CN111924664A - Chemical fiber filament doffing method and system adopting centralized control and automatic doffing equipment - Google Patents
Chemical fiber filament doffing method and system adopting centralized control and automatic doffing equipment Download PDFInfo
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- CN111924664A CN111924664A CN202010649856.7A CN202010649856A CN111924664A CN 111924664 A CN111924664 A CN 111924664A CN 202010649856 A CN202010649856 A CN 202010649856A CN 111924664 A CN111924664 A CN 111924664A
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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
- B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
- B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
- B65H67/0411—Arrangements for removing completed take-up packages or for loading an empty core for removing completed take-up packages
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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
- B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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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
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a chemical fiber filament doffing method adopting centralized control, which comprises the following steps: acquiring and collecting real-time work information of a winding production line to acquire the real-time work information of the winding production line; obtaining an optimized scheme for the doffing operation of the winding production line, and constructing a scheme database of the winding production line by using all the optimized schemes; and selecting a doffing control scheme from the scheme database according to the real-time working information, and controlling the winding production line to perform doffing operation according to the doffing control scheme. The invention also provides a chemical fiber filament doffing system and automatic doffing equipment.
Description
Technical Field
The invention relates to the technical field of chemical fiber production, in particular to a chemical fiber filament doffing system and a chemical fiber filament doffing method.
Background
The chemical fiber filament package doffing operation is a typical labor-intensive operation scene, the labor intensity of personnel is high, the operation environment is harsh, the production is continuous for 24 hours, and the original manual operation mode is difficult to meet the requirements of enterprise development. Many faucet enterprises are beginning to adopt automated equipment to replace manual work to complete the operation.
At present, most chemical fiber production faucet enterprises in China adopt a full-automatic doffing system to replace the traditional manual operation mode.
The invention discloses an automatic spindle conveying system and an automatic spindle conveying method (application number: CN102431849A) in Chinese invention patent, which designs a method for chemical fiber filament doffing and conveying, and is widely applied in enterprises at present. The configuration of the full-automatic doffing system comprises a doffing robot, a temporary storage device, a loading rotating platform and a related information display and management system. The doffing robot is a core device in a full-automatic doffing system and is used for replacing manual operation to complete doffing operation. At present, in the production line of chemical fiber filament winding machines of enterprises, winding machine tables are arranged in a row from 32 to 96, and each winding machine can complete the forming operation of 12 packages (one shaft) at a time. One winder production line is provided with one to two doffing robots, and each doffing robot can doff 1-3 shafts at a time (different according to the robot configuration). When one winder is full, a full-roll call is sent, the doffing robot automatically moves to a corresponding position according to a call instruction to complete doffing operation, the multi-shaft doffing robot completes a signal call sequence according to the winder, receives the multi-shaft silk roll once, and automatically places the silk roll on a special transfer silk box for later-stage packaging production. The working sequence of the doffing machine is limited by a PLC system and is completely determined according to the calling sequence of the winding machine.
At present, chemical fiber filament yarn package forming, a winding machine on one production line can simultaneously produce various products of different types and different specifications, the full winding time (the time from the beginning of doffing to the completion of doffing) and the tube bursting time (the time from the completion of doffing to the next beginning of doffing) of the winding machine are different, the control scheduling of the doffing operation in the chemical fiber industry at present adopts PLC program control and adopts queuing theory and priority calling principle, namely calling is firstly carried out for first treatment, a doffing robot can only carry out doffing according to the calling in sequence, the multiple factors of the position of doffing, the tube bursting time and the like can not be comprehensively considered, manual participation treatment is often required, even the waste silk of tube bursting occurs, and the existing control scheduling mode can not meet the requirement of high-quality production.
Disclosure of Invention
In order to solve the problems, the invention discloses a chemical fiber filament doffing method adopting centralized control, which comprises the following steps: collecting the real-time parameters of the winding production line at the current moment to generate the real-time working information of the winding production line; obtaining an optimized scheme for the doffing operation of the winding production line, and constructing a scheme database of the winding production line by using all the optimized schemes; and obtaining the doffing control scheme of the winding production line at the current moment through the scheme database according to the real-time working information, and controlling the winding production line to perform doffing operation according to the doffing control scheme.
Further, the winding production line comprises a plurality of winding machines, at least one doffing robot and a temporary storage device, wherein the doffing robot carries out doffing operation on the package wound by the winding machines according to the doffing scheme and then conveys the taken-down package to the temporary storage device; the doffing control scheme comprises an actual doffing path for the doffing robot to perform doffing operation on the winding machine and convey the taken package to the temporary storage device.
Further, at the end time T of the previous doffing operation period0The winding machine which sends out the full roll signal before but does not perform the doffing operation is the winding machine to be operated, and the real-time working information comprises: the number M of the to-be-operated winding machines, the full-winding signal sending time of the to-be-operated winding machines, the predicted pipe explosion time and the emergency treatment duration.
Preferably, the optimization scheme is obtained in a manner of accumulating historical production data of the winding production line and/or a manner of performing theoretical calculation according to attribute parameters of the winding production line; wherein the attribute parameters include: the number of the winding machines, the actual position of each winding machine, the type of package wound by the winding machine and the corresponding full winding time and burst time, the normal moving speed, the maximum allowable moving speed and the maximum available acceleration of the doffing robot when the doffing robot is empty, half loaded and full loaded, the number of doffable reels of the doffing robot, the number of the temporary storage devices, the actual positions, the normal temporary storage amount and the maximum available temporary storage amount.
The invention also provides a chemical fiber filament doffing system adopting centralized control, which comprises: the information collecting module is used for acquiring and collecting the real-time parameters of the winding production line at the current moment so as to acquire the real-time working information of the winding production line; the database generation module is used for acquiring an optimized scheme for the doffing operation of the winding production line and constructing a scheme database of the winding production line by using all the optimized schemes; and the operation control module is used for obtaining the doffing control scheme of the winding production line at the current moment through the scheme database according to the real-time working information and controlling the winding production line to perform doffing operation according to the doffing control scheme.
Further, the winding production line comprises a plurality of winding machines, at least one doffing robot and a temporary storage device, wherein the doffing robot carries out doffing operation on the package wound by the winding machines according to the doffing scheme and then conveys the taken-down package to the temporary storage device; the doffing control scheme comprises an actual doffing path for the doffing robot to perform doffing operation on the winding machine and convey the taken package to the temporary storage device.
Further, at the end time T of the previous doffing operation period0The winding machine which sends out the full roll signal before but does not perform the doffing operation is the winding machine to be operated, and the real-time working information comprises: the number M of the to-be-operated winding machines, the full-winding signal sending time of the to-be-operated winding machines, the predicted pipe explosion time and the emergency treatment duration.
Preferably, the database generation module acquires the optimization scheme in a manner of accumulating historical production data of the winding production line and/or a manner of performing theoretical calculation according to attribute parameters of the winding production line; wherein the attribute parameters include: the number of the winding machines, the actual position of each winding machine, the type of package wound by the winding machine and the corresponding full winding time and burst time, the normal moving speed, the maximum allowable moving speed and the maximum available acceleration of the doffing robot when the doffing robot is empty, half loaded and full loaded, the number of doffable reels of the doffing robot, the number of the temporary storage devices, the actual positions, the normal temporary storage amount and the maximum available temporary storage amount.
The invention also provides a computer readable storage medium, which stores executable instructions, and the executable instructions are executed by a processor to realize the chemical fiber filament doffing method adopting centralized control.
The invention also provides an automatic doffing device, comprising: the winding production line comprises a plurality of winding machines, at least one doffing robot and temporary storage equipment, wherein the winding machines, the doffing robot and the temporary storage equipment are all provided with sensors for acquiring real-time parameters; the central control device is in communication connection with the winding machine, the doffing robot and the temporary storage equipment and comprises a processor and a computer readable storage medium; the processor retrieves and executes the executable instructions in the computer readable storage medium, so as to implement the chemical fiber filament doffing method using centralized control as described above.
Drawings
FIG. 1 is a flow chart of the chemical fiber filament doffing method using centralized control according to the present invention.
FIG. 2 is a schematic structural diagram of the chemical fiber filament doffing system of the present invention.
Fig. 3A and 3B are schematic views of the automatic doffing apparatus of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings, which illustrate only one embodiment of the invention and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
The technology disclosed by the invention is applied to a spinning workshop before chemical fiber filament production, and mainly aims to solve the problem of optimizing the automatic doffing operation efficiency of a chemical fiber filament package. The mode of collecting the real-time parameters of the winding production line and carrying out centralized control on the winding production line replaces the independent control optimization mode of the traditional PLC to a single device, so that the working efficiency is improved, and a whole set of front spinning and doffing system taking the central control device as a core device is carried out.
The chemical fiber filament doffing method comprises the steps of firstly collecting real-time data of field equipment of a winding production line during winding and doffing operation, transmitting the real-time data to a central control device to be collected into real-time working information so as to monitor the running state of equipment, determining which winding machines send full-winding signals and calculating the position of a machine to be fully wound according to input doffing time; and finally, the central control device issues the working path to a control system of the real roll-off robot, so that the efficiency of the roll-off system reaches the highest.
FIG. 1 is a flow chart of the chemical fiber filament doffing method using centralized control according to the present invention. As shown in fig. 1, the chemical fiber filament doffing method of the present invention specifically comprises:
step S1, collecting real-time parameters of chemical fiber filament production at the current moment of the winding production line, and selecting data related to the generated doffing control scheme to generate real-time working information at the current moment of the winding production line;
the winding production line comprises winding machines, a doffing robot and a temporary storage device (or a loading platform), and generally, one winding production line comprises 32-96 winding machines which are arranged in a row, and each winding machine can complete the winding (forming) operation of 12 packages (one shaft) at a time; one winding production line is provided with one to two doffing robots, and each doffing robot can doff 1-3 shafts at one time; working state sensors are arranged on the winding machine, the doffing robot and the temporary storage equipment, and real-time working states of the winding machine, the doffing robot and the temporary storage equipment, such as the current position and the loading condition of the doffing robot, the current package type, the winding start time, the number of packages to be finished and a full-package signal sent out when the winding machine is full, the current temporary storage quantity of the temporary storage equipment and other real-time parameters can be obtained through the sensors; the attribute parameters of the winding machine, the doffing robot and the temporary storage device are known, and comprise the number and the actual position of the winding machine, the type of a package wound by the winding machine, the corresponding full-winding time and tube bursting time, the normal moving speed, the maximum allowable moving speed and the maximum available acceleration of the doffing robot when the doffing robot is unloaded, half-loaded and fully loaded, and the temporary storage deviceThe actual position, the normal temporary storage amount and the maximum available temporary storage amount of the mobile terminal; collecting real-time parameters of all equipment, and selecting data related to the generated doffing control scheme to generate real-time working information of the winding production line at the current moment; the real-time working information comprises the number M of the winding machines to be operated, the full-winding signal sending time of the winding machines to be operated, the predicted pipe explosion time and the emergency treatment duration, wherein the winding machines to be operated refer to the ending time T of the previous doffing operation period0A winder that previously signaled a full lap but did not perform a doffing operation.
Step S2, obtaining optimized schemes of the winding production line in various production states through an exhaustion method, and constructing a scheme database by all the optimized methods; the optimization scheme comprises a doffing path with the highest doffing efficiency when the doffing robot performs the doffing operation;
because the winding production line is provided with a plurality of winding machines, the real-time parameters of each winding machine, the doffing robot and the temporary storage equipment at different moments can be different, so that the winding production line at each moment can have a specific production state. For example, at time T', there is a winder m1(winding type A Package), m2The (winding type B packages) in turn signal full package but not yet doffed during the time interval T ' - Δ T ' to T ', when the winding line has p production states, so at time T ' it is necessary to generate a doffing plan which is the doffing path in p production states and should be the optimized doffing path p ' corresponding to the highest doffing efficiency, requiring the doffing robot to perform the winding machine m according to the optimized doffing path p1、m2Performing a doffing operation; at time T' there is a winder m3(winding type C package), m4(winding type A Package), m5The (winding type A packages) send out full package signals in sequence from T ' -delta T ' to T ' and do not fall off, the winding production line has q production state, so the T ' moment needs to generate optimized falling package path q ' of falling package scheme in q production state, the falling package robot needs to perform the operation to the winding machine m according to the optimized falling package path q3、m4、m5And (5) performing a doffing operation, wherein | -T '| > or less than Δ T'. As exemplified above, when the winding line has different production states, there will beDifferent optimized doffing schemes enable the doffing robot to achieve the highest doffing efficiency when executing the doffing operation.
The optimization schemes in each production state are obtained by an exhaustion method, for example, historical doffing scheme data of the winding production line is collected and screened to obtain the optimization schemes corresponding to the production states as many as possible, the optimization schemes corresponding to the production states as many as possible are obtained in a theoretical calculation manner, and the like, and the optimization schemes can be obtained by any method or any combination of methods, which is not limited by the invention.
Constructing all the obtained optimization schemes into a scheme database; and in the subsequent roll-off operation, a newly-added optimized roll-off scheme can be obtained through the exhaustion method so as to update the scheme database.
Step S3, according to the current real-time working information, comparing the current real-time working information with a scheme database to select the actual doffing path of the doffing robot, constructing a doffing control scheme, and controlling the winding production line by the central control equipment to generate the doffing control scheme to perform doffing operation;
the doffing scheme comprises the steps that a doffing robot performs doffing operation on one or more winding machines and conveys a taken-down package to an actual doffing path of the whole process of the temporary storage equipment, the doffing robot performs doffing on the package wound by the winding machines according to the doffing path in the doffing scheme, and then conveys the taken-down package to the temporary storage equipment; after the plurality of winding machines reach the full-winding time, the doffing robot needs to perform doffing operation on the winding machines in sequence according to the actual doffing path, if the doffing efficiency does not meet the requirement of the doffing operation, if the winding machines exceed the tube bursting time, the package loss is caused, and therefore, the optimized doffing path needs to be selected to improve the doffing efficiency.
FIG. 2 is a schematic structural diagram of the chemical fiber filament doffing system of the present invention. As shown in fig. 2, the present invention further provides a chemical fiber filament doffing system, comprising: the system comprises an information collection module, a database generation module and an operation control module; the information collecting module is used for acquiring and collecting real-time parameters of the winding production line so as to acquire real-time working information of the winding production line; the database generation module is used for acquiring an optimized scheme for the doffing operation of the winding production line and constructing a scheme database of the winding production line by using all the optimized schemes; the operation control module is used for obtaining a doffing control scheme of the winding production line at the current moment through the scheme database according to the real-time working information and controlling the winding production line to perform doffing operation according to the doffing control scheme. Relative to a winding machine, a doffing robot and a temporary storage device of a winding production line, the modules are arranged on a central control device.
Working state sensors are arranged on the winding machine, the doffing robot and the temporary storage equipment of the winding production line so as to acquire the current time T0The real-time working states of the winding machine, the doffing robot and the temporary storage equipment, such as the current position and loading condition of the doffing robot, the current package type, winding starting time, the number of packages to be finished and full package signals sent out when the packages are full, the current temporary storage quantity of the temporary storage equipment and other real-time parameters of the winding production line are acquired and collected by the information collecting module, and then the data required for generating a doffing control scheme is selected to generate the real-time working information of the winding production line0A winder that previously signaled a full lap but did not perform a doffing operation.
The database generation module obtains the optimization scheme and generates the scheme database through an exhaustion method, for example, first, historical doffing scheme data of the winding production line is collected and screened to obtain the optimization scheme corresponding to the production state as much as possible, second, the optimization scheme corresponding to the production state as much as possible is obtained in a theoretical calculation mode, and the like, and the optimization scheme can be obtained through any method or combination of any methods, and the invention is not limited to this.
When the doffing scheme is executed, the operation may be a closed-loop operation without manual intervention, or an open-loop operation with manual intervention, for example, an operator modifies the doffing scheme in real time according to the execution condition of the doffing control scheme, or the operator participates in the doffing operation, and the invention is not limited thereto.
Fig. 3A and 3B are schematic views of the automatic doffing apparatus of the present invention. As shown in fig. 3A and 3B, an embodiment of the present invention further provides an automatic doffing apparatus, including a winding production line and a central control device, where the winding production line includes a winding machine 1, a doffing robot 2, and a temporary storage apparatus 3, the winding machine 1 has M stations, usually M is between 32 and 96, the doffing robot 2 has 1 to 2 stations, and sensors for acquiring real-time parameters are disposed on the winding machine 1, the doffing robot 2, and the temporary storage apparatus 3; the central control device 4 includes a computer readable storage medium and a processor, the processor retrieves and executes executable instructions in the computer readable storage medium to implement the digital twinning-based chemical fiber filament doffing method, and the central control device 4 is in communication connection with the winding machine 1, the doffing robot 2 and the temporary storage device 3, for example, direct communication connection in a wired or wireless manner, as shown in fig. 3A, and bus communication connection in a public communication trunk 5, as shown in fig. 3B. It will be understood by those skilled in the art that all or part of the steps of the above method may be implemented by instructing relevant hardware (e.g., processor, FPGA, ASIC, etc.) through a program, and the program may be stored in a readable storage medium, such as a read-only memory, a magnetic or optical disk, etc. All or some of the steps of the above embodiments may also be implemented using one or more integrated circuits. Accordingly, the modules in the above embodiments may be implemented in hardware, for example, by an integrated circuit, or in software, for example, by a processor executing programs/instructions stored in a memory. Embodiments of the invention are not limited to any specific form of hardware or software combination.
The chemical fiber filament doffing method adopting centralized control can obtain the following technical effects:
(1) in the case of a plurality of winder calls, the doffing robot completes the doffing operation task in the least time;
(2) when the doffing task of the package exceeds the maximum processing capacity of the doffing robot, manual doffing operation is prompted; the packages of some machine positions are taken away through selective manual assistance, so that heavy conditions are completed with the highest efficiency, and the normal production rhythm is recovered at the highest speed.
The description and application of the present invention are illustrative, and are not intended to limit the scope of the invention to the embodiments described above. Variations and modifications of the embodiments disclosed herein are possible, and alternative and equivalent various components of the embodiments will be apparent to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A chemical fiber filament doffing method adopting centralized control is characterized by comprising the following steps:
collecting the real-time parameters of the winding production line at the current moment to generate the real-time working information of the winding production line;
obtaining an optimized scheme for the doffing operation of the winding production line, and constructing a scheme database by using all the optimized schemes;
and selecting a doffing control scheme from the scheme database according to the real-time working information, and controlling the winding production line to perform doffing operation according to the doffing control scheme.
2. The chemical fiber filament doffing method according to claim 1, wherein the winding production line comprises a plurality of winding machines, at least one doffing robot and a temporary storage device, the doffing robot carries out doffing operation on the wound package of the winding machines according to the doffing scheme, and then conveys the removed package to the temporary storage device;
the doffing control scheme comprises an actual doffing path for the doffing robot to perform doffing operation on the winding machine and convey the taken package to the temporary storage device.
3. The chemical fiber filament doffing method according to claim 2, characterized in that, the end time T of the previous doffing operation cycle0The winding machine which sends out the full roll signal before but does not perform the doffing operation is the winding machine to be operated, and the real-time working information comprises: the number M of the to-be-operated winding machines, the full-winding signal sending time of the to-be-operated winding machines, the predicted pipe explosion time and the emergency treatment duration.
4. The chemical fiber filament doffing method according to claim 3, characterized in that the optimization scheme is obtained by means of accumulating the historical production data of the winding production line and/or by means of theoretical calculation according to the attribute parameters of the winding production line;
wherein the attribute parameters include: the number of the winding machines, the actual position of each winding machine, the type of package wound by the winding machine and the corresponding full winding time and burst time, the normal moving speed, the maximum allowable moving speed and the maximum available acceleration of the doffing robot when the doffing robot is empty, half loaded and full loaded, the number of doffable reels of the doffing robot, the number of the temporary storage devices, the actual positions, the normal temporary storage amount and the maximum available temporary storage amount.
5. A chemical fiber filament doffing system adopting centralized control is characterized by comprising:
the information collecting module is used for acquiring and collecting the real-time parameters of the winding production line at the current moment so as to acquire the real-time working information of the winding production line;
the database generation module is used for acquiring an optimized scheme for the doffing operation of the winding production line and constructing a scheme database of the winding production line by using all the optimized schemes;
and the operation control module is used for obtaining the doffing control scheme of the winding production line at the current moment through the scheme database according to the real-time working information and controlling the winding production line to perform doffing operation according to the doffing control scheme.
6. The chemical fiber filament doffing system according to claim 5, wherein the winding line comprises a plurality of winding machines, at least one doffing robot and a temporary storage device, the doffing robot performs a doffing operation on the wound package of the winding machine according to the doffing scheme, and then conveys the removed package to the temporary storage device;
the doffing control scheme comprises an actual doffing path for the doffing robot to perform doffing operation on the winding machine and convey the taken package to the temporary storage device.
7. The chemical fiber filament doffing system of claim 6, wherein the end time T of the previous doffing cycle is0The winding machine which sends out the full roll signal before but does not perform the doffing operation is the winding machine to be operated, and the real-time working information comprises: the number M of the to-be-operated winding machines, the full-winding signal sending time of the to-be-operated winding machines, the predicted pipe explosion time and the emergency treatment duration.
8. The chemical fiber filament doffing system of claim 7, wherein the database generating module obtains the optimization scheme by accumulating historical production data of the winding line and/or performing theoretical calculation according to attribute parameters of the winding line;
wherein the attribute parameters include: the number of the winding machines, the actual position of each winding machine, the type of package wound by the winding machine and the corresponding full winding time and burst time, the normal moving speed, the maximum allowable moving speed and the maximum available acceleration of the doffing robot when the doffing robot is empty, half loaded and full loaded, the number of doffable reels of the doffing robot, the number of the temporary storage devices, the actual positions, the normal temporary storage amount and the maximum available temporary storage amount.
9. A computer readable storage medium storing executable instructions which, when executed by a processor, implement the chemical fiber filament doffing method using centralized control according to any one of claims 1 to 4.
10. An automatic doffing apparatus, comprising:
the winding production line comprises a plurality of winding machines, at least one doffing robot and temporary storage equipment, wherein the winding machines, the doffing robot and the temporary storage equipment are all provided with sensors for acquiring real-time parameters;
the central control device is in communication connection with the winding machine, the doffing robot and the temporary storage equipment and comprises a processor and a computer readable storage medium; the processor, when retrieving and executing the executable instructions in the computer readable storage medium, implements the chemical fiber filament doffing method using centralized control as claimed in any one of claims 1 to 4.
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Citations (13)
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