CN109837622A - A kind of monitoring device and control method for the intelligent robot that doffs - Google Patents
A kind of monitoring device and control method for the intelligent robot that doffs Download PDFInfo
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- CN109837622A CN109837622A CN201711194250.3A CN201711194250A CN109837622A CN 109837622 A CN109837622 A CN 109837622A CN 201711194250 A CN201711194250 A CN 201711194250A CN 109837622 A CN109837622 A CN 109837622A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012806 monitoring device Methods 0.000 title claims abstract description 22
- 238000009987 spinning Methods 0.000 claims abstract description 83
- 238000006073 displacement reaction Methods 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 230000010365 information processing Effects 0.000 claims description 40
- 230000001276 controlling effect Effects 0.000 claims description 11
- 230000001105 regulatory effect Effects 0.000 claims description 11
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The invention discloses a kind of monitoring devices and control method for the intelligent robot that doffs, and belong to robot field of doffing, so that the work of doffing for the robot that doffs, is adapted with the walking for the Robot spinning frame that doffs.Described device includes detection unit and information process unit, and detection unit is connect with information process unit；Detection unit is used to acquire the walk signal for the Robot spinning frame that doffs, and the walk signal is passed to information process unit；Information process unit is used to calculate the speed and displacement data of the robot that doffs according to the walk signal.
Description
Technical Field
The invention belongs to the technical field of doffing robots, and particularly relates to a monitoring device and a control method for an intelligent doffing robot.
Background
The existing doffing robot realizes doffing work on a spinning frame. During the operation of the doffer robot, the doffer robot walks and performs doffing according to the inherent speed. However, in actual working conditions, the actual walking speed and displacement of the doffing robot are different from those of the preset design, but the doffing progress is unchanged. Therefore, the walking of the doffing robot and the doffing work of the doffing robot cannot be accurately matched, and the accuracy of doffing is influenced. For example, when the track on the spinning frame is provided with grooves, the rotating speed of the guide wheel of the doffing robot is unchanged, but the traveling distance is longer, the linear displacement is smaller, the doffing speed of the doffing robot still keeps the original speed, and therefore the doffing work cannot be accurately carried out at present.
Disclosure of Invention
The invention provides a monitoring device and a control method for an intelligent doffing robot, which are used for enabling the doffing work of the doffing robot to be matched with the walking of the doffing robot along a spinning frame.
In order to solve the technical problem, an embodiment of the present invention provides a monitoring device for an intelligent doffing robot, where the device includes a detection unit and an information processing unit, and the detection unit is connected to the information processing unit; the detection unit is used for collecting a walking signal of the doffing robot along the spinning frame and transmitting the walking signal to the information processing unit; and the information processing unit is used for calculating the speed and displacement data of the doffing robot according to the walking signals.
As a preferred example, the detection unit comprises a roller and an encoder, a shaft of the roller is connected with a shaft of the encoder, and a signal output end of the encoder is connected with a signal input end of the information processing unit; when the spinning machine is used, the roller is rotationally connected with the doffing robot and is always contacted with the spinning frame.
As a preferable example, the detection unit is a linear displacement type detection unit; the linear displacement type detection unit is used for acquiring a walking signal of the doffing robot along the spinning frame and transmitting the walking signal to the information processing unit; when the device is used, the linear displacement type detection unit is connected with the doffing robot.
As a preferred example, the detection unit comprises a sensor and an identification body; when the doffer is used, the identification body is positioned on a spinning frame, the sensor is connected with a doffing robot, and the sensor collects information of the identification body and transmits the information to the information processing unit.
As a preferred example, the sensor is a photoelectric sensor, and the identifier is a part or an accessory part of the spinning frame.
As a preferred example, the parts are an ingot bar, a vehicle table top, a keel, a guide rail or a pin, etc.; the accessory parts are reflective stickers, reflective plates, color codes and the like.
As a preferred example, the sensor is a two-dimensional code sensor, and the identifier is a two-dimensional code label.
As a preferred example, the sensor is a distance measuring sensor, and the identifier is a reflector.
As a preferred example, the information processing unit is a servo driver, a programmable controller, a single chip microcomputer or an embedded industrial personal computer.
As a preferred example, the monitoring device for the intelligent doffing robot further comprises a control unit, wherein the control unit is connected with the information processing unit; and the control unit is used for regulating and controlling the doffing robot according to the position and speed data of the doffing robot, so that the doffing robot walks along the spinning frame and is adaptive to the doffing work.
As a preferred example, the control doffing robot includes: adjusting the walking speed of the doffing robot to enable the doffing robot to walk along the spinning frame and to be matched with the doffing work; or adjusting the speed of the manipulator of the doffing robot to enable the doffing robot to walk along the spinning frame and to adapt to the doffing work; or the walking speed of the doffing robot and the speed of the manipulator of the doffing robot are adjusted simultaneously, so that the doffing robot can walk along the spinning frame and can adapt to the doffing work.
The embodiment of the invention also provides a control method for the intelligent doffing robot, which comprises the following steps:
collecting a walking signal of the doffing robot along a spinning frame;
and calculating the walking speed and displacement of the doffing robot according to the walking signals.
As a preferred example, the method further comprises: and regulating and controlling the doffing robot according to the walking speed and the displacement of the doffing robot, so that the doffing robot is matched with the spinning machine in walking and doffing work.
As a preferred example, the control doffing robot includes: adjusting the walking speed of the doffing robot to enable the doffing robot to walk along the spinning frame and to be matched with the doffing work; or adjusting the speed of the manipulator of the doffing robot to enable the doffing robot to walk along the spinning frame and to adapt to the doffing work; or the walking speed of the doffing robot and the speed of the manipulator of the doffing robot are adjusted simultaneously, so that the doffing robot can walk along the spinning frame and can adapt to the doffing work.
Compared with the prior art, the monitoring device and the control method provided by the embodiment of the invention enable the doffing work of the doffing robot to be matched with the walking of the doffing robot along the spinning frame. In the prior art, a doffer usually walks according to a software design flow, and cannot adjust doffing work in time according to actual working conditions. According to the embodiment of the invention, the walking signals of the doffing robot along the spinning frame are acquired in real time, and the walking speed and the displacement of the doffing robot are acquired according to the walking signals, so that the doffing progress of the doffing robot is matched with the walking of the doffing robot. The doffing robot can regulate and control the mechanical arm of the doffing robot, regulate the doffing speed and regulate and control the traveling speed of the doffing robot on a spinning frame, thereby ensuring the smooth operation of doffing.
Drawings
FIG. 1 is a block diagram of the architecture of an embodiment of the present invention;
FIG. 2 is a schematic view of the installation of a detecting unit according to an embodiment of the present invention;
FIG. 3 is a schematic view of another embodiment of the present invention showing the mounting of the detecting unit;
fig. 4 is a schematic view of the installation of the third detecting unit in the embodiment of the present invention.
The figure shows that: the doffing robot comprises a doffing robot 1, a spinning frame 2, a roller 301, an encoder 302, a sensor 303, a distance measuring sensor 304 and a reflecting plate 305.
Detailed Description
The technical solution of the present invention is explained in further detail below.
As shown in fig. 1, an embodiment of the present invention provides a monitoring device for an intelligent doffing robot, including a detection unit and an information processing unit. The detection unit is connected with the information processing unit. The detection unit is used for collecting a walking signal of the doffing robot along the spinning frame and transmitting the walking signal to the information processing unit. And the information processing unit is used for calculating the speed and displacement data of the doffing robot according to the walking signals.
The monitoring device provided by the embodiment of the invention is used for monitoring the walking data of the doffing robot along the spinning frame and regulating and controlling the doffing robot according to the monitored data, so that the doffing work of the doffing robot is matched with the walking of the doffing robot. If the doffing robot slips in the walking process and the actual speed is lower than the set speed, the walking speed is increased for compensation; or the reverse movement speed of the mechanical hand for pulling the yarn tube is reduced. If the doffing robot walks and is not matched with the doffing work of the doffing robot, the doffing robot cannot pull out a full bobbin and cannot discharge an empty bobbin onto the spindle blade. The doffing work of the doffing robot is matched with the walking of the doffing robot along the spinning machine. The doffing robot body is provided with a guide wheel which is matched with a guide rail of a spinning machine. But the traveling distance of the guide wheel on the guide rail is not always the same as that of the doffing robot on the spinning machine. For example, when the guide wheel is idle, the guide wheel has a travel displacement, but the doffing robot does not travel along the spinning frame. For another example, when the guide rail is uneven and has a groove, the walking displacement of the guide wheel is larger than the walking displacement of the doffing robot which does not move along the spinning frame. Therefore, the embodiment of the invention enables the doffing work of the doffing robot to be matched with the walking of the doffing robot by monitoring the walking signal of the doffing robot along the spinning frame. And the doffing robot synchronously finishes the doffing work in the process of walking along the spinning frame.
In this embodiment, the detection unit is configured to collect a walking signal of the doffing robot along the spinning frame, and transmit the walking signal to the information processing unit. The detection unit detects the walking signal of the doffing robot along the spinning frame instead of detecting the rotation information of the guide wheel on the doffing robot. The walking signal is the walking data of the whole doffing robot along the spinning frame. According to the walking signal, the working progress of doffing is regulated and controlled, so that the doffing work is matched with the walking of the doffing robot, and the doffing work is smoothly completed.
According to the embodiment, the walking speed is adjusted or the speed of a manipulator for doffing is adjusted according to the monitored speed of the doffer, so that accurate doffing is ensured. Meanwhile, the doffing robot can memorize the position of the doffing robot, and can recover the working state as soon as possible after sudden stop, power failure or fault in the working process.
In the above embodiment, the detection unit is configured to collect a walking signal of the doffing robot along the spinning frame, and transmit the walking signal to the information processing unit. The structure of the detection unit may be various. Several types of structures of the detecting unit are exemplified below, but the following examples are not intended to limit the detecting unit, and are merely preferred examples. Other similar structures or disclosed structures can be adopted by those skilled in the art to achieve the same functions according to the structural forms described in the following preferred embodiments, and all that is within the scope of the present patent is included in the present patent.
Preferred example 1: as shown in fig. 2, the detection unit includes a roller 301 and an encoder 302, a shaft of the roller 301 is connected with a shaft of the encoder 302, and a signal output end of the encoder 302 is connected with a signal input end of the information processing unit; when the spinning machine is used, the roller 301 is rotatably connected with the doffing robot 1, and the roller 301 is always in contact with the spinning frame 2.
The roller is arranged on the doffing robot. The rotation of the roller reflects the walking distance of the whole doffing robot along the spinning frame. The roller is different from a guide wheel on the doffing robot. The guide wheel is used for driving the doffing robot to walk, and the roller wheels synchronously follow the doffing robot to walk. When the idler idles, the roller is stationary. The roller is always contacted with the spinning frame. According to the actual installation condition, the roller can be always contacted with the fixed parts of the guide rail, the ring rail, the keel or the platform surface of the spinning frame. The purpose of the contact is to create friction between the two, causing the roller to rotate.
When the roller wheel rotates, the encoder also rotates along with the roller wheel. The shaft of the encoder and the shaft of the roller rotate synchronously. Thus, the encoder acquires the rotation information of the roller and transmits the rotation information to the information processing unit through the signal output end.
Preferred example 2: the detection unit is a linear displacement type detection unit; the linear displacement type detection unit is used for acquiring a walking signal of the doffing robot along the spinning frame and transmitting the walking signal to the information processing unit; when the device is used, the linear displacement type detection unit is connected with the doffing robot.
In this preferred embodiment, the roller is not provided, and only the linear displacement type detecting means is provided. A linear displacement type detection unit is directly installed on the doffing robot. And the linear displacement type detection unit is used for directly detecting the walking data of the doffing robot on the spinning frame. The linear displacement type detection unit transmits the acquired walking data to the information processing unit for analysis and processing. The linear displacement type detection unit may employ a linear displacement encoder. Compared with the preferred embodiment 1, the preferred embodiment has simpler structure.
Preferred example 3: as shown in fig. 3, the detection unit includes a sensor 303 and an identification body. When the doffing machine is used, the identifier is positioned on the spinning machine 2, the sensor 303 is connected with the doffing robot 1, and the sensor collects information of the identifier and transmits the information to the information processing unit.
In the preferred embodiment, the walking data of the doffing robot along the spinning frame is detected by adopting the sensor and the identification body. The sensor collects identification data and transmits the identification data to the information processing unit. The collected data are analyzed and processed by the information processing unit. The sensor is arranged on the doffing robot and walks along with the doffing robot. The mark body is positioned on the spinning frame and has a constant position.
More preferably, in preferred example 3, the sensor is a photoelectric sensor, and the identifier is a part or an accessory of the spinning frame. The parts are ingot bars, vehicle table surfaces, keel bars, guide rails or pins and the like. The accessory parts are reflective stickers, reflective plates or color codes and the like.
More preferably, in preferred example 3, the sensor is a two-dimensional code sensor, and the identifier is a two-dimensional code label. The two-dimensional code sensor is installed on the doffing robot and walks along with the doffing robot. The two-dimensional code label is pasted on the spinning frame and is unchanged in position. And in the moving process of the two-dimensional code sensor, the labels of the two-dimensional codes are scanned in real time, the number and the speed of the changes of the two-dimensional codes are obtained, and the information is transmitted to the information processing unit. The collected data are analyzed and processed by the information processing unit.
More preferably, in preferred embodiment 3, as shown in fig. 4, the sensor is a distance measuring sensor 304, and the marker is a reflecting plate 305. The distance measuring sensor 304 is mounted on the doffing robot 1 and travels along with the doffing robot 1. The reflection plate 305 is mounted on the spinning frame 2 at a constant position. During the movement of the distance measuring sensor 304, the distance measuring sensor 304 emits light to the reflection plate 305, and the distance measuring sensor 304 obtains the distance between the distance measuring sensor and the reflection plate 305. The ranging sensor 304 transmits the collected information to the information processing unit. The collected data are analyzed and processed by the information processing unit.
In the above embodiments, the information processing unit is a servo driver, a PLC (programmable logic controller), a PAC (programmable automation controller), a single chip microcomputer, or an embedded industrial personal computer. The information processing unit is used for analyzing the walking signals collected by the detection unit and calculating the speed and displacement data of the doffing robot. The information processing unit may be implemented using a component having an analysis calculation function. The information processing unit obtains the walking speed and displacement of the doffing robot along the spinning frame through analysis and processing.
As a preferred example, the monitoring device further comprises a control unit, and the control unit is connected with the information processing unit. And the control unit is used for regulating and controlling the doffing robot according to the position and speed data of the doffing robot, so that the doffing robot walks along the spinning frame and is adaptive to the doffing work.
The control unit controls the doffing robot, so that the doffing work of the doffing robot is matched with the walking of the doffing robot along the spinning frame. According to the preferred embodiment, the control unit is arranged, so that the walking of the whole doffing robot is matched with the doffing work. The control unit controls the progress of the doffing operation of the doffing robot based on the walking data of the doffing robot along the spinning frame.
Regulation and control doffing robot includes: adjusting the walking speed of the doffing robot to enable the doffing robot to walk along the spinning frame and to be matched with the doffing work; or adjusting the speed of the manipulator of the doffing robot to enable the doffing robot to walk along the spinning frame and to adapt to the doffing work; or the walking speed of the doffing robot and the speed of the manipulator of the doffing robot are adjusted simultaneously, so that the doffing robot can walk along the spinning frame and can adapt to the doffing work. According to the walking speed and the displacement of the doffing robot along the spinning frame, when the walking of the doffing robot and the doffing work of the doffing robot are not matched, the manipulator of the doffing robot can be adjusted, the walking speed of the doffing robot can be adjusted, and the manipulator and the speed can be adjusted simultaneously, so that the doffing robot can adapt to the walking and the doffing work of the spinning frame.
The embodiment of the invention also provides a control method for the intelligent doffing robot, which comprises the following steps:
collecting a walking signal of the doffing robot along a spinning frame;
and calculating the walking speed and displacement of the doffing robot according to the walking signals.
The control method collects the walking signal of the doffing robot along the spinning frame, but not the walking signal of the guide wheel on the doffing robot. The doffing operation of the doffing robot needs to be matched with the walking of the doffing robot along the spinning frame. The walking speed and displacement of the doffing robot are calculated based on the walking signals of the doffing robot along the spinning frame, so that the doffing work can be better regulated and controlled, and the doffing work can be smoothly carried out. When the walking speed of the doffing robot is slow, if the doffing work progress is fast, the doffing work cannot be finished. Similarly, when the speed of the doffing robot is fast, if the speed of the doffing operation is slow, the doffing operation cannot be completed. When the traveling speed of the doffing robot is inconsistent with the set speed and the doffing manipulator keeps the set speed, the manipulator cannot accurately grab the full yarn rod, and the manipulator, the yarn and the spindle are damaged.
The control method further comprises the following steps: and regulating and controlling the doffing robot according to the walking speed and the displacement of the doffing robot, so that the doffing robot is matched with the spinning machine in walking and doffing work. And controlling the doffing work of the doffing robot according to the walking speed and the displacement of the doffing robot along the spinning frame, so that the doffing work of the doffing robot is coordinated to be matched with the walking of the doffing robot, and the doffing work is ensured to be completed smoothly.
The regulation and control doffing robot comprises: adjusting the walking speed of the doffing robot to enable the doffing robot to walk along the spinning frame and to be matched with the doffing work; or adjusting the speed of the manipulator of the doffing robot to enable the doffing robot to walk along the spinning frame and to adapt to the doffing work; or the walking speed of the doffing robot and the speed of the manipulator of the doffing robot are adjusted simultaneously, so that the doffing robot can walk along the spinning frame and can adapt to the doffing work. For example, when the acquired walking speed of the doffing robot is slower than the preset speed, the walking speed of the doffing robot is increased by regulating and controlling the driving device. In this case, the doffing operation can be matched with the walking of the doffing robot by controlling the reverse movement speed of the manipulator.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to further illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, which is also intended to be covered by the appended claims. The scope of the invention is defined by the claims and their equivalents.
Claims (14)
1. A monitoring device for an intelligent doffing robot is characterized by comprising a detection unit and an information processing unit, wherein the detection unit is connected with the information processing unit;
the detection unit is used for collecting a walking signal of the doffing robot along the spinning frame and transmitting the walking signal to the information processing unit;
and the information processing unit is used for calculating the speed and displacement data of the doffing robot according to the walking signals.
2. The monitoring device for the intelligent doffing robot according to claim 1, wherein the detecting unit comprises a roller and an encoder, a shaft of the roller is connected with a shaft of the encoder, and a signal output end of the encoder is connected with a signal input end of the information processing unit;
when the spinning machine is used, the roller is rotationally connected with the doffing robot and is always contacted with the spinning frame.
3. The monitoring device for an intelligent doffing robot according to claim 1, wherein said detecting unit is a linear displacement type detecting unit; the linear displacement type detection unit is used for acquiring a walking signal of the doffing robot along the spinning frame and transmitting the walking signal to the information processing unit;
when the device is used, the linear displacement type detection unit is connected with the doffing robot.
4. The monitoring device for an intelligent doffing robot according to claim 1, wherein said detecting unit comprises a sensor and a marking body;
when the doffer is used, the identification body is positioned on a spinning frame, the sensor is connected with a doffing robot, and the sensor collects information of the identification body and transmits the information to the information processing unit.
5. The monitoring device for the intelligent doffing robot according to claim 4, wherein the sensor is a photoelectric sensor, and the identification body is a part of a spinning frame or an accessory part.
6. The monitoring device for the intelligent doffing robot according to claim 5, wherein the component is an ingot bar, a vehicle table top, a keel, a guide rail or a pin; the accessory part is a reflective sticker, a reflective plate or a color code.
7. The monitoring device for the intelligent doffing robot according to claim 4, wherein the sensor is a two-dimensional code sensor, and the identification body is a two-dimensional code label.
8. The monitoring device for the intelligent doffing robot according to claim 4, wherein said sensor is a distance measuring sensor and said identification body is a reflecting plate.
9. The monitoring device for the intelligent doffing robot according to claim 4, wherein the information processing unit is a servo driver, a programmable controller, a single chip microcomputer or an embedded industrial personal computer or the like.
10. The monitoring device for an intelligent doffing robot according to claim 1, further comprising a control unit, the control unit being connected to the information processing unit;
and the control unit is used for regulating and controlling the doffing robot according to the position and speed data of the doffing robot, so that the doffing robot walks along the spinning frame and is adaptive to the doffing work.
11. The monitoring device for an intelligent doffing robot according to claim 10, wherein said regulating doffing robot comprises:
adjusting the walking speed of the doffing robot to enable the doffing robot to walk along the spinning frame and to be matched with the doffing work; or,
adjusting the speed of a manipulator of the doffing robot to enable the doffing robot to walk along the spinning frame and to adapt to the doffing work; or,
and simultaneously, the walking speed of the doffing robot and the speed of the mechanical arm of the doffing robot are adjusted, so that the doffing robot can walk along the spinning frame and can adapt to the doffing work.
12. A control method for an intelligent doffing robot, characterized in that the method comprises:
collecting a walking signal of the doffing robot along a spinning frame;
and calculating the walking speed and displacement of the doffing robot according to the walking signals.
13. The walking control method of an intelligent doffing robot according to claim 12, wherein said method further comprises:
and regulating and controlling the doffing robot according to the walking speed and the displacement of the doffing robot, so that the doffing robot is matched with the spinning machine in walking and doffing work.
14. The walking control method of the intelligent doffing robot according to claim 13, wherein said controlling the doffing robot comprises:
adjusting the walking speed of the doffing robot to enable the doffing robot to walk along the spinning frame and to be matched with the doffing work; or,
adjusting the speed of a manipulator of the doffing robot to enable the doffing robot to walk along the spinning frame and to adapt to the doffing work; or,
and simultaneously, the walking speed of the doffing robot and the speed of the mechanical arm of the doffing robot are adjusted, so that the doffing robot can walk along the spinning frame and can adapt to the doffing work.
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| CN201711194250.3A CN109837622A (en) | 2017-11-24 | 2017-11-24 | A kind of monitoring device and control method for the intelligent robot that doffs |
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| CN201711194250.3A CN109837622A (en) | 2017-11-24 | 2017-11-24 | A kind of monitoring device and control method for the intelligent robot that doffs |
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Application publication date: 20190604 |