CN111890669A - A kind of processing device and processing method of spiral core-wrapped products based on single-board machine control - Google Patents

Abstract

The invention discloses a spiral core-spun product processing device and a processing method based on single-board computer control, which comprises the following steps: the core layer feeding mechanism is used for conveying the core layer raw materials; the core-spun layer feeding and forming mechanism is used for conveying the core-spun layer raw material and processing and forming the spiral core-spun structure; a winding mechanism for receiving a spiral core-spun structural article; and the intelligent control mechanism is used for carrying out real-time monitoring and automatic linkage control on the whole processing device. The core layer feeding mechanism, the core layer feeding and forming mechanism and the winding mechanism are sequentially arranged from bottom to top, and the intelligent control mechanism is installed on one side of the power mechanism far away from the motor and the like. The key technology of the processing device is that a single-board computer is used as a core, automatic control and image recognition means are combined, the advantages of high automation, intelligence and flexibility are given to the equipment, the operation is safe and stable, high-quality core-spun structure products with good consistency can be produced, the implementation is convenient, the cost is low, and the processing device is suitable for continuous production and popularization and application.

Description

A kind of processing device and processing method of spiral core-wrapped products based on single-board machine control

technical field

The invention relates to the technical field of intelligent manufacturing, in particular to a processing device and a processing method for a spiral core-wrapped product based on the control of a single-board computer.

Background technique

With the continuous advancement of science and technology, the degree of automation and intelligence is getting higher and higher, and various fields are facing the challenge of technological upgrading. The upgrading of manufacturing equipment is one of the core factors to reduce production costs and improve product competitiveness. Therefore, the present invention proposes a processing device and method for manufacturing spiral core-spun structural products. Compared with traditional core-spun processing equipment, in solving the problem of product consistency, there is no need to stop the machine to observe and then make parameter adjustment strategies, which is inefficient. The invention combines the single-board computer control technology and the image recognition technology to realize real-time observation of product form and automatic parameter adjustment, effectively solving the problem of product consistency and ensuring product quality and production efficiency.

SUMMARY OF THE INVENTION

In order to overcome the deficiencies in the prior art, the present invention provides a processing device and a processing method for spiral core-wrapped products based on single-board computer control. The high-speed camera is added in the link to form a closed-loop control system. The microcomputer on the single-board computer controls the cooperation between the mechanism and the mechanism through software programming and performs real-time control, so as to accurately and stably process the spiral cores required by various process parameters. Structural products.

In order to achieve the above-mentioned purpose of the invention, the technical solutions adopted to solve the technical problems are as follows:

The invention discloses a spiral core-wrapped product processing device controlled by a single-board machine, comprising:

a core layer feeding mechanism (1) for conveying core layer raw materials;

A core-clad layer feeding and forming mechanism (2) for conveying the core-clad layer raw material and processing and forming the spiral core-clad structure;

A winding mechanism (3) for receiving a product of a spiral core structure;

and an intelligent control mechanism (4) with a single-board computer as the core for real-time monitoring and automatic linkage control of the entire processing device;

The core layer feeding mechanism (1), the core layer feeding and forming mechanism (2) and the winding mechanism (3) are sequentially arranged from bottom to top, and the intelligent control mechanism (4) is installed away from the core layer feeding. The mechanism (1), the core layer feeding and forming mechanism (2) and the power mechanism side of the winding mechanism (3).

Further, the core layer feeding mechanism (1) comprises a first feeding roller (101), a second feeding roller (102), a core layer raw material (103), a first driving motor (104), and a first transmission belt (105) ), a first speed encoder (106), a first driven gear (107), a first bracket (108), a first rotating shaft (109) and a first driving gear (110), wherein:

The core layer raw material (103) is placed above the first feeding roller (101) and the second feeding roller (102), and the first feeding roller (101) is positioned between the first driving motor (104) and the second feeding roller (102). A driving belt (105) rotates under the drive, and the first feeding roller (101) and the second feeding roller (102) are fixed on the first bracket (108) through the first rotating shaft (109), the first The rotational speed of the feeding drum (101) is determined by the gear ratio of the first driving gear (110) and the first driven gear (107), and the real-time rotational speed during operation can be measured and obtained by the first rotational speed encoder (106). It is transmitted to the intelligent control mechanism (4) for closed-loop control.

Further, the core layer feeding and forming mechanism (2) includes a core layer raw material (201), a second drive motor (202), a reduction gear box (203), a second speed encoder (204), a material guide Pipe (207), secondary reduction gear (208), material guide pipe fixing pin (209), primary reduction gear (210) and power gear (211), wherein:

The material guide pipe (207) installed on the material guide pipe fixing pin (209) will bend the core layer material (103) with an arc to perform linear shaping, and the power of the second driving motor (202) The core layer raw material (201) is transmitted to the core layer material (201) through the reduction gear box (203) to rotate at a preset speed and complete the wrapping of the core layer. The real-time wrapping speed is passed through the second speed encoder. (204) The acquisition is transmitted to the intelligent control mechanism (4) for closed-loop control, and the reduction gear box (203) is composed of a primary reduction gear (210), a secondary reduction gear (208), and a power gear (211).

Further, the core wrapping layer feeding and forming mechanism (2) further comprises a cable (205) and a high-speed camera (206), the high-speed camera (206) is arranged at the outlet of the material guide pipe (207), and passes through the The cable (205) transmits the video signal collected in real time to the intelligent control mechanism (4).

Further, the winding mechanism (3) includes a winding drum (301), a third drive motor (302), a second drive belt (303), a third speed encoder (304), a linear motor (305), Product reel (306), second bracket (307), spring connecting rib (308), second shaft (309), guide slider (310), second driving gear (311) and second driven gear (312), where:

Under the rotation of the third drive motor (302), power is transmitted to the A winding drum (301); the product reel (306) clamped by the spring connecting rib (308) is closely attached to the winding drum (301) under the dual action of elastic force and gravity and completes its rotation For the winding of the finished product, the product reel (306) is fixed on the second bracket (307) through the second rotating shaft (309), and the linear motor (305) drives the guide under the action of the control signal. The material slider (310) reciprocates so that the finished product is evenly wound on the product reel (306). During the operation, the winding speed can be collected by the third speed encoder (304) and transmitted to the intelligent The control mechanism (4) performs closed-loop control.

Further, the spring connecting rib (308) rotates with the second rotating shaft (309) as the center of the circle.

Further, the intelligent control mechanism (4) includes a single board computer system (401), a touch screen (402), an emergency stop button (403), a running indicator light (404), an alarm indicator light (405) and a switch (406) ),in:

The single-board computer system (401) is used for receiving the video signal in the high-speed camera (206), and after intercepting the video signal as a picture according to the video frame rate, performing image recognition of the finished product, and then calculating the real-time product process parameters, which are then sent to the single-board computer system by the single-board computer system. The control algorithm set in programming compares the real-time process parameters with the preset parameters to obtain real-time adjustment instructions to adjust the first drive motor (104), the second drive motor (202) and the third drive motor (302). real-time speed;

The touch screen (402) is used for the operator to complete the setting of processing parameters and observe the real-time production status;

The emergency stop button (403) is used for forcibly shutting down in the event of an emergency accident or failure;

The operation indicator light (404) and the alarm indicator light (405) are respectively used to indicate the operation state and the alarm state of the system;

The switch (406) is used for turning on or off the power of the first driving motor (104), the second driving motor (202) and the third driving motor (302).

The present invention further discloses a method for processing a spiral core-wrapped product based on the control of a single-board machine. The above-mentioned spiral-core-wrapped product processing device based on the control of a single-board machine is used for processing, including the following steps:

Step 1: install the core layer raw material (201) at the corresponding position on the reduction gear box (203) of the core layer feeding and forming mechanism (2);

Step 2: After confirming that there is no foreign matter on the feeding roller (101) of the core layer feeding mechanism (1), place the core layer raw material (103) on top, and pull the head of the core layer raw material (103) through the core layer The material guide tube (207) of the feeding and forming mechanism (2) is wound on the product reel (306) of the winding mechanism (3), so as to facilitate the smooth reception of subsequent finished products;

Step 3: the production process parameters are set on the touch screen (402) of the intelligent control mechanism (4), and the switch (406) is turned on after confirmation to start production;

Step 4: After starting production, under the control of the intelligent control mechanism (4), the first driving motor (104) and the third driving motor (302) corresponding to the core layer feeding mechanism (1) and the winding mechanism (3) are first driven. Start operation to adjust the tension of the core layer raw material (103), when the tension of the core layer raw material (103) stabilizes and reaches the preset value, the second drive motor (202) of the core layer feeding and forming mechanism (2) starts to operate according to the preset parameters Production;

Step 5: During the manufacturing process, the real-time shape of the finished product collected by the high-speed camera (206) and the values collected by the encoders of each mechanism are transmitted to the intelligent control mechanism (4) for automatic adjustment and control, so as to ensure the product when external interference or internal failure occurs. quality and safety of personnel and equipment;

Step 6: If a mechanical failure or other man-made accident occurs during the processing, emergency stop can be performed by pressing the emergency stop button (403).

Further, in step 2, the feeding method of the core layer feeding mechanism (1) is generated by the direct contact between the core layer raw material (103) itself and the first feeding roller (101) and the second feeding roller (102). The friction force is driven to complete the feeding, the three are in direct contact, and the rotational speed is the same.

Further, in step 4, the control algorithm of the intelligent control mechanism (4) is realized by using a cascade PID controller, the process parameters are used as the input value of the outer loop, and the real-time process parameters obtained by the image recognition algorithm are used as the outer loop. Feedback value, the output value of the outer loop PID controller is used as the input value of the inner loop PID controller, and the real-time motor speed returned by the encoder is used as the feedback value. Finally, the processing of the predetermined process parameters is completed by controlling the motor speed in real time.

Further, in step 5, the real-time form of the finished product collected in the high-speed camera (206) is intercepted as a picture according to the video frame rate, and then image recognition of the finished product is performed to calculate the real-time product process parameters and set by programming in the single-board computer system. The predetermined control algorithm compares real-time process parameters with preset parameters to obtain real-time adjustment instructions to adjust the real-time rotational speeds of the first drive motor (104), the second drive motor (202) and the third drive motor (302). The above-mentioned image recognition is mainly realized through the following three steps: first, the intercepted image is first subjected to binarization processing, and then the binarized image is filtered to remove noise, and finally each process parameter of the core-spun product is obtained by edge recognition. And output the control algorithm unit for control.

Compared with the prior art, the present invention has the following advantages and positive effects due to the adoption of the above technical solutions:

1. The key of the present invention is to decouple the structure of each link of the manufacturing process, which greatly improves the maintainability of the equipment, reduces the cost of manufacturing and maintenance, and adds automatic control to each link to make the equipment accurate and stable. operation. Image recognition is added to the end of the produced products to ensure product quality.

2. Each link of the mechanical structure of the spiral core-wrapped structure product processing device designed by the present invention uses functional units as modules, which has a very low degree of mechanical coupling, high adjustability and maintainability, low manufacturing difficulty, and strong universality. .

3. The present invention incorporates a single-board computer system, and adopts cutting-edge technologies such as automatic control and image recognition. The combination of the camera and the encoder adopts the control algorithm of cascade PID, which greatly improves the consistency and product quality of the produced products.

4. The spiral core-spun structure product processing equipment of the present invention has a simple operation process, low technical requirements for operators, and greatly saves labor costs; at the same time, the equipment can process a wide range of raw materials, high flexibility, and is suitable for core-spun textile products. And cable covering and other applications, a wide range of applications.

5. The key technology of the processing device of the present invention is that the single-board computer is used as the core, combined with automatic control and image recognition means, which gives the equipment the advantages of high automation, intelligence and flexibility, safe and stable operation, and can produce good consistency. The high-quality core-spun structure product is easy to implement and low in cost, and is suitable for continuous production and popularization and application.

6. The processing device of the present invention can realize fast, high-quality, and low-cost processing of products with a spiral core-wrapped structure, especially using a single-board machine as a control system to realize real-time monitoring and regulation of wrapping density and product shape.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can also be obtained from these drawings without creative effort. In the attached picture:

Fig. 1 is the front view of a kind of spiral core-wrapped product processing device based on single board machine control of the present invention;

2 is a core layer feeding mechanism of a spiral core-wrapped product processing device controlled by a single-board machine according to the present invention;

Fig. 3 is a core layer feeding and forming mechanism of a spiral core-wrapped product processing device controlled by a single-board machine according to the present invention;

4 is a cross-sectional view of the A-A surface of the core layer feeding and forming mechanism of a spiral core-wrapped product processing device controlled by a single-board machine according to the present invention;

5 is a winding mechanism of a spiral core-wrapped product processing device controlled by a single-board machine according to the present invention;

6 is an intelligent control mechanism of a spiral core-wrapped product processing device controlled by a single-board computer according to the present invention;

7 is a structural block diagram of an intelligent control mechanism of a single-board computer-based spiral core-wrapped product processing device of the present invention;

8 is a schematic diagram of the automatic control of a spiral core-wrapped product processing device controlled by a single-board computer according to the present invention;

Fig. 9 is a kind of human-computer interaction interface of a spiral core-wrapped product processing device based on single-board computer control of the present invention;

10 is a flow chart of an automatic control program of a spiral core-wrapped product processing device controlled by a single-board computer according to the present invention;

【Description of main symbols】

1-Core layer feeding mechanism, 101-First feeding roller, 102-Second feeding roller, 103-Core layer raw material, 104-First drive motor, 105-First transmission belt, 106-First speed encoder, 107 - the first driven gear, 108 - the first bracket, 109 - the first shaft, 110 - the first driving gear;

2- Core layer feeding and forming mechanism, 201- Core layer raw material, 202- Second drive motor, 203- Reduction gearbox, 204- Second speed encoder, 205- Cable, 206- High-speed camera, 207- Feed tube, 208-secondary reduction gear, 209-fixing pin of feed tube, 210-first-stage reduction gear, 211-power gear;

3-winding mechanism, 301-winding drum, 302-third drive motor, 303-second drive belt, 304-third speed encoder, 305-linear motor, 306-product reel, 307-second Bracket, 308-spring connecting rib, 309-second rotating shaft, 310-material guide slider, 311-second driving gear, 312-second driven gear;

4-Intelligent control mechanism, 401-Single board computer system, 402-touch screen, 403-emergency stop button, 404-running indicator light, 405-alarm indicator light, 406-switch.

Detailed ways

The following will clearly and completely describe and discuss the technical solutions in the embodiments of the present invention with reference to the accompanying drawings of the present invention. Obviously, what is described here is only a part of the examples of the present invention, not all of the examples. All other embodiments obtained by those of ordinary skill in the art without creative work, all belong to the protection scope of the present invention.

Example 1

As shown in Figures 1-6, the present invention discloses a spiral core-wrapped product processing device based on the control of a single-board machine, including:

A core layer feeding mechanism 1 for conveying core layer raw materials 103, the core layer feeding mechanism 1 includes a first feeding roller 101, a second feeding roller 102, a core layer raw material 103, a first driving motor 104, and a first transmission belt 105 , the first speed encoder 106, the first driven gear 107, the first support 108, the first shaft 109 and the first driving gear 110, wherein: the core layer raw material 103 is placed on the first feeding roller 101 and the first Above the second feeding drum 102, the first feeding drum 101 rotates under the drive of the first driving motor 104 and the first transmission belt 105, and the first feeding drum 101 and the second feeding drum 102 pass through the first rotating shaft 109 is fixed on the first bracket 108, the rotation speed of the first feeding drum 101 is determined by the gear ratio of the first driving gear 110 and the first driven gear 107, and the real-time rotation speed during operation can be determined by the first rotation speed. The encoder 106 measures and transmits it to the intelligent control mechanism 4 for closed-loop control; in this embodiment, the core layer feeding mechanism 1 supports the core layer raw material 103 through two rollers. Under the rotation, the rotation is transmitted to the first feeding roller 101 and the second feeding roller 102 through the first transmission belt 105, and the core layer raw material 103 is driven to rotate and spit out under the action of the friction force between the core layer raw material 103 and the two rollers. The transmission between the two is in the form of frictional contact, so the speed of the material discharged at a constant speed will not be affected as the radius of the core layer raw material 103 becomes smaller. In order to ensure the accuracy of the process parameters as strictly as possible The stable, real-time feed rate is measured by the first tachometer 106 and transmitted to the microcomputer for closed-loop control.

The core layer feeding and forming mechanism 2 used for the transportation of the core layer raw material 201 and the processing and forming of the spiral core layer structure, the core layer feeding and forming mechanism 2 includes the core layer raw material 201, the second driving motor 202, the reduction gear Box 203, second speed encoder 204, cable 205, high-speed camera 206, feed tube 207, secondary reduction gear 208, feed tube fixing pin 209, primary reduction gear 210 and power gear 211, wherein: installed in The material guide pipe 207 on the material guide pipe fixing pin 209 will shape the core layer raw material 103 which is bent with an arc to linearly shape, and the power of the second driving motor 202 is transmitted through the reduction gear box 203 to the The core layer raw material 201 is rotated according to the preset speed and completes the wrapping of the core layer, and the real-time wrapping speed is collected and transmitted to the intelligent control mechanism 4 through the second speed encoder 204 for closed-loop control, The reduction gear box 203 is composed of a primary reduction gear 210, a secondary reduction gear 208, and a power gear 211; in this embodiment, the key to the core coating layer feeding and forming mechanism 2 to complete the core coating is: the second The high-speed rotation of the driving motor 202 drives the core layer raw material 201 to rotate and rotate, and the core layer raw material 201 is rotated and wound on the core layer under the action of inertia. The high-speed camera 206 is disposed at the outlet of the material guide tube 207 , and transmits the real-time captured video signal to the intelligent control mechanism 4 through the cable 205 .

The winding mechanism 3 for receiving the spiral core-spun structure product completes the final collection and winding of the finished product. The winding mechanism 3 includes a winding drum 301 , a third drive motor 302 , a second transmission belt 303 , a third speed encoder 304 , a linear motor 305 , a product winding drum 306 , a second bracket 307 , and a spring connecting rib 308 , the second rotating shaft 309, the guide slider 310, the second driving gear 311 and the second driven gear 312, wherein: under the rotation of the third driving motor 302, the power is connected by the second transmission belt 303 The second driving gear 311 and the second driven gear 312 are transmitted to the winding drum 301; the product winding drum 306 clamped by the spring connecting rib 308 is in close contact with the double action of elastic force and gravity The winding drum 301 rotates with it to complete the winding of the finished product, the product winding drum 306 is fixed on the second bracket 307 through the second rotating shaft 309, and the linear motor 305 is driven by the control signal. The reciprocating motion of the guide slider 310 makes the finished product evenly wound on the product reel 306 so as to satisfy the even winding. During operation, the winding speed can be collected by the third speed encoder 304 and transmitted to the intelligent control mechanism 4 for closed-loop control; the high-speed camera 206 transmits the real-time shape of the product to the intelligent control mechanism 4 in the form of a video stream for image processing. Identify and use for parameter tuning controls. In this embodiment, the spring connecting rib 308 rotates with the second rotating shaft 309 as the center of the circle. As the diameter of the package of the collected finished products gradually increases, the winding device will be connected by the spring connecting rib 308 around the rotating shaft. Rotate up to avoid squeezing and damaging the product.

And an intelligent control mechanism 4 with a single board computer as the core for real-time monitoring and automatic linkage control of the entire processing device, the intelligent control mechanism 4 includes a single board computer system 401, a touch screen 402, an emergency stop button 403, a running instruction The light 404, the alarm indicator 405 and the switch 406, wherein: the single board computer system 401 is used to receive the video signal in the high-speed camera 206 and intercept it as a picture according to the video frame rate, and then perform image recognition of the finished product and then calculate the real-time Product process parameters (wrapping distance, wrapping angle, etc.) are set by the control algorithm programmed in the single-board computer system 401 to compare the real-time process parameters with the preset parameters to obtain real-time adjustment instructions to adjust the first drive. The real-time rotational speed of the motor 104, the second driving motor 202 and the third driving motor 302 makes the product process meet the requirements and improve the product quality; the touch screen 402 is used for the operator to complete the setting of the processing process parameters and observe the real-time production status; The emergency stop button 403 is used to forcibly shut down when an emergency accident or failure occurs; the operation indicator light 404 and the alarm indicator light 405 are respectively used to indicate the operating state and alarm state of the system; the switch 406 is used to turn on Or turn off the power of the first drive motor 104, the second drive motor 202 and the third drive motor 302; specifically, the first speed encoder 106, the second speed encoder 204 and the third speed encoder 304 The rotational speed of the first driving motor 104, the second driving motor 202 and the third driving motor 302 are respectively fed back in real time, so that the motors can still rotate according to the preset rotational speed under the condition of interference. The real-time shape is fed back to the single-board computer system 401 to monitor real-time process parameters and unexpected situations such as material breakage and bad material, so that the system can make corresponding actions in time. In this embodiment, the parameter setting (including process parameter setting, system setting, etc.) of the intelligent control mechanism 4 is realized by touching the human-computer interaction interface of the screen 402 . The human-computer interaction interface includes finished product preview, product process parameter setting, product real-time form, system setting and equipment calibration, etc. In addition, the processing parameters can also be set by programming for single parameter processing and variable parameter processing.

As shown in Figure 7, the intelligent control mechanism 4 is a microcomputer system with a single board computer as the core, which is used to manage and control the operation of the entire system; the human-computer interface is an important way for the operator to interact with the equipment, as shown in Figure 9 As shown, you can see the real-time running time and other basic production conditions on the touch screen. In addition, you can also set the top of the production process and set the equipment, such as parameter adjustment and equipment calibration. At the same time, the real-time image information collected by the high-speed camera 206 and the image information processed by the image recognition program can also be observed in real time; all the motors described in the device are uniformly isolated from strong and weak currents through the motor driver, and codes are installed in all the places where the motors rotate. The real-time speed of the motor is collected by the device; the control signal of the motor, the signal of the high-speed camera 206 and the collected value of the encoder are unified through the hardware driver to exchange information with the system, and the hardware driver provides the automatic control program with a basic coding sensor data reading interface With the motor output interface, the high-speed camera 206 data reading interface is provided for the image recognition program, and the image recognition program provides real-time process parameter values for the automatic control program. The single board computer system 401 in the intelligent control mechanism 4 is equipped with a Linux operating system, and uses the relevant interfaces provided by the Linux system to complete the connection with the hardware driver. Due to the high-speed conveying operation of raw materials during the start-up operation, in order to capture the state under high-speed operation, the camera needs to use an industrial-grade high-speed camera 206 .

The core layer feeding mechanism 1, the core layer feeding and forming mechanism 2 and the winding mechanism 3 are arranged in order from bottom to top, and the intelligent control mechanism 4 is installed away from the core layer feeding mechanism 1, core layer feeding and On the brackets on the side of the power mechanism of the forming mechanism 2 and the winding mechanism 3.

Embodiment 2

As shown in FIG. 10 , the present invention further discloses a method for processing a spiral core-wrapped product based on a single-board machine control, using the above-mentioned single-board machine-controlled spiral core-wrapped product processing device for processing, including the following steps:

Step 1: Install the core layer raw material 201 at the corresponding position on the reduction gear box 203 of the core layer feeding and forming mechanism 2;

Step 2: After confirming that there is no foreign matter on the feeding roller 101 of the core layer feeding mechanism 1, place the core layer raw material 103 on top, and pull the head of the core layer raw material 103 through the core layer feeding and the guiding material of the forming mechanism 2 The tube 207 is wound on the product reel 306 of the winding mechanism 3 to facilitate the smooth receipt of subsequent finished products;

Step 3: Set the production process parameters on the touch screen 402 of the intelligent control mechanism 4, and then turn on the switch 406 to start production after confirming that it is correct;

Step 4: After starting production, under the control of the intelligent control mechanism 4, the first driving motor 104 and the third driving motor 302 corresponding to the core layer feeding mechanism 1 and the winding mechanism 3 first start to operate to adjust the tension of the core layer raw material 103, When the tension of the core layer raw material 103 is stable and reaches the preset value, the second drive motor 202 of the core layer feeding and forming mechanism 2 operates according to the preset parameters to start production;

Step 5: During the manufacturing process, the real-time shape of the finished product collected by the high-speed camera 206 and the values collected by the encoders of each mechanism are transmitted to the intelligent control mechanism 4 for automatic adjustment and control, so as to ensure product quality and personnel when external interference or internal failure occurs safety of equipment;

Step 6: If a mechanical failure or other human accident occurs during the processing, emergency stop can be performed by pressing the emergency stop button 403 .

Further, in step 2, the feeding method of the core layer feeding mechanism 1 is to rely on the friction force generated by the direct contact between the core layer raw material 103 itself and the first feeding roller 101 and the second feeding roller 102 to drive and complete the feeding, The three are in direct contact, and the rotational speed is the same, which avoids the influence of the feeding speed caused by the reduction in the radius of the core layer raw material 103 with the continuous feeding, and improves the accuracy by mechanical means.

Further, in step 4, the control algorithm of the intelligent control mechanism 4 is realized by using a cascade PID controller, the process parameters are used as the input value of the outer loop, and the real-time process parameters obtained by the image recognition algorithm are used as the feedback value of the outer loop. , the output value of the outer loop PID controller is used as the input value of the inner loop PID controller, the real-time motor speed returned by the encoder is used as the feedback value, and finally the processing of the predetermined process parameters is completed by controlling the motor speed in real time. Specifically, as shown in Figure 8, the cascade PID control method is used to improve the stability and precision of product processing. After the operator sets the process parameters for processing by touching the screen 402 and starts the machine, the preset process parameters are used as the input value of the outer loop PID controller. After the control program extracts the video image as a picture according to the video frame rate, the actual process parameters of the product are obtained by analyzing the edge recognition method as the feedback value, and the output value after passing through the PID controller is used as the input value of the inner loop PID controller. The value collected by the encoders of each mechanism is used as the feedback value of the inner loop PID controller to output the real-time speed value of the motor after passing through the inner loop PID controller, and finally the stable and precise control of the product process parameters is realized. The specific parameters of the above PID controller need to be debugged and corrected according to the specific equipment. In addition, the parameters of the PID controller can also be modified and debugged in a small range by the debugger through the human-machine interface to make the equipment reach the best state.

Further, in step 5, the real-time form of the finished product collected in the high-speed camera 206 is intercepted as a picture according to the video frame rate, and then image recognition of the finished product is performed to calculate the real-time product process parameters and set by programming in the single-board computer system 401. The control algorithm compares real-time process parameters with preset parameters to obtain real-time adjustment instructions to adjust the real-time rotational speeds of the first drive motor 104, the second drive motor 202 and the third drive motor 302, and the image recognition is mainly through the following Three-step implementation: first perform binarization processing on the intercepted image, then filter the binarized image to remove noise, and finally use edge recognition to obtain various process parameters of the core-spun product and output the control algorithm unit for control .

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (11)

1. A spiral core-spun product processingequipment based on single board computer control which characterized in that includes:

a core layer feeding mechanism (1) for conveying the core layer raw material;

a core-spun layer feeding and forming mechanism (2) for conveying the core-spun layer raw material and processing and forming the spiral core-spun structure;

a winding mechanism (3) for receiving the spiral core-spun structural product;

and an intelligent control mechanism (4) which takes a single-board computer as a core and is used for carrying out real-time monitoring and automatic linkage control on the whole processing device;

sandwich layer feeding mechanism (1), core-spun layer pay-off and forming mechanism (2) and winding mechanism (3) set gradually from bottom to top, intelligent control mechanism (4) install in keeping away from power unit one side of sandwich layer feeding mechanism (1), core-spun layer pay-off and forming mechanism (2) and winding mechanism (3).

2. The single board machine control-based spiral core-spun product processing device according to claim 1, wherein the core layer feeding mechanism (1) comprises a first feeding roller (101), a second feeding roller (102), a core layer raw material (103), a first driving motor (104), a first driving belt (105), a first rotary speed encoder (106), a first driven gear (107), a first bracket (108), a first rotary shaft (109) and a first driving gear (110), wherein:

the core layer raw material (103) is arranged above the first feeding roller (101) and the second feeding roller (102), the first feeding roller (101) rotates under the transmission of the first driving motor (104) and the first transmission belt (105), the first feeding roller (101) and the second feeding roller (102) are fixed on a first support (108) through a first rotating shaft (109), the rotating speed of the first feeding roller (101) is determined by the gear ratio of the first driving gear (110) and the first driven gear (107), and the real-time rotating speed can be measured through the first rotating speed encoder (106) and transmitted to the intelligent control mechanism (4) for closed-loop control in the operation process.

3. The spiral core-spun product processing device based on the single board computer control as claimed in claim 2, wherein the core-spun layer feeding and forming mechanism (2) comprises a core-spun layer raw material (201), a second driving motor (202), a reduction gear box (203), a second rotary speed encoder (204), a material guide pipe (207), a second reduction gear (208), a material guide pipe fixing pin (209), a first reduction gear (210) and a power gear (211), wherein:

install in baffle pipe (207) on baffle pipe fixed pin (209) will bend and have the radian core layer raw materials (103) carry out sharp moulding, the power of second driving motor (202) passes through reduction gear box (203) is passed to core-spun layer raw materials (201) make it rotatory and accomplish the package to the core layer according to predetermined rotational speed, real-time package speed passes through second rotational speed encoder (204) are gathered and are conveyed intelligence control mechanism (4) carry out closed-loop control, reduction gear box (203) comprise one-level reduction gear (210), second grade reduction gear (208), power gear (211).

4. The spiral core-spun product processing device based on the single board computer control as claimed in claim 3, wherein the core-spun layer feeding and forming mechanism (2) further comprises a cable (205) and a high-speed camera (206), the high-speed camera (206) is arranged at the outlet of the material guide pipe (207), and transmits a video signal collected in real time to the intelligent control mechanism (4) through the cable (205).

5. The single board machine control-based spiral core-spun product processing device according to claim 4, wherein the winding mechanism (3) comprises a winding drum (301), a third driving motor (302), a second driving belt (303), a third speed encoder (304), a linear motor (305), a product winding drum (306), a second bracket (307), a spring connecting rib (308), a second rotating shaft (309), a material guiding slider (310), a second driving gear (311) and a second driven gear (312), wherein:

under the rotation of the third driving motor (302), the power is transmitted to the winding drum (301) through the second driving gear (311) and the second driven gear (312) connected with the second transmission belt (303); the product winding drum (306) clamped by the spring connecting ribs (308) is tightly attached to the winding drum (301) under the dual effects of elasticity and gravity and rotates along with the winding drum to complete winding of a finished product, the product winding drum (306) is fixed on a second support (307) through a second rotating shaft (309), the linear motor (305) drives the material guide sliding block (310) to reciprocate under the effect of a control signal to enable the finished product to be uniformly wound on the product winding drum (306), and the winding rotation speed can be acquired through the third rotation speed encoder (304) and transmitted to the intelligent control mechanism (4) to be controlled in a closed loop mode in the operation process.

6. A spiral core-spun product processing device based on single board computer control as claimed in claim 5, characterized in that the spring connecting rib (308) rotates around the second rotating shaft (309).

7. The spiral core-spun product processing device based on single board computer control of claim 5, wherein the intelligent control mechanism (4) comprises a single board computer system (401), a touch screen (402), an emergency stop button (403), an operation indicator lamp (404), an alarm indicator lamp (405) and a switch (406), wherein:

the single board computer system (401) is used for receiving the video signal in the high-speed camera (206), intercepting the video signal into a picture according to a video frame rate, then carrying out image recognition on a finished product, further calculating real-time product process parameters, and comparing the real-time process parameters with preset parameters by a control algorithm programmed and set in the single board computer system to obtain a real-time adjusting instruction so as to adjust the real-time rotating speeds of the first driving motor (104), the second driving motor (202) and the third driving motor (302);

the touch screen (402) is used for an operator to complete the setting of processing technological parameters and observe the real-time production state;

the emergency stop button (403) is used for forcibly stopping the vehicle when an emergency accident or fault occurs;

the operation indicator lamp (404) and the alarm indicator lamp (405) are respectively used for indicating the operation state and the alarm state of the system;

the switch (406) is used for switching on or off the power supply of the first driving motor (104), the second driving motor (202) and the third driving motor (302).

8. A method for processing spiral core-spun products based on single board machine control, which is characterized in that the processing device based on single board machine control of any one of the claims 1-7 is used for processing, and comprises the following steps:

step 1: installing the core-spun layer raw material (201) at a corresponding position on a reduction gear box (203) of the core-spun layer feeding and forming mechanism (2);

step 2: after confirming that no foreign matter exists on a feeding roller (101) of the core layer feeding mechanism (1), placing the core layer raw material (103) above, and drawing a stub bar of the core layer raw material (103) to penetrate through a material guide pipe (207) of the core layer feeding and forming mechanism (2) and winding the stub bar on a product winding barrel (306) of the winding mechanism (3), so that subsequent finished products can be smoothly received;

and step 3: setting production process parameters on a touch screen (402) of an intelligent control mechanism (4), and turning on a switch (406) to start production after the process is confirmed to be correct;

and 4, step 4: after the core-spun layer is started to be produced, under the control of the intelligent control mechanism (4), the core layer feeding mechanism (1) and a first driving motor (104) and a third driving motor (302) corresponding to the winding mechanism (3) start to operate to adjust the tension of the core layer raw material (103), and when the tension of the core layer raw material (103) stably reaches a preset value, a second driving motor (202) of the core-spun layer feeding and forming mechanism (2) starts to be produced according to the operation of preset parameters;

and 5: in the manufacturing process, the real-time shape of the finished product acquired by the high-speed camera (206) and the acquisition value of each mechanism encoder are transmitted to the intelligent control mechanism (4) for automatic regulation and control, so that the quality of the product and the safety of personnel and equipment are guaranteed when external interference or internal failure occurs;

step 6: if a mechanical failure or other human accident occurs during the machining process, the machine can be stopped emergently by pressing the emergency stop button (403).

9. The method for processing spiral core-spun products based on single-board machine control according to claim 8, characterized in that in step 2, the feeding manner of the core layer feeding mechanism (1) is driven to complete feeding by means of friction force generated by direct contact of the core layer raw material (103) with the first feeding roller (101) and the second feeding roller (102), the three are in direct contact, and the rotating linear speed is the same.

10. The single board computer control-based spiral core-spun product processing method according to claim 8, wherein in step 4, the control algorithm of the intelligent control mechanism (4) is implemented by using a cascade PID controller, the process parameter is used as the input value of the outer ring, the real-time process parameter obtained by the image recognition algorithm is used as the feedback value of the outer ring, the output value of the outer ring PID controller is used as the input value of the inner ring PID controller, the real-time rotating speed of the motor returned by the encoder is used as the feedback value, and finally the processing of the preset process parameter is completed by controlling the rotating speed of the motor in real time.

11. The method for processing the spiral core-spun product based on the single board computer control of claim 8, wherein in step 5, the real-time form of the finished product collected by the high-speed camera (206) is captured as a picture according to a video frame rate, and then the image recognition of the finished product is performed, so as to calculate real-time product process parameters, and a control algorithm programmed in the single board computer system compares the real-time process parameters with preset parameters to obtain real-time adjustment instructions to adjust the real-time rotation speeds of the first driving motor (104), the second driving motor (202) and the third driving motor (302), wherein the image recognition is mainly realized by the following three steps: firstly, binarization processing is carried out on an intercepted picture, then filtering is carried out on the image after binarization so as to remove noise points, and finally, each process parameter of the core-spun finished product is obtained in an edge identification mode and is output to a control algorithm unit for control.

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