CN112124905B - Control method of full-automatic and intelligent nylon spinning cake transfer device - Google Patents
Control method of full-automatic and intelligent nylon spinning cake transfer device Download PDFInfo
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- CN112124905B CN112124905B CN202011046303.9A CN202011046303A CN112124905B CN 112124905 B CN112124905 B CN 112124905B CN 202011046303 A CN202011046303 A CN 202011046303A CN 112124905 B CN112124905 B CN 112124905B
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- taking roller
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- driving mechanism
- spinning cake
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- 238000009987 spinning Methods 0.000 title claims abstract description 93
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000004677 Nylon Substances 0.000 title claims abstract description 23
- 229920001778 nylon Polymers 0.000 title claims abstract description 23
- 239000000463 material Substances 0.000 claims abstract description 109
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 238000005303 weighing Methods 0.000 claims description 13
- 230000000630 rising effect Effects 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims 1
- 239000004952 Polyamide Substances 0.000 abstract description 2
- 238000007380 fibre production Methods 0.000 abstract description 2
- 229920002647 polyamide Polymers 0.000 abstract description 2
- 239000000126 substance Substances 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G13/00—Roller-ways
- B65G13/02—Roller-ways having driven rollers
- B65G13/06—Roller driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors
- B65G39/02—Adaptations of individual rollers and supports therefor
- B65G39/06—Adaptations of individual rollers and supports therefor the roller sleeves being shock-absorbing, e.g. formed by helically-wound wires
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0232—Coils, bobbins, rolls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing And Processing Devices For Dough (AREA)
Abstract
The invention relates to the technical field of chemical fiber production, in particular to a control method of a full-automatic and intelligent nylon spinning cake transfer device, which comprises the following steps: s1: inputting the diameter of a paper tube in the polyamide spinning cake to be transferred, and adjusting the distance between the material taking rollers by the material taking roller distance adjusting mechanism according to the input diameter of the paper tube; s2: the power roller driving device moves to a preset position along a preset track, and the material taking roller is lifted to a preset height through the longitudinal driving mechanism; s3: the camera acquires a current image, grays the image, and then binarizes the grayscale; the control method of the full-automatic and intelligent nylon spinning cake transfer device provided by the invention positions the paper tube in the middle of the spinning cake in an image acquisition mode, avoids the situation that the transfer device cannot accurately take materials due to the difference of the size and the specification and the placement position of the spinning cake, has strong applicability, and is suitable for further popularization and application.
Description
Technical Field
The invention relates to the technical field of chemical fiber production, in particular to a control method of a full-automatic and intelligent nylon spinning cake transfer device.
Background
The nylon spinning cake is in a cake-shaped form formed by winding nylon filaments so as to be convenient for storage, transportation and processing in the next procedure. The produced spinning cakes can be temporarily stored on a spinning cake frame so as to be transferred to the next working procedure or a placing point.
When carrying out the transportation of spinning cake, current spinning cake transfer device transports the spinning cake on the spinning cake frame through predetermined action orbit usually, because there is the difference in spinning cake size specification and locating place, the user demand that different spinning cakes were transported can't be satisfied to predetermined action orbit, consequently the condition that transfer device can't accurately get the material often appears in the transportation.
Disclosure of Invention
In order to solve the problems, the invention provides a spinning cake transfer device which can realize spinning cake input and spinning cake output.
Nylon spinning cake transfer device.
The invention is realized by the following technical scheme:
a control method of a full-automatic and intelligent nylon spinning cake transfer device comprises the following steps:
s1: inputting the diameter of a paper tube in the polyamide spinning cake to be transferred, and adjusting the distance between the material taking rollers by the material taking roller distance adjusting mechanism according to the input diameter of the paper tube;
s2: the power roller driving device moves to a preset position along a preset track, and the material taking roller is lifted to a preset height through the longitudinal driving mechanism;
s3: the camera acquires a current image, grays the image, and then binarizes the grayscale;
s4: identifying the spinning cake boundary in the gray scale image through a Canny operator, and measuring and calculating the diameter corresponding to a circle formed by the corresponding spinning cake boundary;
s5: comparing each diameter measured in the step S4 with the input diameter value, and positioning a circular boundary with the diameter closest to the input value;
s6: the longitudinal driving mechanism and the power roller carry out position adjustment according to the positioned circular boundary, so that the material taking rollers are respectively positioned at two sides of the circle center of the positioned circle;
s7: the transverse driving mechanism drives the material taking roller to be inserted into a paper tube in the middle of the spinning cake, then the longitudinal driving mechanism slowly rises, when the weight detected by the weighing module is not changed any more, the longitudinal driving mechanism stops rising, the transverse driving mechanism drives the material taking roller to recover, and meanwhile, the material taking roller runs to take in the spinning cake on the spinning cake frame;
s8: circulating the steps S2-S7 until a preset number of spinning cakes are hung on the material taking roller;
s9: the transfer device moves to a preset spinning cake placing site along the track, the longitudinal driving mechanism and the transverse driving mechanism drive the material taking roller to move to a corresponding spinning cake placing position, and the material taking roller reversely runs to convey a preset number of spinning cakes outwards.
Further, the material taking roller in the S8 conveys a preset number of spinning cakes outwards, and the method specifically comprises the following steps:
s91: detecting whether a pressure sensor at the tail end of the material taking roller detects a pressure signal, if so, entering the step S92, otherwise, entering the step S93;
s92: the conveying structure at the tail end of the material taking roller rotates to feed materials, the other conveying structures do not rotate, the spinning cakes at the tail end are conveyed outwards through the conveying structure at the tail end of the material taking roller, and when a pressure signal on a pressure sensor disappears, the conveying structure at the tail end of the material taking roller stops operating;
s93: all the conveying structures on the material taking roller operate simultaneously to drive the spinning cakes to move outwards, when a pressure sensor at the tail end of the material taking roller detects a pressure signal, the conveying structures at the tail end of the material taking roller continue to operate, the rest conveying structures on the material taking roller stop operating, and when the pressure signal on the pressure sensor disappears, the conveying structures at the tail end of the material taking roller stop operating;
s94: and circulating the steps S91-S93, counting the pressed times of the pressure sensor at the tail end of the material taking roller, and finishing the outward conveying of the silk cakes with the preset number when the counted pressed times of the material taking roller is equal to the outward conveying number of the preset silk cakes.
Further, the pressure signal detected by the pressure sensor in S94 is counted as a pressure from the presence to the absence.
Further, the nylon spinning cake transfer device comprises a bottom plate, a power roller for driving the bottom plate to move, a camera for acquiring an environment image, a material taking roller, a transverse driving mechanism for driving the material taking roller to horizontally move, a longitudinal driving mechanism for driving the transverse driving mechanism to longitudinally move, a weighing module, a material taking roller distance adjusting mechanism for driving two groups of material taking rollers to move in the opposite direction or in the opposite direction, and a pressure sensor arranged at the tail end of the material taking roller, the power roller is arranged at the bottom of the bottom plate and is erected on the guide rail, the longitudinal driving mechanism is fixedly arranged on the bottom plate, the bottom of the longitudinal driving mechanism is provided with a weighing module, the transverse driving mechanism is arranged on the longitudinal driving mechanism, the material taking roller is arranged on the transverse driving mechanism, the material taking roller interval adjusting mechanism is arranged on a sliding table of the transverse driving mechanism, and the camera is arranged at the tail end of the material taking roller;
the material taking roller comprises two groups of hollow fixing rods, a conveying wheel and a driving motor used for driving the conveying wheel to rotate, the conveying wheel is uniformly arranged on the side wall, away from the two groups of hollow fixing rods, of the side wall, the upper end of the conveying wheel exceeds the hollow fixing rods, the driving motor is arranged in the hollow fixing rods, an output shaft of the driving motor penetrates through the hollow fixing rods and is respectively connected with the conveying wheel, a bearing is arranged at the joint of the output shaft of the driving motor and the hollow fixing rods, and a pressure sensor is arranged at the bottom end of the bearing outside the output shaft of the tail-end driving motor.
Furthermore, a silica gel layer is arranged on the outer side of the delivery wheel at the tail end of the material taking roller
Furthermore, the power roller, the material taking roller, the transverse driving mechanism, the longitudinal driving mechanism, the camera, the material taking roller distance adjusting mechanism, the weighing module and the pressure sensor are all connected with an external control system.
The invention has the beneficial effects that:
the control method of the full-automatic and intelligent nylon spinning cake transfer device provided by the invention positions the paper tube in the middle of the spinning cake in an image acquisition mode, avoids the situation that the transfer device cannot accurately take materials due to the difference of the size and the specification and the placement position of the spinning cake, has strong applicability, and is suitable for further popularization and application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a nylon spinning cake transfer device in the invention;
FIG. 2 is a schematic view of a pick-up roll extending into the middle of the cake;
FIG. 3 is a schematic view of a take-off roller spacing adjustment mechanism;
FIG. 4 is a schematic view of a take-up roll;
fig. 5 is a schematic view of a wafer rack.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
A control method of a full-automatic and intelligent nylon spinning cake transfer device comprises the following steps:
s1: inputting the diameter of a paper tube in the nylon spinning cake to be transferred, and adjusting the distance between the material taking rollers 4 by the material taking roller distance adjusting mechanism 7 according to the input diameter of the paper tube;
s2: the power roller 2 drives the device to move to a preset position along a preset track, and the material taking roller 4 is lifted to a preset height through the longitudinal driving mechanism 3;
s3: the camera 6 acquires a current image, grays the image, and then binarizes the grayscale;
s4: identifying the spinning cake 8 boundary in the gray scale image through a Canny operator, and measuring and calculating the diameter corresponding to a circle formed by the corresponding spinning cake boundary; during this process, both the inner and outer diameters of cake 8 are identified.
S5: comparing each diameter measured in S4 with the input diameter value (the comparison method is usually to subtract the two values and take the absolute value, and the smaller the obtained value is, the closer the two values are), and locating the circle boundary with the diameter closest to the input value; this arrangement determines which of the identified circles is the inner diameter of cake 8 by comparison with the input values.
S6: the longitudinal driving mechanism 3 and the power roller 2 carry out position adjustment according to the positioned circular boundary, so that the material taking roller 4 is respectively positioned at two sides of the circle center of the positioned circle;
s7: the transverse driving mechanism 5 drives the material taking roller 4 to be inserted into a paper tube in the middle of a spinning cake 8, then the longitudinal driving mechanism 3 slowly rises at a rising speed of about 2-3cm/s, the material taking roller 4 slowly lifts the spinning cake 8 onto the platform in the rising process of the longitudinal driving mechanism 3, the weight detected by the weighing module 10 gradually increases in the process that the spinning cake 8 is gradually separated from the spinning cake hanging plate 91 on the spinning cake frame 9, when the weight detected by the weighing module 10 does not change any more, namely the spinning cake 8 is completely lifted off the spinning cake hanging plate 91, the longitudinal driving mechanism 3 stops rising, so that the phenomenon that the spinning cake hanging plate 91 interferes with the spinning cake 8 in the conveying process of the conveying wheel 42 and is not beneficial to taking out the spinning cake 8 is avoided; compared with the traditional method that the lifting height of the longitudinal driving mechanism 3 is preset to lift the spinning cakes 8 away from the spinning cake hanging plate 91, the control method in the embodiment can be suitable for the spinning cakes 8 with different specifications, the lifting amount does not need to be reset according to the size specification of a paper tube in the spinning cakes 8, and the applicability is stronger;
then the transverse driving mechanism 5 drives the material taking roller 4 to recycle, and simultaneously the material taking roller 4 runs and takes in the spinning cakes 8 on the spinning cake frame 9; (the detailed structure of the spinning cake frame 9 refers to the attached figure 5. the spinning cake frame 9 is the prior art)
S8: the step S2-S7 is repeated until a preset number of spinning cakes 8 are hung on the material taking roller 4;
s9: the transfer device moves to a preset spinning cake 8 placing position along the track, the longitudinal driving mechanism 3 and the transverse driving mechanism 5 drive the material taking roller 4 to move to a corresponding spinning cake placing position, and the material taking roller 4 runs in the reverse direction to convey a preset number of spinning cakes 8 outwards.
Further, in S9, taking roller 4 conveys a predetermined number of cakes 8 outward, which specifically includes the following steps:
s91: detecting whether the pressure sensor 11 at the end of the material taking roller 4 detects a pressure signal, if yes, the process goes to step S92, if no, the process goes to step S93;
s92: the conveying structure at the tail end of the material taking roller 4 rotates to feed materials, the other conveying structures do not rotate, the spinning cake 8 at the tail end is conveyed outwards through the conveying structure at the tail end of the material taking roller 4, and when a pressure signal on the pressure sensor 11 disappears, the conveying structure at the tail end of the material taking roller 4 stops operating;
s93: all the conveying structures on the material taking roller 4 operate simultaneously to drive the spinning cakes 8 to move outwards, when a pressure sensor 11 at the tail end of the material taking roller 4 detects a pressure signal, the conveying structures at the tail end of the material taking roller 4 continue to operate, the rest conveying structures on the material taking roller 4 stop operating, and when the pressure signal on the pressure sensor 11 disappears, the conveying structures at the tail end of the material taking roller 4 stop operating;
s94: and circulating the steps S91-S93 and counting the pressed times of the pressure sensor 11 at the tail end of the material taking roller 4, and finishing the outward conveying of the silk cakes 8 with the preset number when the counted pressed times of the material taking roller 4 are equal to the outward conveying number of the silk cakes 8.
Further, the pressure signal detected by the pressure sensor 11 in S94 is counted as a pressure signal from the presence to the absence thereof.
The infrared scanning is mostly used for counting the discharged materials of the spinning cakes 8 in the prior art, the counting error frequently occurs due to the fact that the spinning cakes 8 are attached to each other, the discharged materials of the spinning cakes 8 can be accurately calculated by the aid of the pressure sensor 11 pressure detection method, and the applicability is high.
Referring to the attached drawing 1, a nylon spinning cake transfer device comprises a bottom plate 1, a power roller 2 for driving the bottom plate 1 to move, a camera 6 for acquiring an environment image, a material taking roller 4, a transverse driving mechanism 5 (an existing electric sliding table can be selected) for driving the material taking roller 4 to horizontally move, a longitudinal driving mechanism 3 (an existing lead screw lifting mechanism can be selected) for driving the transverse driving mechanism 5 to longitudinally move, a weighing module 10, a material taking roller interval adjusting mechanism 7 for driving two groups of material taking rollers 4 to move oppositely or back to back, and a pressure sensor 11 installed at the tail end of the material taking roller 4, wherein the power roller 2 is a roller carrying a power source and is a conventional prior art; the power roller 2 is arranged at the bottom of the bottom plate 1 and erected on the guide rail, the longitudinal driving mechanism 3 is fixedly arranged on the bottom plate 1, the weighing module 10 is arranged at the bottom of the longitudinal driving mechanism 3, the transverse driving mechanism 5 is arranged on a lifting slide block of the longitudinal driving mechanism 3, the material taking roller 4 is arranged on the transverse driving mechanism 5, the material taking roller interval adjusting mechanism 7 is arranged on a sliding table of the transverse driving mechanism 5, and the camera 6 is arranged at the tail end of the material taking roller 4;
referring to fig. 2-4, the material-taking roller 4 includes two sets of hollow fixing rods 41, a transmission wheel 42 and a driving motor 43 for driving the transmission wheel 42 to rotate, the transmission wheel 42 is uniformly disposed on the side wall of the two sets of hollow fixing rods 41 away from each other, the upper end of the transmission wheel 42 exceeds the hollow fixing rods 41, the driving motor 43 is disposed in the hollow fixing rods 41, the output shafts thereof penetrate through the hollow fixing rods 41 and are respectively connected with the transmission wheel 42, bearings are disposed at the joints of the output shafts of the driving motor 43 and the hollow fixing rods 41, and the pressure sensor 11 is disposed at the bottom end of the bearing outside the output shaft of the end driving motor 43 and is used for sensing whether the end transmission wheel 42 is pressed; a bearing is arranged at the joint of the output shaft of the driving motor 43 and the hollow fixed rod 41; the drive motor 43 operates to rotate the transfer wheel 42, the transfer wheel 42 rotates to transfer the cake 8, and the pressure sensor 11 detects the pressure signal when the cake 8 moves onto the end transfer wheel 42.
Further, a silica gel layer is arranged on the outer side of the transmission wheel 42 at the tail end of the material taking roller 4; the end transfer wheel 42 increases the friction with the inner wall of the cake 8 facilitating the input and output of the cake.
Further, the power roller 2, the material taking roller 4, the transverse driving mechanism 5, the longitudinal driving mechanism 3, the camera 6, the material taking roller distance adjusting mechanism 7, the weighing module 10 and the pressure sensor 11 are all connected with an external control system. The moving and positioning of the nylon spinning cake transfer device can be realized through conventional programming, and is not described again in the conventional prior art.
Referring to fig. 3, the material taking roller spacing adjusting mechanism 7 comprises a threaded rod 71, a threaded rod driving motor 72 for driving the threaded rod 71 to rotate, internal thread sliders 73 and slide rails 74, wherein the internal thread sliders 73 and the slide rails 74 are symmetrically connected to two ends of the threaded rod 71 through threads, the threads at two ends of the threaded rod 71 are arranged in opposite directions, the slide rails 74 are fixed on a sliding table of the transverse driving mechanism 5 and are in sliding connection with the internal thread sliders 73, the threaded rod driving motor 72 is fixed on the sliding table of the transverse driving mechanism 5, an output shaft of the threaded rod driving motor is connected with the threaded rod 71, and the material taking rollers 4 are respectively fixed on two groups of internal thread sliders 73; the driving motor 72 rotates the driving threaded rod 71 to rotate, the threaded rod 71 rotates to drive the internal thread sliding blocks 73 on the two sides to move in the opposite directions or in the opposite directions, and then the distance adjustment of the material taking roller 4 is achieved so as to be suitable for spinning cakes 8 with different inner diameter sizes.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A control method of a full-automatic and intelligent nylon spinning cake transfer device is characterized by comprising the following steps:
s1: inputting the diameter of a paper tube in the nylon spinning cake to be transferred, and adjusting the distance between the material taking rollers (4) by the material taking roller distance adjusting mechanism (7) according to the input diameter of the paper tube;
s2: the power roller (2) drives the device to move to a preset position along a preset track, and the material taking roller (4) is lifted to a preset height through the longitudinal driving mechanism (3);
s3: the camera (6) acquires a current image, grays the image, and then binarizes the grayscale;
s4: identifying the spinning cake (8) boundary in the gray scale image through a Canny operator, and measuring and calculating the diameter corresponding to a circle formed by the corresponding spinning cake boundary;
s5: comparing each diameter measured in the step S4 with the input diameter value, and positioning a circular boundary with the diameter closest to the input value;
s6: the longitudinal driving mechanism (3) and the power roller (2) adjust the position according to the positioned circular boundary, so that the material taking roller (4) is respectively positioned at the two sides of the circle center of the positioned circle;
s7: the transverse driving mechanism (5) drives the material taking roller (4) to be inserted into a paper tube in the middle of a spinning cake (8), then the longitudinal driving mechanism (3) slowly rises, when the weight detected by the weighing module (10) is not changed any more, the longitudinal driving mechanism (3) stops rising, the transverse driving mechanism (5) drives the material taking roller (4) to recover, and meanwhile, the material taking roller (4) runs into the spinning cake (8) on the spinning cake rack (9);
s8: circulating the steps S2-S7 until a preset number of spinning cakes (8) are hung on the material taking roller (4);
s9: the transfer device moves to a preset spinning cake (8) placing position along a track, the longitudinal driving mechanism (3) and the transverse driving mechanism (5) drive the material taking roller (4) to move to a corresponding spinning cake placing position, and the material taking roller (4) reversely operates to convey a preset number of spinning cakes (8) outwards;
s9, the material taking roller (4) conveys a preset number of spinning cakes (8) outwards, and the method specifically comprises the following steps:
s91: detecting whether a pressure sensor (11) at the tail end of the material taking roller (4) detects a pressure signal, if so, entering the step S92, otherwise, further entering the step S93;
s92: the conveying structure at the tail end of the material taking roller (4) rotates for feeding, the other conveying structures do not rotate, the spinning cakes (8) at the tail end are conveyed outwards through the conveying structure at the tail end of the material taking roller (4), and when a pressure signal on the pressure sensor (11) disappears, the conveying structure at the tail end of the material taking roller (4) stops operating;
s93: all conveying structures on the material taking roller (4) operate simultaneously to drive the spinning cakes (8) to move outwards, when a pressure sensor (11) at the tail end of the material taking roller (4) detects a pressure signal, the conveying structures at the tail end of the material taking roller (4) continue to operate, the rest conveying structures on the material taking roller (4) stop operating, and when the pressure signal on the pressure sensor (11) disappears, the conveying structures at the tail end of the material taking roller (4) stop operating;
s94: and circulating the steps S91-S93, counting the pressed times of the pressure sensor (11) at the tail end of the material taking roller (4), and finishing the outward conveying of the silk cakes (8) with the preset number when the counted pressed times of the material taking roller (4) is equal to the outward conveying number of the preset silk cakes (8).
2. The control method of the full-automatic and intelligent nylon spinning cake transfer device according to claim 1, wherein the pressure signal detected by the pressure sensor (11) in S94 is measured from the presence to the absence of pressure.
3. The control method of the full-automatic and intelligent nylon spinning cake transfer device according to any one of claims 1-2, characterized in that the nylon spinning cake transfer device comprises a bottom plate (1), power rollers (2) for driving the bottom plate (1) to move, a camera (6) for acquiring an environmental image, a take-out roller (4), a transverse driving mechanism (5) for driving the take-out roller (4) to horizontally move, a longitudinal driving mechanism (3) for driving the transverse driving mechanism (5) to longitudinally move, a weighing module (10), a take-out roller distance adjusting mechanism (7) for driving two groups of take-out rollers (4) to move in opposite directions or in reverse directions, and a pressure sensor (11) installed at the tail end of the take-out roller (4), wherein the power rollers (2) are arranged at the bottom of the bottom plate (1) and erected on a guide rail, the longitudinal driving mechanism (3) is fixedly installed on the bottom plate (1), the bottom of the longitudinal driving mechanism (3) is provided with a weighing module (10), the transverse driving mechanism (5) is arranged on the longitudinal driving mechanism (3), the material taking roller (4) is arranged on the transverse driving mechanism (5), the material taking roller interval adjusting mechanism (7) is arranged on a sliding table of the transverse driving mechanism (5), and the camera (6) is arranged at the tail end of the material taking roller (4);
the material taking roller (4) comprises two groups of hollow fixing rods (41), a conveying wheel (42) and a driving motor (43) used for driving the conveying wheel (42) to rotate, the conveying wheel (42) is uniformly arranged on the side wall, far away from the two groups of hollow fixing rods (41), of the conveying wheel (42), the upper end of the conveying wheel (42) exceeds the hollow fixing rods (41), the driving motor (43) is arranged in the hollow fixing rods (41), an output shaft of the driving motor penetrates through the hollow fixing rods (41) and is respectively connected with the conveying wheel (42), a bearing is arranged at the joint of the output shaft of the driving motor (43) and the hollow fixing rods (41), and the pressure sensor (11) is arranged at the bottom end of the bearing outside the output shaft of the tail-end driving motor (43).
4. The control method of the full-automatic and intelligent nylon spinning cake transfer device according to claim 3, characterized in that a silica gel layer is arranged on the outer side of a tail end conveying wheel (42) of the material taking roller (4).
5. The control method of the full-automatic and intelligent nylon spinning cake transfer device according to claim 4, wherein the power roller (2), the material taking roller (4), the transverse driving mechanism (5), the longitudinal driving mechanism (3), the camera (6), the material taking roller spacing adjusting mechanism (7), the weighing module (10) and the pressure sensor (11) are connected with an external control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011046303.9A CN112124905B (en) | 2020-09-29 | 2020-09-29 | Control method of full-automatic and intelligent nylon spinning cake transfer device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011046303.9A CN112124905B (en) | 2020-09-29 | 2020-09-29 | Control method of full-automatic and intelligent nylon spinning cake transfer device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112124905A CN112124905A (en) | 2020-12-25 |
| CN112124905B true CN112124905B (en) | 2021-11-16 |
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| CN202011046303.9A Active CN112124905B (en) | 2020-09-29 | 2020-09-29 | Control method of full-automatic and intelligent nylon spinning cake transfer device |
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| CN101992951A (en) * | 2010-10-27 | 2011-03-30 | 中国联合工程公司 | Spinning cake picking and placing equipment for semi-automatic cohesion spinning machine |
| CN103077916B (en) * | 2013-02-04 | 2015-08-26 | 福建省威诺数控有限公司 | A kind of image detects the method for location wafer position automatically |
| CN109319371B (en) * | 2018-11-16 | 2020-12-15 | 深圳市天和双力物流自动化设备有限公司 | Automatic cargo allocation device for warehouse logistics |
| CN109607178B (en) * | 2019-01-17 | 2020-07-17 | 闽江学院 | Spinning cake picking and transporting detection system |
| CN210635260U (en) * | 2019-08-22 | 2020-05-29 | 闽江学院 | Paper tube or spinning cake transfer device |
| CN111559600A (en) * | 2019-12-19 | 2020-08-21 | 安徽宇锋智能科技有限公司 | Intelligent warehouse management system |
| CN111275756B (en) * | 2020-02-20 | 2023-06-06 | 珠海格力智能装备有限公司 | Spool positioning method and device |
| CN111559721A (en) * | 2020-04-15 | 2020-08-21 | 上海韬谱物流设备有限公司 | Transfer trolley with fork and working method thereof |
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Effective date of registration: 20240112 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 350108 No. 200 Xiyuan Gong Road, Minhou County, Fuzhou City, Fujian Province Patentee before: MINJIANG University |