CN110255293B - Position identification device and method for bobbin winder - Google Patents
Position identification device and method for bobbin winder Download PDFInfo
- Publication number
- CN110255293B CN110255293B CN201910487665.2A CN201910487665A CN110255293B CN 110255293 B CN110255293 B CN 110255293B CN 201910487665 A CN201910487665 A CN 201910487665A CN 110255293 B CN110255293 B CN 110255293B
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- magnetic steel
- magnetic
- single ingot
- signal receiving
- automatic doffing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
- B65H67/063—Marking or identifying devices for packages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
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- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Abstract
The invention provides a position identification device and a method for a cone winder, comprising an automatic cone doffing device, N single spindles and a control system, wherein each single spindle is provided with a magnetic steel group, the magnetic steels in the magnetic steel groups are arranged according to a coding rule, the magnetic steel arrangements of the magnetic steel groups on the single spindles are different, the automatic cone doffing device is provided with a magnetic signal receiving device, the magnetic signal receiving device is connected with the control system, and when a trolley of the automatic cone doffing device stays above the N single spindle, the magnetic signal receiving device reads the number of the single spindle represented by the magnetic steel group information above the N single spindle to realize positioning. The problem of the automatic doffer device location in-process exists because the location failure that causes of environmental disturbance is solved, can realize the location on the arbitrary single spindle, and positioner cost is lower.
Description
Technical Field
The invention belongs to the technical field of textile machinery, relates to improvement of a bobbin winder technology, and particularly relates to a position identification device and a position identification method for a bobbin winder.
Background
At present, the tray type automatic bobbin winder is provided with an automatic bobbin dropping device. The automatic doffing device needs to switch among a plurality of positions in operation, and needs to be accurately positioned on the spindle position needing to be operated and needs to determine the information of the current spindle position.
The positioning technology adopted by the current automatic doffer device comprises the following steps:
1. and after the doffing device reaches the single ingot, reading the information sent by the single ingot by a photoelectric receiving device, and positioning by analyzing the information. The main problems of this positioning method are: 1) Only a single ingot needing to drop the barrel can send information, so that the barrel dropping device cannot be positioned at the single ingot without the requirement of barrel dropping; 2) Because the textile equipment is in an environment with more dust and fly, light is adopted as a transmission medium, and light is blocked, so that the signal transmission fails; 3) In this way, it is necessary to install a photoemission device on each individual ingot, resulting in relatively high cost.
2. When the automatic doffing device is positioned, the automatic doffing device actively transmits a demand signal; when a single spindle receives a demand signal, spindle position information is transmitted to the automatic doffing device in a communication mode. This positioning solves the problem of any single ingot positioning in the first way. However, the defects in the 2) and 3) of the first mode still exist. In terms of cost, the photoelectric transmitting device is not required to be mounted on each spindle, but the photoelectric receiving device is required to be mounted on each spindle, so that the cost is high. Meanwhile, the positioning mode has higher requirements in the aspect of communication because the information transmission is needed through the communication mode.
3. And (5) positioning the bar code. When the automatic doffing device is positioned, the bar code reading device arranged on the automatic doffing device reads the information on the bar code arranged on the single spindle, and the information is analyzed to position the single spindle. The positioning mode can also finish the positioning of any single ingot. However, there are still problems of light blocking and high cost due to the fly. The cost of bar code reading devices is also relatively high.
Disclosure of Invention
The invention aims to solve the problems in the prior art, provides a position identification device and a position identification method for a bobbin winder, solves the problem of positioning failure caused by environmental interference in the positioning process of an automatic doffer, can realize positioning on any single spindle, and has lower cost.
The aim of the invention is realized by the following technical scheme: the utility model provides a position identification device for cone winder, includes automatic doffer, N single spindle and control system, every install a magnet steel group on the single spindle, magnet steel in the magnet steel group is arranged according to the coding rule, and each magnet steel of magnet steel group on the single spindle is arranged inequality install magnetic signal receiving device on the automatic doffer, magnetic signal receiving device with control system connects, works as when the dolly of automatic doffer stays in N number single spindle top, realizes the location through the single spindle number that magnetic steel group information representative of magnetic steel group top was read to magnetic signal receiving device.
The improvement of the technical scheme is as follows: each magnetic steel group comprises 7 magnetic steel positions, namely, magnetic steel positions 1-7, the magnetic steel groups are arranged right above the single ingot, the magnetic signal receiving device correspondingly comprises 7 magnetic detection positions,
magnetic detection positions A-G respectively, and magnetic steel positions 1-7 in the magnetic steel group and magnetic detection positions of the magnetic signal receiving device
Setting A-G as a one-to-one correspondence, arranging the magnetic steel groups according to 8421 codes, and calculating a single spindle number by using magnetic steel codes as follows:
wherein i represents the position of magnetic steel and is respectively 1-7;
m represents whether or not there is a magnetic steel at the i position, and if there is a magnetic steel, m=1; if there is no magnetic steel, m=0;
and the magnetic detection device reads whether the magnetic steel at the corresponding position in the magnetic steel group exists or not to finish positioning.
Further improvement of the technical scheme is as follows: the 7 magnetic detection positions A-G in the magnetic signal receiving device are all Hall elements and are arranged corresponding to the 7 magnetic steel positions of the magnetic steel group.
The specific embodiment of the identification method of the position identification device for the bobbin winder comprises the following steps:
(1) After receiving a single ingot doffing demand signal sent by a control system, the automatic doffing device calculates and determines the current single ingot position information of the automatic doffing device 3 according to the magnetic steel group information received by the magnetic signal receiving device through a formula;
(2) Meanwhile, the control system judges whether the target single ingot is positioned on the left side or the right side of the current single ingot position, determines the walking direction and the walking distance, and then controls the automatic doffing device to move towards the target single ingot;
(3) Stopping moving after the automatic doffing device moves until the target single ingot is right above;
(4) The automatic doffing device detects the magnetic steel group information right above the target single ingot through the magnetic signal receiving device, and the single ingot position information obtained through formula calculation by the control system is consistent with the target single ingot position information, so that positioning is completed.
The improvement of the technical scheme is as follows: and (3) in the moving process of the automatic doffing device, when the automatic doffing device is within 2 ingots from the target single ingot, the automatic doffing device is decelerated and moves at a low speed to the target single ingot until the automatic doffing device reaches the target single ingot, and mechanical positioning is started after the automatic doffing device reaches the target single ingot within 1 ingot, and the automatic doffing device slides to the position right above the target single ingot at a low speed.
Compared with the prior art, the invention has a plurality of advantages and positive effects:
1. the positioning device of the invention adopts the magnetic signal receiving device and the magnetic steel group to complete the functions, and can completely solve the interference of the external environment on the prior optical signals. The problem of positioning failure caused by external flying and dust blocking can be avoided.
2. Because the magnetic steel groups above each single ingot are different, the positioning on any single ingot can be realized.
3. Because the magnetic steel group is a passive device, the automatic doffing device is positioned at any position without communicating with a single spindle.
4. The Hall element and the magnetic steel adopted by the invention have relatively low price, and can greatly reduce the production cost.
Drawings
FIG. 1 is a schematic view of a position recognition device for a winder of the present invention;
FIG. 2 is an enlarged view of FIG. 1 in the direction A;
fig. 3 is a flowchart of a method for identifying a position identifying device for a winder.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Referring to fig. 1 and 2, the position identifying device for a bobbin winder comprises an automatic doffing device 3 and N (the maximum value of N in the embodiment is 60, and the N is sequentially a No. 1 single ingot, a No. 2 single ingot, a No. 3 single ingot … … No. 60 single ingot from one end of a head) single ingots 1 and a control system, wherein a magnetic steel group 2 is arranged on each single ingot 1, the magnetic steels in the magnetic steel groups 2 are arranged according to a coding rule, and the magnetic steel arrangement of the magnetic steel groups 2 on each single ingot 1 is different. A magnetic signal receiving device 4 is arranged on the automatic doffing device 3, and the magnetic signal receiving device 4 is connected with the control system. When the trolley of the automatic doffing device 3 stays above the No. N single ingot 1, the number of the single ingot 1 represented by the information of the magnetic steel group 2 above the No. N single ingot 1 is read by the magnetic signal receiving device 4 to realize positioning.
Specifically: each magnetic steel group 2 comprises 7 magnetic steel positions, namely magnetic steel positions 1-7 (namely 1, 2, 3, 4, 5, 6 and 7), the magnetic steel groups 2 are arranged right above the single ingot 1, and the magnetic signal receiving device 4 correspondingly comprises 7 magnetic detection positions, namely magnetic detection positions A-G (namely A, B, C, D, E, F, G). The magnetic steel positions 1-7 in the magnetic steel group 2 and the magnetic detection positions A-G of the magnetic signal receiving device 4 are in one-to-one correspondence, the magnetic steel group 2 is arranged according to 8421 codes, and the formula for calculating the single ingot number by the magnetic steel codes is as follows:
wherein i represents the position of magnetic steel and is respectively 1-7;
m represents whether or not there is a magnetic steel at the i position, and if there is a magnetic steel, m=1; if there is no magnetic steel, m=0;
and the magnetic detection device reads whether the magnetic steel at the corresponding position in the magnetic steel group exists or not to finish positioning.
Illustrating: the magnetic steel groups are arranged according to 8421 codes, the magnetic steel groups installed on the No. 1 single ingot are coded into 000 0001, wherein 0 represents that the corresponding position is not provided with magnetic steel, and 1 represents that the corresponding position is provided with magnetic steel. The magnetic steel group installed on the No. 45 single ingot is 010 1101.
The 7 magnetic detection positions a-G in the magnetic signal receiving device 4 are all hall elements, and are arranged corresponding to the 7 magnetic steel positions of the magnetic steel group 2.
The specific embodiment of the identification method of the position identification device for the bobbin winder comprises the following steps:
(1) After receiving a single ingot doffing demand signal sent by a control system, the automatic doffing device 3 calculates and determines the position information of the single ingot 1 where the automatic doffing device 3 is currently positioned according to the information of the magnetic steel group 2 received by the magnetic signal receiving device 4 through a formula;
(2) Meanwhile, the control system judges whether the target single ingot 1 is positioned on the left side or the right side of the current single ingot position, determines the walking direction and the walking distance, and then controls the automatic doffing device 3 to move towards the target single ingot 1;
(3) After the automatic doffing device 3 moves until the target single ingot 1 is right above, stopping moving;
(4) The automatic doffing device 3 detects the magnetic steel group information right above the target single ingot through the magnetic signal receiving device 4, and the single ingot position information obtained through formula calculation by the control system is consistent with the target single ingot position information, so that positioning is completed.
Further, in the step (3), when the automatic doffing device 3 is within 2 ingots from the target single ingot 1 in the moving process of the automatic doffing device 3, the automatic doffing device 3 decelerates and moves to the target single ingot 1 at a low speed until the automatic doffing device reaches the target single ingot 1 within 1 ingot, and then starts to mechanically position, and slides to the position right above the target single ingot 1 at a low speed.
Referring to fig. 1-3, a specific embodiment of a method for identifying a position identifying device for a winder according to the present invention includes an automatic doffing device 3, 60 single ingots 1 and a control system, and the identifying method includes the following steps:
(1) The automatic doffing device 3 receives the target position number;
(2) The automatic doffing device 3 is switched to enter a walking state;
(3) The magnetic signal receiving device 4 collects signals in the running process of the automatic doffing device 3;
(4) After judging the walking direction, starting to move leftwards or rightwards;
(5) Judging the distance from the target position, and if the distance from the target position is more than 2, continuing to walk; if the distance from the target position is less than 2, entering a low-speed walking state;
(6) The magnetic signal receiving device collects signals in the walking process;
(7) Calculating the current position according to the walking direction;
(8) Judging the distance from the target position, and if the distance from the target position is more than 0, continuing to walk; if the distance from the target position is=0, stopping the walking motor and starting code reading;
(9) The magnetic signal receiving device acquires signals;
(10) Calculating the current position according to the signals, and finishing code reading;
(11) The automatic doffing device 3 completes the positioning action.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (3)
1. The identification method of the position identification device for the bobbin winder is characterized in that the position identification device for the bobbin winder comprises an automatic doffing device, N single ingots and a control system, wherein each single ingot is provided with a magnetic steel group, the magnetic steels in the magnetic steel groups are arranged according to a coding rule, the magnetic steel arrangements of the magnetic steel groups on the single ingots are different, the automatic doffing device is provided with a magnetic signal receiving device, the magnetic signal receiving device is connected with the control system, and when a trolley of the automatic doffing device stays above the N single ingot, the magnetic signal receiving device reads the number of the single ingot represented by the magnetic steel group information above the N single ingot to realize positioning; each magnetic steel group comprises 7 magnetic steel positions, namely magnetic steel positions 1-7, the magnetic steel groups are arranged right above the single ingot, the magnetic signal receiving device correspondingly comprises 7 magnetic detection positions, namely magnetic detection positions A-G, the magnetic steel positions 1-7 in the magnetic steel groups and the magnetic detection positions A-G of the magnetic signal receiving device are in one-to-one correspondence, the magnetic steel groups are arranged according to 8421 codes, and a formula for calculating the number of the single ingot by magnetic steel codes is as follows:
wherein i represents the position of magnetic steel and is respectively 1-7;
m represents whether or not there is a magnetic steel at the i position, and if there is a magnetic steel, m=1; if there is no magnetic steel, m=0;
the magnetic detection device is used for reading the condition of the existence of the magnetic steel at the corresponding position in the magnetic steel group to finish positioning;
the identification method comprises the following steps:
(1) After receiving a single ingot doffing demand signal sent by a control system, the automatic doffing device calculates and determines the current single ingot position information of the automatic doffing device (3) through a formula according to the magnetic steel group information received by the magnetic signal receiving device;
(2) Meanwhile, the control system judges whether the target single ingot is positioned on the left side or the right side of the current single ingot position, determines the walking direction and the walking distance, and then controls the automatic doffing device to move towards the target single ingot;
(3) Stopping moving after the automatic doffing device moves until the target single ingot is right above;
(4) The automatic doffing device detects the magnetic steel group information right above the target single ingot through the magnetic signal receiving device, and the single ingot position information obtained through formula calculation by the control system is consistent with the target single ingot position information, so that positioning is completed.
2. The method according to claim 1, wherein in the step (3), when the automatic doffing device moves within 2 spindles from the target single spindle, the automatic doffing device decelerates and moves at a low speed to the target single spindle until the automatic doffing device starts to mechanically position after reaching within 1 spindle, and slides directly above the target single spindle at a low speed.
3. The identification method of a position identification device for a bobbin winder according to claim 1 or 2, wherein the 7 magnetic detection positions a-G in the magnetic signal receiving device are hall elements and are provided corresponding to the 7 magnetic steel positions of the magnetic steel group.
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| CN201910487665.2A CN110255293B (en) | 2019-06-05 | 2019-06-05 | Position identification device and method for bobbin winder |
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| CN201910487665.2A CN110255293B (en) | 2019-06-05 | 2019-06-05 | Position identification device and method for bobbin winder |
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| CN110255293B true CN110255293B (en) | 2023-09-22 |
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