CN111058130A - Spinning machinery autonomous operation service robot - Google Patents
Spinning machinery autonomous operation service robot Download PDFInfo
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- CN111058130A CN111058130A CN201911396638.0A CN201911396638A CN111058130A CN 111058130 A CN111058130 A CN 111058130A CN 201911396638 A CN201911396638 A CN 201911396638A CN 111058130 A CN111058130 A CN 111058130A
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- spindle
- spinning machine
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- service robot
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H13/00—Other common constructional features, details or accessories
- D01H13/14—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements
- D01H13/16—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements responsive to reduction in material tension, failure of supply, or breakage, of material
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H11/00—Arrangements for confining or removing dust, fly or the like
-
- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H15/00—Piecing arrangements ; Automatic end-finding, e.g. by suction and reverse package rotation; Devices for temporarily storing yarn during piecing
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Spinning Or Twisting Of Yarns (AREA)
Abstract
The invention relates to an autonomous operation service robot for spinning machinery, which comprises a moving device, an active detection device, an information processing control device and an execution device, wherein the moving device moves along a set route around the spinning machinery or autonomously and circularly, the active detection device is used for continuously detecting the spindle production state of the spinning machinery passing by one side or two sides of the spinning machinery and sending the spindle production state information to the information processing control device, the information processing control device judges and processes the received spindle production state information, when the spindle production state is judged to be abnormal, control information is generated and sent to the execution device, and the execution device receives the control information and performs operation control corresponding to the control information on the spindle. The invention can conveniently detect the phenomena of yarn breakage and accumulation of the spindle, and timely carry out corresponding treatment, has the functions of actively finding and treating abnormity, such as automatic joint and automatic cleaning, saves a large amount of manpower and greatly reduces the equipment cost.
Description
Technical Field
The invention relates to textile machinery equipment, in particular to an autonomous operation service robot of spinning machinery.
Background
As an important main machine in the spinning process, when the yarn breakage phenomenon occurs in the traditional production of a spinning frame, the yarn breakage phenomenon needs to be processed manually and then is jointed again. In addition, in the operation process of the spinning frame, the phenomenon of cotton yarn accumulation inevitably occurs at working parts such as a leather roller and the like, and the working parts are cleaned by manpower, so that the current situation that the labor intensity of the spinning frame is high is caused. In addition, the single spindle detection of the existing spinning frame still needs to be provided with one detection head for each spindle, the equipment cost is high in large-scale production, and meanwhile, the pressure is added to a control system.
Engineers have tried various automatic splicing systems over the years to increase the automation level of the textile industry, and have also created many more practical improvements. For example, patent CN107217349A describes an "automatic yarn breakage and spindle defect detection method and a robot for recovering the same", which proposes a new system integrating single spindle monitoring and transportation control, and has an automatic yarn splicing function, and advances the automatic process of single spindle detection and yarn breakage splicing of a spinning frame by a large step.
The existing single spindle detection and automation system of the spinning frame still has a lot of problems, which are specifically shown in the following steps:
(1) the automation of the existing spinning machine detection and automatic joint system still cannot reach a high level, a lot of manpower and material resources are consumed, meanwhile, the problems are probably solved not all the time in time by considering human factors, the production efficiency is reduced, and the problems can be avoided by technical innovation;
(2) the automatic joint method proposed at present has low integration degree and single function.
Disclosure of Invention
The invention aims to provide an autonomous operation service robot of a spinning machine, which can conveniently detect the phenomena of yarn breakage and accumulation of spindles, can timely perform corresponding treatment, has the functions of actively finding and treating abnormity, such as automatic joint and automatic cleaning, saves a large amount of manpower and labor and greatly reduces the equipment cost.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides an autonomous operation service robot for spinning machinery, which comprises a moving device, an active detection device, an information processing control device and an execution device, wherein the moving device moves along a set route or autonomously and circularly around the spinning machinery, the active detection device is used for continuously detecting the spindle production state of the spinning machinery passing by one side or two sides of the active detection device and sending the spindle production state information to the information processing control device, the information processing control device judges and processes the received spindle production state information, when the spindle production state is judged to be abnormal, control information is generated and sent to the execution device, and the execution device receives the control information and performs operation control on the spindle according to the control information.
For the above technical solution, the applicant has further optimization measures.
As a further improvement of an embodiment of the present invention, the active detection device includes an image processing system, the image processing system includes an image capturing module and an image recognition module, the image capturing module is used for capturing images of different time instants, different areas or the same area of the spindle of the textile machinery, and the image recognition module is used for recognizing the images captured by the image capturing module to obtain accurate positioning information and abnormal state information of the spindle in an abnormal state.
As a further improvement of an embodiment of the present invention, the image capturing module is a camera.
As a further improvement of an embodiment of the present invention, the image capturing module may set different spindle photographing region ranges at the same position.
As a further improvement of an embodiment of the present invention, the active detection device further includes a magnetic sensor, an optical sensor or a photoelectric sensor.
As a further development of an embodiment of the invention, the execution device comprises an automatic piecing device and/or a clearing device.
As a further improvement of one embodiment of the present invention, the active detection device includes a broken yarn detection module and/or an accumulated flower detection module, and the spindle production state information includes information on whether a single spindle is broken and/or information on accumulated flower of a spinning roller, a leather roller and a steel wire ring.
As a further improvement of an embodiment of the present invention, an external light source for providing light assistance to the image processing system is further included.
As a further improvement of an embodiment of the present invention, the moving device is an AGV automatic guide device which guides the robot to travel along a set route.
As a further development of an embodiment of the invention, the displacement device can also be a rail arranged along a single side of the spinning machine or between two spinning devices and a guide device traversing back and forth on the rail.
As a further improvement of an embodiment of the present invention, the moving device includes a guide rail set on both sides of a single spinning machine or on an operation path between two adjacent spinning machines, and a driving device for driving the robot to move on the guide rail.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
the spinning machine autonomous operation service robot disclosed by the invention can be used for working around a spinning machine set through a mobile device in a circulating way, the phenomena of yarn breakage and accumulation of a spindle can be conveniently found through an active detection device, the detection result of the active detection device is judged and processed in time through an information processing control device, the execution device has the functions of automatic joint and automatic cleaning, and the execution device can automatically execute corresponding processing actions through an instruction sent by the information processing control device, so that a large amount of manpower is saved, the equipment cost is greatly reduced, meanwhile, the robot can quickly respond to and process abnormal conditions of the spindle, and the production efficiency is improved.
Furthermore, an image processing system carried by the robot can capture images of spindles of the textile machinery at different moments, in different areas or in the same area, and meanwhile, accurate positioning information and abnormal state information of the spindles in abnormal states can be effectively identified, so that quick response is facilitated.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a functional block diagram of a spinning machine autonomous operation service robot according to one embodiment of the present invention;
FIG. 2 is a schematic view of a routing inspection path of a robot according to one embodiment of the present invention;
FIG. 3 is a schematic view of a routing inspection path of a robot according to one embodiment of the present invention;
FIG. 4 is a schematic view of a routing inspection path of a robot in accordance with one embodiment of the present invention;
FIG. 5 is a schematic diagram of a routing inspection route of a robot according to one embodiment of the present invention
Fig. 6 is a workflow diagram of a robot according to one embodiment of the invention.
Wherein the reference numerals are as follows:
1. active detection device, 2, information processing control device, 3, execution device, 4, moving device, 5, external light source, 6, spinning component.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment describes a spinning machine autonomous operation service robot, as shown in fig. 1, comprising a moving device 4, an active detection device 1, an information processing control device 2 and an execution device 3, the moving device 4 moves along a set route around the spinning machine or autonomously and circularly, the active detection device 1 is used for continuously detecting the spindle production state of the spinning machine passing by one side or two sides of the spinning machine and sending the spindle production state information to the information processing control device 2, the information processing control device 2 performs judgment processing on the received spindle production state information, generates control information when the state of the spindle production is judged to be abnormal and sends the control information to the execution device 3, the execution device 3 receives the control information and performs operation control corresponding to the control information on the spindle, and the execution device 3 comprises an automatic piecing device and/or a yarn clearing device.
The spinning machine autonomous operation service robot can conveniently find the phenomena of yarn breakage and accumulation of a spindle through the active detection device 1 by the mobile device 4 in the itinerant operation around the spinning machine unit, the detection result of the active detection device 1 is judged and processed in time by the information processing control device 2, the execution device 3 has the functions of automatic joint and automatic cleaning, and the execution device 3 can automatically execute corresponding processing actions through the instruction sent by the information processing control device 2. Compared with the prior art, the active detection device 1 is carried on a robot, moves along with the robot to operate, replaces a traditional multi-detection-head system with one detection head for each spindle, and only one or more detection heads are needed for one robot, so that the risk that a certain detection head of the traditional detection system fails and is difficult to screen can be effectively avoided while the material and cost are saved, and the abnormal condition of the spindle can be quickly responded and processed, so that the production efficiency can be improved.
The active detection device 1 comprises an image processing system, the image processing system comprises an image capturing module and an image recognition module, the image capturing module is used for capturing images of spindles of the textile machinery at different moments, in different areas or in the same area, and the image recognition module is used for recognizing the images captured by the image capturing module so as to obtain accurate positioning information and abnormal state information of the spindles in abnormal states. The carried image processing system can capture images of spindles of the textile machinery at different moments, in different areas or in the same area, and can effectively identify accurate positioning information and abnormal state information of the spindles in abnormal states, so that quick response is facilitated.
As a further improvement of an embodiment of the present invention, the image capturing module is a camera, and different spindle shooting area ranges can be set at the same position, so as to adapt to spinning machines of different models, and achieve reliable and stable image capturing, so as to ensure reliability of active detection of the robot.
As a further improvement of an embodiment of the present invention, in order to ensure the sharpness of the recorded image, an external light source 5 capable of providing light assistance to the image processing system is further provided in the active detection device 1.
Under the action of the external light source 5, a camera in the image processing system firstly shoots a spinning part 6 in the spinning machine in a large range, shoots an image of a working part in the spinning machine for one frame, transmits the image to the image processing system mounted on the robot, and intelligently identifies whether the working state is normal or not by the system. If the yarn breakage and yarn accumulation are found, the detection range is narrowed again, the yarn is accurately positioned, the identification result is sent to the information processing control device 2, the information processing control device 2 carries out judgment processing, a control instruction is sent to the execution device 3 when the abnormality is judged, and the execution device 3 carries out splicing or cleaning operation on the corresponding spinning part 6; of course, if everything is normal, the information processing control apparatus 2 gives a signal to the moving apparatus 4, and directs the moving apparatus 4 to continue the movement, making the next round of detection.
Besides, the active detection device 1 may further include one or more of a magnetic sensor, an optical sensor, or a photoelectric sensor. The active detection device 1 can be selected from the sensors described above to detect the position and defect condition of the spindle and also to detect whether there is a yarn break or yarn accumulation, and in short, to detect the state of the spindle and yarn, and is also within the scope of the present disclosure.
As a further improvement of an embodiment of the present invention, the active detection device 1 includes a broken yarn detection module and/or an accumulated flower detection module, and the spindle production state information includes information on whether a single spindle is broken and/or information on accumulated flower of a spinning roller, a leather roller and a steel wire ring.
As a further improvement of an embodiment of the present invention, the moving device 4 may be an AGV automatic guide device which guides the robot to travel along a set route.
Taking a spinning frame as an example, the set route is a route as shown in fig. 2, and the AGV automatic guide device guides the robot to do circular motion around a single spinning frame, and when doing circular motion around the single spinning frame, each spinning frame needs to be equipped with one robot. The set route can be the route shown in fig. 3, and the AGV automatic guiding device guides the robot to travel along the S-shaped route in the operation passage of the spinning machine set, and when the robot makes S-shaped movement around the spinning machine set, the setting of the functional route can be realized only by one robot.
In addition, the moving device 4 can also be a track arranged along a single side of the spinning machine and a guide device which can make reciprocating tour on the track, the traveling track of the moving device is shown in fig. 4, and robots are arranged on two sides of each spinning machine for tour inspection; the moving device 4 may be a rail disposed between the two spinning devices and a guide device reciprocating and traveling on the rail, and the traveling track is as shown in fig. 5, which is simpler and lower in installation cost.
As a further improvement of the embodiment of the present invention, the moving device 4 may include guide rails set at both sides of a single spinning machine and a driving device for driving the robot to move on the guide rails, and the traveling track of the moving device is as shown in fig. 4, and the robot is provided at both side surfaces of each spinning machine for inspection; the moving device 4 may be a guide rail on an operation path between two adjacent spinning machines and a driving device for driving the robot to move on the guide rail, and the traveling locus thereof is as shown in fig. 5, and the robot makes a reciprocating linear motion along the guide rail, so that the identification processing of the spinning member along the way is simpler.
The specific selection of the mobile device 4 and the corresponding route selection can be automatically selected according to the field working conditions, the investment cost and the like, so that the detection and the automatic fault handling operation of one side or two adjacent sides of the spinning frame can be limited. The spinning machine can be a spinning machine such as a spinning frame, a roving frame and the like with high manual maintenance cost.
As shown in fig. 6, there is provided a working flow chart of the spinning machine autonomous operation service robot of the present invention. Under the action of an external light source 5, a camera in the active detection device 1 shoots a spinning part 6 in a large range, if the yarn breakage and yarn accumulation conditions are found, the detection range is narrowed again to accurately position the yarn, an identification result is sent to the information processing control device 2, and the information processing control device 2 judges whether to perform splicing or cleaning operation; if the spindle production state result is judged to be normal, the information processing control device 2 guides the mobile device 4 to continue to move along the set route according to the signal given by the active detection device 1, and the next round of detection is made. When the spindle production state is judged to be abnormal, the information processing control device 2 generates control information and sends the control information to the execution device 3, and the execution device 3 receives the control information and carries out operation control corresponding to the control information on the spindle, such as yarn breaking processing or blowing operation.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the invention, and not to limit the scope of the invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.
Claims (11)
1. A spinning machine autonomous operation service robot, characterized in that: the automatic spindle production monitoring system comprises a moving device, an active detection device, an information processing control device and an execution device, wherein the moving device moves along a set route around a spinning machine or autonomously and circularly, the active detection device is used for continuously detecting the spindle production state of the spinning machine passing by the active detection device and sending the spindle production state information to the information processing control device, the information processing control device judges and processes the received spindle production state information, when the spindle production state is judged to be abnormal, control information is generated and sent to the execution device, and the execution device receives the control information and carries out operation control corresponding to the control information on the spindle.
2. A spinning machine autonomous operation service robot according to claim 1, characterized in that: the active detection device comprises an image processing system, the image processing system comprises an image capturing module and an image recognition module, the image capturing module is used for capturing images of the spindles of the textile machinery at different moments, in different areas or in the same area, and the image recognition module is used for recognizing the images captured by the image capturing module so as to obtain accurate positioning information and abnormal state information of the spindles in abnormal states.
3. A spinning machine autonomous operation service robot according to claim 2, characterized in that: the image capture module is a camera.
4. A spinning machine autonomous operation service robot according to claim 2 or 3, characterized in that: the image capturing module can set different spindle shooting area ranges at the same position.
5. A spinning machine autonomous operation service robot according to claim 1, characterized in that: the active detection device further comprises a magnetic sensor, an optical sensor or a photoelectric sensor.
6. A spinning machine autonomous operation service robot according to claim 1 or 2, characterized in that: the executing device comprises an automatic piecing device and/or a yarn clearing device.
7. A spinning machine autonomous operation service robot according to claim 1 or 2, characterized in that: the active detection device comprises a broken yarn detection module and/or an accumulated flower detection module, and the spindle production state information comprises information on whether a single spindle is broken and/or information on accumulated flower of a spinning roller, a leather roller and a steel wire ring.
8. A spinning machine autonomous operation service robot according to any of claims 2-4, characterized in that: an external light source for providing light assistance to the image processing system is also included.
9. A spinning machine autonomous operation service robot according to claim 1, characterized in that: the moving device is an automatic AGV guiding device which guides the robot to walk along a set route.
10. A spinning machine autonomous operation service robot according to claim 1, characterized in that: the moving device can also be a rail arranged along a single side of the spinning machine or between two spinning devices and a guide device which is traversed back and forth on the rail.
11. A spinning machine autonomous operation service robot according to claim 1, characterized in that: the moving device comprises guide rails set on two sides of a single spinning machine or an operation channel between two adjacent spinning machines and a driving device for driving the robot to move on the guide rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911396638.0A CN111058130A (en) | 2019-12-30 | 2019-12-30 | Spinning machinery autonomous operation service robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911396638.0A CN111058130A (en) | 2019-12-30 | 2019-12-30 | Spinning machinery autonomous operation service robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111676556A (en) * | 2019-12-31 | 2020-09-18 | 微山县微山湖微电子产业研究院有限公司 | Automatic broken yarn itinerant detection device and control method |
| CN113755978A (en) * | 2021-09-18 | 2021-12-07 | 东华大学 | Automatic joint robot compliance device based on tension feedback |
| CN114779727A (en) * | 2022-05-10 | 2022-07-22 | 山东大学 | Real-time monitoring system and method for working state of textile machine |
| CN114779727B (en) * | 2022-05-10 | 2024-05-28 | 山东大学 | Real-time monitoring system and method for working state of textile machine |
-
2019
- 2019-12-30 CN CN201911396638.0A patent/CN111058130A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111676556A (en) * | 2019-12-31 | 2020-09-18 | 微山县微山湖微电子产业研究院有限公司 | Automatic broken yarn itinerant detection device and control method |
| CN111676556B (en) * | 2019-12-31 | 2021-07-06 | 微山县微山湖微电子产业研究院有限公司 | Automatic broken yarn itinerant detection device and control method |
| CN113755978A (en) * | 2021-09-18 | 2021-12-07 | 东华大学 | Automatic joint robot compliance device based on tension feedback |
| CN113755978B (en) * | 2021-09-18 | 2022-09-16 | 东华大学 | Automatic joint robot compliance device based on tension feedback |
| CN114779727A (en) * | 2022-05-10 | 2022-07-22 | 山东大学 | Real-time monitoring system and method for working state of textile machine |
| CN114779727B (en) * | 2022-05-10 | 2024-05-28 | 山东大学 | Real-time monitoring system and method for working state of textile machine |
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