temperature detection module and a communication module, wherein the mechanical arm module and the temperature detection module are installed on the trolley, and the temperature detection module is installed on the mechanical arm module;
the control module is used for sending a walking starting instruction to the trolley walking module at the beginning, sending a walking stopping instruction to the trolley walking module when the trolley walks to a specified position and sending an elongation starting instruction to the mechanical arm module at the same time, when the temperature detection module starts to approach the surface of the spinning cake closest to the end A of the rotating shaft in the extension movement stage of the mechanical arm module, a temperature detection starting instruction is sent to the temperature detection module, when the temperature detection module starts to be far away from the surface of the spinning cake closest to the end B of the rotating shaft in the extension movement stage of the mechanical arm module, an extension stopping instruction and a contraction starting instruction are sent to the mechanical arm module, when the temperature detection module starts to be far away from the surface of the spinning cake closest to the end A of the rotating shaft in the contraction motion stage of the mechanical arm module, sending a temperature detection stopping instruction to the temperature detection module and simultaneously sending a contraction stopping instruction to the mechanical arm module;
the trolley walking module is used for driving the trolley to walk to a specified position after receiving the walking starting instruction;
the mechanical arm module is used for driving the temperature detection module to make linear motion parallel to the rotating shaft at a position close to the surface of the spinning cake after receiving an extension starting instruction or a contraction starting instruction;
the temperature detection module is used for detecting the temperature of each point on the surface of the spinning cake passing through the temperature detection module in the running process and sending the temperature to the central processing unit through the communication module;
the communication module is used for signal transmission.
2. The apparatus of claim 1, wherein the robot arm module is configured to move in an acceleration mode and then in a deceleration mode during the extension and contraction motion phases.
3. The device of claim 1, wherein the manipulator module mainly comprises a servo driver, a servo motor, a disc, two rollers, two connecting rods and a scissor type telescopic rod, wherein the scissor type telescopic rod is composed of a plurality of repeating units, each unit is X-shaped and is formed by movably connecting two staggered rods, and two adjacent units are connected into a quadrangle;
the servo driver is connected with the servo motor, the disc is arranged on a driving shaft of the servo motor, two curve-shaped guide grooves are carved on the end face of the disc, the curve is a single-time bending curve, one end of the curve is close to the edge of the disc, the other end of the curve is close to the central shaft of the disc, the centers of the two curves are symmetrical and are positioned on the central shaft of the disc, the two rollers are respectively embedded in the two guide grooves and are respectively hinged with the two connecting rods, and the two connecting rods are respectively connected with the two rods at the;
the temperature detection module is arranged at one end of the scissor type telescopic rod, which is far away from the connecting rod;
the trolley walking module is mainly connected with a driving motor through a trolley, and the driving motor is connected with a driving wheel of the trolley.
4. The device of claim 1, wherein the control module is a PLC, the communication module is an RS232 module, the central processing unit is a computer, the result display element is a display, and the temperature detection module is a laser sensor probe.
5. The device according to claim 1, wherein the step of collecting the surface temperatures of the plurality of spinning cakes comprises collecting the surface temperatures of the spinning cakes in sequence along a straight line parallel to the rotating shaft, wherein the collecting process is a reciprocating process, the two ends of the rotating shaft are respectively an A end and a B end, the collecting is carried out from the A end to the B end, and then from the B end to the A end.
6. The apparatus of claim 5, wherein the surface temperature of the cake is the temperature of each point on a line on the surface of the cake;
when the temperature of the surface of the spinning cake is compared with the first interval, the temperature of each point on the surface of the spinning cake is in the first interval in the reciprocating process, and the temperature of at least one point on the surface of the spinning cake is not in the first interval in the non-interval process;
when the temperature difference is compared with the second interval, the temperature difference of each point on the surface of the spinning cake in the reciprocating process is within the second interval in the interval, and the temperature difference of at least one point on the surface of the spinning cake in the reciprocating process is not within the second interval in the interval;
the calculation method of the characteristic value comprises the following steps: setting the number of a plurality of spinning cakes on the same rotating shaft as n, respectively taking t equally-spaced points on the surface of each spinning cake, acquiring 2t temperatures corresponding to the t points on the surface of the ith spinning cake in the reciprocating process, and then calculating the average value a of the 2t temperaturesi1,2,.. n, acquiring 2n × t temperatures corresponding to n × t points on the surfaces of n spinning cakes in the reciprocating process, and then calculating the average value b, a of the 2n × t temperaturesiThe ratio of the absolute value of the difference value of b to b is the characteristic value.
7. The device of claim 6, wherein n is 12, t is 10, and f, g, h, k, and z are 38,39, 0.5, 0.1, and 0.07, respectively.
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