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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- robot
- doffs
- doffing
- spinning frame
- speed
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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 robotic technology fields of doffing, it particularly relates to a kind of prison for the intelligent robot that doffs
Survey device and control method.
Background technique
The existing robot that doffs realizes work of doffing on spinning frame.During the machine that doffs manually is made, according to
Work of doffing is walked and carried out to intrinsic speed.But in actual condition, the practical speed of travel for the robot that doffs and displacement
Can be variant with being pre-designed, but progress of doffing is constant.The walking of doffer device people and the robot that doffs are resulted in this way
Doff work can not accurate adaptation, to influence the accuracy doffed.For example, doffing when the track on spinning frame is fluted
The guide wheel revolving speed of robot is constant, but travel distance is elongated, and straight-line displacement becomes smaller, and the speed of doffing for the robot that doffs still is protected
Original speed is stayed, to then can not accurately carry out work of doffing.
Summary of the invention
The present invention provides a kind of monitoring device and control method for the intelligent robot that doffs, so that the robot that doffs
It doffs work, is adapted with the walking for the Robot spinning frame that doffs.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of monitoring device for the intelligent robot that doffs,
Described device includes detection unit and information process unit, and detection unit is connect with information process unit；Detection unit is for adopting
Collect the walk signal for the Robot spinning frame that doffs, and the walk signal is passed into information process unit；Information processing list
Member is for calculating the speed and displacement data of the robot that doffs according to the walk signal.
As preference, the detection unit includes idler wheel and encoder, the axis of idler wheel and the axis connection of encoder, coding
The signal output end of device and the signal input part of information process unit connect；In use, idler wheel and robot rotation connection of doffing,
And idler wheel and spinning frame primary terminating are touched.
As preference, the detection unit is linear displacement type detection unit；Linear displacement type detection unit is for adopting
Collect the walk signal for the Robot spinning frame that doffs, and walk signal is passed into information process unit；In use, the straight line
Displacement-type detection unit is connect with the robot that doffs.
As preference, the detection unit includes sensor and identifying body；In use, the identifying body is located at spinning frame
On, the sensor is connect with the robot that doffs, and the sensor acquires identifying body information, and passes to information process unit.
As preference, the sensor is photoelectric sensor, and the identifying body is the components or attached of spinning frame
Component.
As preference, the components are spindle blade, ride face, rail, guide rail or pin etc.；Appurtenances are reflective
Patch, reflector or colour code etc..
As preference, the sensor is two dimensional code sensor, and the identifying body is two dimensional code labeling.
As preference, the sensor is distance measuring sensor, and the identifying body is reflecting plate.
As preference, the information process unit is servo-driver, programmable controller, single-chip microcontroller or embedded
Industrial personal computer etc..
As preference, the monitoring device for the intelligent robot that doffs, further includes control unit, control unit
It is connect with information process unit；Position and speed data of the described control unit for the robot that doffs according to, regulation are fallen
Yarn robot, so that the doff walking of Robot spinning frame and work adaptation of doffing.
As preference, the regulation is doffed robot, comprising: adjustment is doffed the speed of travel of robot, so that doffing
The walking of Robot spinning frame and work adaptation of doffing；The speed of robot mechanical arm alternatively, adjustment is doffed, so that the machine that doffs
People is along spinning frame walking and work adaptation of doffing；Alternatively, adjustment simultaneously is doffed, the speed of travel of robot and the machine that doffs are man-machine
The speed of tool hand, so that the doff walking of Robot spinning frame and work adaptation of doffing.
The embodiment of the present invention also provides a kind of control method for the intelligent robot that doffs, which comprises
Acquire the walk signal for the Robot spinning frame that doffs；
According to the walk signal, the speed of travel and displacement of the robot that doffs are calculated.
As preference, the method also includes: according to the speed of travel and displacement of the robot that doffs, regulation is doffed
Robot, so that the walking for the Robot spinning frame that doffs and work of doffing adaptation.
As preference, the regulation is doffed robot, comprising: adjustment is doffed the speed of travel of robot, so that doffing
The walking of Robot spinning frame and work adaptation of doffing；The speed of robot mechanical arm alternatively, adjustment is doffed, so that the machine that doffs
People is along spinning frame walking and work adaptation of doffing；Alternatively, adjustment simultaneously is doffed, the speed of travel of robot and the machine that doffs are man-machine
The speed of tool hand, so that the doff walking of Robot spinning frame and work adaptation of doffing.
Compared with prior art, the monitoring device and control method of the embodiment of the present invention, so that the robot that doffs doffs
Work, is adapted with the walking for the Robot spinning frame that doffs.In the prior art, doffer is usually according to software design process row
It walks, work of doffing can not be adjusted in time according to actual condition.The embodiment of the present invention acquires the Robot spinning frame that doffs in real time
Walk signal obtains the speed of travel and displacement of the robot that doffs, so that the robot that doffs doffs according to the walk signal
Progress is adapted with the walking for the robot that doffs.Regulate and control the robot that doffs, can both regulate and control the robot mechanical arm that doffs, adjustment is fallen
Yarn speed, can also regulate and control to doff the speed of travel of the robot on spinning frame, so that it is guaranteed that work of doffing is gone on smoothly.
Detailed description of the invention
Fig. 1 is the structural block diagram of the embodiment of the present invention；
Fig. 2 is a kind of scheme of installation of detection unit in the embodiment of the present invention；
Fig. 3 is the scheme of installation of another detection unit in the embodiment of the present invention；
Fig. 4 is the scheme of installation of the third detection unit in the embodiment of the present invention.
Have in figure: the robot 1 that doffs, spinning frame 2, idler wheel 301, encoder 302, sensor 303, distance measuring sensor 304,
Reflecting plate 305.
Specific embodiment
Technical solution of the present invention is further described in detail below.
As shown in Figure 1, the embodiment of the present invention provides a kind of monitoring device for the intelligent robot that doffs, including detection list
Member and information process unit.Detection unit is connect with information process unit.Detection unit is for acquiring the Robot spun yarn that doffs
The walk signal of machine, and the walk signal is passed into information process unit.Information process unit is used for according to the walking
Signal calculates the speed and displacement data of the robot that doffs.
The monitoring device of the embodiment of the present invention, for monitoring the walking data for the Robot spinning frame that doffs, according to monitoring
Data regulation doff robot so that the work of doffing for the robot that doffs is adapted with the walking for the robot that doffs.If fallen
It skids during yarn robot ambulation, actual speed is slower than setting speed, then accelerates the speed of travel, compensates；Or it reduces
Pull out the counter motion speed of the manipulator of spool.If the work discomfort of doffing of doff robot ambulation and the robot that doffs is matched,
So doff robot will be unable to extract full spool, empty spool can not also be drained on spindle blade.It doffs the work of doffing of robot
It to be adapted with the walking for the Robot spinning frame that doffs.It doffs equipped with guide wheel on robot body, the guide rail phase with spinning frame
Match.But travel distance of the guide wheel on guide rail and travel distance of the robot on spinning frame that doff are not necessarily identical.For example,
When guide wheel idle running, guide wheel has walking displacement, but the robot that doffs does not walk along spinning frame.For another example working as guide rail not
Smooth, when fluted, the walking displacement of guide wheel is greater than the robot that doffs and is not displaced along the walking of spinning frame.Therefore, of the invention
Embodiment passes through the walk signal for monitoring the Robot spinning frame that doffs, so that doff work and the machine that doffs of the robot that doffs
The walking of people is adapted.It doffs in the walking process of Robot spinning frame, synchronously completes work of doffing.
In the present embodiment, detection unit is used to acquire the walk signal of the Robot spinning frame that doffs, and by the walking
Signal passes to information process unit.Detection unit does not detect the guide wheel rotation information doffed in robot instead of, and detection is fallen
The walk signal of yarn Robot spinning frame.The walk signal is the whole walking data along spinning frame of robot of doffing.According to
The walk signal, regulation are doffed job schedule, so that doffing work and the walking for the robot that doffs is adapted, are fallen with smoothly completing
Yarn work.
The manipulator speed that the present embodiment doffs according to the doffer speed speed adjustment speed of travel monitored or adjustment
Degree, guarantee are precisely doffed.Meanwhile the robot that doffs can remember present position, emergency stop, power-off or failure during the work time
Afterwards, can resume work state as early as possible.
In above-described embodiment, detection unit is used to acquire the walk signal of the Robot spinning frame that doffs, and by the row
It walks signal and passes to information process unit.The structure of detection unit can there are many.The structure of several detection units is enumerated below
Form, but following embodiments are not restriction to detection unit, only preference.Those skilled in the art are according to following excellent
The structure type for selecting example to describe can use other similar structure or published structure, identical function be realized, in this patent
Protection scope within.
Preference 1: as shown in Fig. 2, detection unit includes idler wheel 301 and encoder 302, axis and the encoder 302 of idler wheel 301
Axis connection, the signal output end of encoder 302 and the signal input part of information process unit connect；In use, idler wheel 301 with fall
Yarn robot 1 is rotatablely connected, and idler wheel 301 contacts always with spinning frame 2.
Idler wheel, which is mounted on, to doff in robot.The rotation of the idler wheel reflects the whole row along spinning frame of the robot that doffs
Walk distance.The idler wheel is different from the guide wheel to doff in robot.Guide wheel is for driving the robot ambulation that doffs, and idler wheel is synchronous
Follow the robot ambulation that doffs.When guide wheel idle running, idler wheel is motionless.Idler wheel and spinning frame primary terminating are touched.It is real according to installation
Border situation, idler wheel can contact always with fixation members such as the guide rail of spinning frame, ring rail, rail or ride faces.The purpose of contact
It is to generate friction between the two, so that idler wheel rotates.
When idler wheel rotation, encoder is also rotated with it.The axis of encoder and the axis of idler wheel rotate synchronously.In this way, coding
Device obtains the rotation information of idler wheel, and rotation information is passed to information process unit by signal output end.
Preference 2: detection unit is linear displacement type detection unit；Linear displacement type detection unit is for acquiring doffer
Walk signal and is passed to information process unit along the walk signal of spinning frame by device people；In use, the linear displacement type inspection
Unit is surveyed to connect with the robot that doffs.
In the preference, it is not provided with idler wheel, linear displacement type detection unit is only set.It is doffing in robot directly
Linear displacement type detection unit is installed.Linear displacement type detection unit doffs robot on spinning frame for directly detecting
Walking data.The walking data that linear displacement type detection unit will acquire pass to information process unit and are analyzed and processed.Directly
Displacement of the lines formula detection unit can use straight-line displacement encoder.Compared to preference 1, this preference structure is simpler.
Preference 3: as shown in figure 3, detection unit includes sensor 303 and identifying body.In use, the identifying body is located at
On spinning frame 2, the sensor 303 is connect with the robot 1 that doffs, and the sensor acquires identifying body information, and passes to letter
Cease processing unit.
This preference detects the walking data for the Robot spinning frame that doffs using sensor and identifying body.Sensor is adopted
Set identifier volume data, and pass to information process unit.The data of processing acquisition are analyzed by information process unit.Sensor installation
It is doffing in robot, is following the robot ambulation that doffs.Identifying body is located on spinning frame, and position is constant.
It is furthermore preferred that sensor is photoelectric sensor in preference 3, identifying body is the components or attached of spinning frame
Belong to component.Components are spindle blade, ride face, rail, guide rail or pin etc..Appurtenances are reflection plaster, reflector or colour code
Deng.
It is furthermore preferred that sensor is two dimensional code sensor in preference 3, the identifying body is two dimensional code labeling.Two dimension
Code sensor, which is mounted on, to doff in robot, follows the robot ambulation that doffs.Two dimensional code labeling is pasted on spinning frame, and position is not
Become.In the moving process of two dimensional code sensor, real time scan two dimensional code labeling obtains the quantity and speed of two dimensional code variation, and
Pass it to information process unit.The data of processing acquisition are analyzed by information process unit.
It is furthermore preferred that, as shown in figure 4, sensor is distance measuring sensor 304, identifying body is reflecting plate in preference 3
305.Distance measuring sensor 304, which is mounted on, to doff in robot 1, follows the walking of robot 1 of doffing.Reflecting plate 305 is mounted on spun yarn
On machine 2, position is constant.In the moving process of distance measuring sensor 304, distance measuring sensor 304 emits on light to reflecting plate 305,
Distance measuring sensor 304 obtains the distance between itself and reflecting plate 305.The information of acquisition is passed to information by distance measuring sensor 304
Processing unit.The data of processing acquisition are analyzed by information process unit.
In above-described embodiment, information process unit is servo-driver, PLC(programmable logic controller (PLC)), PAC(can compile
Process automation controller), single-chip microcontroller or built-in industrial control machine.Information process unit is used for the walking of analysis detection unit acquisition
Signal calculates the speed and displacement data of the robot that doffs.Information process unit can be using the portion with analytical calculation function
Part is realized.Information process unit is handled by analysis, obtains the speed of travel and displacement of the Robot spinning frame that doffs.
As preference, monitoring device further includes control unit, and control unit is connect with information process unit.Control unit
For the position and speed data for the robot that doffs according to, regulate and control the robot that doffs, so that the Robot spinning frame that doffs
It walks and work of doffing is adapted to.
Control unit controls the robot that doffs, so that doff work and the Robot spinning frame row that doffs of the robot that doffs
It walks to be adapted.This preference, by the way that control unit is arranged, so that the walking for the robot that entirely doffs is matched with work of doffing.Control
Progress monitoring of the unit processed to the work of doffing for the robot that doffs is the walking data based on the Robot spinning frame that doffs.
Regulate and control the robot that doffs, comprising: the speed of travel for adjusting the robot that doffs, so that the Robot spinning frame row that doffs
It walks and work of doffing is adapted to；The speed of robot mechanical arm alternatively, adjustment is doffed so that doff the walking of Robot spinning frame and
Work of doffing adaptation；The speed of travel of robot and the speed for the robot mechanical arm that doffs alternatively, adjustment simultaneously is doffed, so that falling
The walking of yarn Robot spinning frame and work adaptation of doffing.According to the speed of travel and displacement of the Robot spinning frame that doffs, when
It doffs the walking of robot and the work discomfort timing of doffing for the robot that doffs, not only the adjustable robot mechanical arm that doffs, but also
The speed of travel of the adjustable robot that doffs, can be adjusted simultaneously with the two so that doff Robot spinning frame walking and
Work of doffing adaptation.
The embodiment of the present invention also provides a kind of control method for the intelligent robot that doffs, comprising:
Acquire the walk signal for the Robot spinning frame that doffs；
According to the walk signal, the speed of travel and displacement of the robot that doffs are calculated.
The control method acquires the walk signal for the Robot spinning frame that doffs, the row of the guide wheel not to doff in robot
Walk signal.It doffs the work of doffing of robot, needs to be adapted with the walking for the Robot spinning frame that doffs.Based on the machine that doffs
People calculates the speed of travel and displacement of the robot that doffs along the walk signal of spinning frame, so as to more preferably regulate and control work of doffing,
Work of doffing is gone on smoothly.When the speed of travel for the robot that doffs is slower, if job schedule of doffing is very fast, that
Work of doffing will be unable to complete.Equally, when the speed of travel for the robot that doffs is very fast, if job schedule of doffing is slower,
Work of so doffing also will be unable to complete.When the robot speed of travel of doffing is inconsistent with setting speed, and Doffing manipulator is also
Setting speed is remain, then manipulator cannot accurately catch full yarn stick, can damage manipulator, yarn and spindle.
Above-mentioned control method further include: according to the speed of travel and displacement of the robot that doffs, regulate and control the robot that doffs,
So that the walking for the Robot spinning frame that doffs and work of doffing adaptation.According to the speed of travel for the Robot spinning frame that doffs and
Displacement controls the work of doffing for the robot that doffs, the walking of the doff work and the robot that doffs of robot so that coordination is doffed
It is adapted, it is ensured that work of doffing smoothly completes.
The regulation is doffed robot, comprising: adjustment is doffed the speed of travel of robot, so that the Robot spun yarn that doffs
Machine walking and work adaptation of doffing；The speed of robot mechanical arm alternatively, adjustment is doffed, so that the Robot spinning frame row that doffs
It walks and work of doffing is adapted to；Alternatively, adjustment simultaneously is doffed, the speed of travel of robot and the speed for the robot mechanical arm that doffs, make
The Robot spinning frame that must doff walking and work adaptation of doffing.For example, when the speed of travel of the robot that doffs of acquisition
It is slower than pre-set velocity, then by regulation driving device, accelerate the speed of travel of robot of doffing.It, can also under certain such situation
With by the counter motion speed of regulation manipulator, so that doffing work and the robot ambulation that doffs is adapted.
The basic principles, main features and advantages of the invention have been shown and described above.Those skilled in the art should
Understand, the present invention do not limited by above-mentioned specific embodiment, the description in above-mentioned specific embodiment and specification be intended merely into
One step illustrates the principle of the present invention, without departing from the spirit and scope of the present invention, the present invention also have various change and
It improves, these changes and improvements all fall within the protetion scope of the claimed invention.The scope of protection of present invention is wanted by right
Ask book and its equivalent thereof.
Claims (14)
1. a kind of monitoring device for the intelligent robot that doffs, which is characterized in that described device includes detection unit and information
Processing unit, detection unit are 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 at information
Manage unit；
Information process unit is used to calculate the speed and displacement data of the robot that doffs according to the walk signal.
2. the monitoring device described in accordance with the claim 1 for the intelligent robot that doffs, which is characterized in that the detection unit
Including idler wheel and encoder, the axis of idler wheel and the axis connection of encoder, the signal output end of encoder and information process unit
Signal input part connection；
In use, idler wheel and robot rotation connection of doffing, and idler wheel and spinning frame primary terminating are touched.
3. the monitoring device described in accordance with the claim 1 for the intelligent robot that doffs, which is characterized in that the detection unit
For linear displacement type detection unit；Linear displacement type detection unit is used to acquire the walk signal for the Robot spinning frame that doffs,
And walk signal is passed into information process unit；
In use, the linear displacement type detection unit is connect with the robot that doffs.
4. the monitoring device described in accordance with the claim 1 for the intelligent robot that doffs, which is characterized in that the detection unit
Including sensor and identifying body；
In use, the identifying body is located on spinning frame, the sensor is connect with the robot that doffs, the sensor acquisition mark
Know body information, and passes to information process unit.
5. doffing the monitoring device of robot for intelligence according to claim 4, which is characterized in that the sensor is
Photoelectric sensor, the identifying body are the components or appurtenances of spinning frame.
6. doffing the monitoring device of robot for intelligence according to claim 5, which is characterized in that the components are
Spindle blade, ride face, rail, guide rail or pin；Appurtenances are reflection plaster, reflector or colour code.
7. doffing the monitoring device of robot for intelligence according to claim 4, which is characterized in that the sensor is
Two dimensional code sensor, the identifying body are two dimensional code labeling.
8. doffing the monitoring device of robot for intelligence according to claim 4, which is characterized in that the sensor is
Distance measuring sensor, the identifying body are reflecting plate.
9. the monitoring device for the intelligent robot that doffs according to claim 4, which is characterized in that the information processing
Unit is servo-driver, programmable controller, single-chip microcontroller or built-in industrial control machine etc..
10. the monitoring device described in accordance with the claim 1 for the intelligent robot that doffs, which is characterized in that further include control
Unit, control unit are connect with information process unit；
Position and speed data of the described control unit for the robot that doffs according to, regulate and control the robot that doffs, so that falling
The walking of yarn Robot spinning frame and work adaptation of doffing.
11. the monitoring device for the intelligent robot that doffs according to claim 10, which is characterized in that the regulation is fallen
Yarn robot, comprising:
The speed of travel for the robot that doffs is adjusted, so that the doff walking of Robot spinning frame and work adaptation of doffing；Alternatively,
The speed for the robot mechanical arm that doffs is adjusted, so that the doff walking of Robot spinning frame and work adaptation of doffing；Alternatively,
The speed for adjusting the speed of travel for the robot that doffs and the robot mechanical arm that doffs simultaneously, so that the Robot spun yarn that doffs
Machine walking and work adaptation of doffing.
12. a kind of control method for the intelligent robot that doffs, which is characterized in that the described method includes:
Acquire the walk signal for the Robot spinning frame that doffs；
According to the walk signal, the speed of travel and displacement of the robot that doffs are calculated.
13. the ambulation control method of the intelligent robot that doffs according to claim 12, which is characterized in that the method is also
Include:
According to the speed of travel and displacement of the robot that doffs, regulate and control the robot that doffs, so that the Robot spinning frame that doffs
Walking and work of doffing adaptation.
14. the ambulation control method of the intelligent robot that doffs according to claim 13, which is characterized in that the regulation is fallen
Yarn robot, comprising:
The speed of travel for the robot that doffs is adjusted, so that the doff walking of Robot spinning frame and work adaptation of doffing；Alternatively,
The speed for the robot mechanical arm that doffs is adjusted, so that the doff walking of Robot spinning frame and work adaptation of doffing；Alternatively,
The speed for adjusting the speed of travel for the robot that doffs and the robot mechanical arm that doffs simultaneously, so that the Robot spun yarn that doffs
Machine walking and work adaptation of doffing.
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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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| US5237807A (en) * | 1989-10-02 | 1993-08-24 | Toray Engineering Co., Ltd. | Spinning machine |
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| CN201785568U (en) * | 2010-04-30 | 2011-04-06 | 清华大学 | Traveling device of automatic doffer |
| CN202337855U (en) * | 2011-11-04 | 2012-07-18 | 侯国阳 | Doffing cart for bearing automatic doffing device and moving at equal interval |
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Application publication date: 20190604 |