CN114047322A - Cotton fiber cooperative detection system and method - Google Patents
Cotton fiber cooperative detection system and method Download PDFInfo
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- CN114047322A CN114047322A CN202111321501.6A CN202111321501A CN114047322A CN 114047322 A CN114047322 A CN 114047322A CN 202111321501 A CN202111321501 A CN 202111321501A CN 114047322 A CN114047322 A CN 114047322A
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- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/36—Textiles
- G01N33/362—Textiles material before processing, e.g. bulk cotton or wool
Abstract
The invention discloses a cotton fiber cooperative detection system and a method, wherein the system consists of 6 modules, namely a starting control module, an ending control module, a length intensity detection module, a color impurity detection module, a micronaire detection module and a fixed quality extraction module. The starting control module is mainly responsible for cooperative work among the three detection modules, namely the length intensity detection module, the color impurity detection module and the micronaire detection module, namely the three detection modules can carry out next detection after detection is finished, and the module which is firstly detected must wait for the module which is then detected. The cotton fiber cooperative detection system adopts the detection modules to perform parallel detection, and is cooperatively controlled by the control module to realize cooperative detection of cotton fibers.
Description
Technical Field
The invention relates to the technical field of cotton fiber detection, in particular to a cotton fiber cooperative detection system and method.
Background
At present, cotton fiber grading inspection between the U.S. and European governments, and cotton fiber inspection platforms using cotton fiber performance testers in large quantities in private grading rooms and cotton purchasing departments become the world cotton fiber industry standard for developing cotton fiber inspection by using the cotton fiber performance testers. Similarly, the cotton fiber testing platform using the cotton fiber performance tester to perform instrumented notary test on the cotton production area instead of the traditional manual test is a content of improvement of the cotton quality testing system in China, and a system for testing the cotton fibers in China has been built into more than 80 laboratories (more than 530 cotton fiber performance testers) by 2020, and basically covers the cotton production areas in Yangtze river, North China and northwest China. At present, a large number of cotton fiber performance testers are used at home and abroad, such as HVI1000 in the United states and XJI128Pro 128 cotton fiber performance testers in Yanxi Changling in China, 90% of fiber detection centers in China and most of client enterprises with strong strength also use the cotton fiber performance testers to carry out cotton fiber detection.
Compared with foreign countries, the current situation exists when a cotton fiber performance tester inspection platform is used in China: 1) in order to meet the requirement of cotton fiber inspection, more cotton fiber inspectors are provided in China, and the workload of a single person is larger; 2) due to the difference of national conditions, most of the inspection personnel in China adopt remuneration, and the daily working time is long and the working intensity is high. The current situation further causes the following dilemma in the domestic cotton fiber inspection industry, including 1) high working strength, long operation time and low working efficiency, 2) detection errors caused by easy fatigue of operators, 3) different operation methods and proficiency, resulting in inspection result differences, 4) occupational diseases caused by fiber dust, and 5) insufficient staff in busy seasons and idle staff in slack seasons, and restricts the cotton fiber detection efficiency and benefits.
Therefore, how to design a cotton fiber cooperative detection system becomes a problem to be solved currently.
Disclosure of Invention
The invention aims to provide a cotton fiber cooperative detection system and a cotton fiber cooperative detection method, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a cotton fiber cooperative detection method comprises the following steps:
the start control module judges whether the number of the end modules is 3.
And when the number of the ending modules is not 3, the starting control module continuously judges whether the number of the ending modules is 3.
And when the number of the ending modules is 3, the starting control module sets the number of the ending modules to be 0, the starting control module sends a starting signal to the micronaire detection module, and the micronaire detection module starts micronaire detection operation.
The starting control module starts the assembly line, and the starting control module judges whether the length strength sample box reaches a length strength sample box parking point.
When the length strength sample box does not reach the length strength sample box parking point, the starting control module continuously judges whether the length strength sample box reaches the length strength sample box parking point.
When the length intensity sample box reaches the parking point of the length intensity sample box, the starting control module controls the assembly line to stop moving, and the starting control module sends a starting signal to the length intensity detection module.
The length intensity detection module controls the mechanical arm No. 1 to move to a parking point of the length intensity sample box, the length intensity detection module starts the sucker No. 1 and the pneumatic contact pin No. 1, the sucker No. 1 and the pneumatic contact pin No. 1 adsorb a length intensity sample, the length intensity detection module sends a take-away signal to the starting control module, and the length intensity detection module starts to perform length intensity detection operation.
The starting control module starts the assembly line, and judges whether the color impurity sample box reaches a parking point of the color impurity sample box.
When the color impurity sample box does not reach the color impurity sample box parking point, the starting control module continuously judges whether the color impurity sample box reaches the color impurity sample box parking point.
When the color impurity sample box reaches the parking point of the color impurity sample box, the starting control module controls the assembly line to stop moving, the starting control module sends a starting signal to the color impurity detection module, and the color impurity detection module starts color impurity detection operation.
When the detection of the length intensity detection module, the color impurity detection module and the micronaire detection module is finished, the length intensity detection module, the color impurity detection module and the micronaire detection module send a finishing signal to a finishing control module, and the finishing control module adds 1 to the value of the number of the finishing modules.
Further, the length intensity detecting operation includes the following steps:
length intensity detection module control No. 1 arm removes cotton fiber performance tester length intensity detection mouth, length intensity detection module closes No. 1 sucking disc with No. 1 pneumatic contact pin makes length intensity sample whereabouts, length intensity detection module starts pneumatic blow gun and blows with length intensity sample blows in cotton fiber performance tester length intensity detection cavity.
The length strength detection module sends a detection signal to the cotton fiber performance tester equipment, and the cotton fiber performance tester equipment starts to carry out length strength detection. The length intensity detection module controls the No. 1 mechanical arm to return to an initial position.
Further, the color impurity detection operation includes the steps of:
color impurity detection module control 2 robotic arms move to color impurity sample box parking point, color impurity detection module starts No. 2 sucking discs and adsorbs the color impurity sample with pneumatic contact pin No. 2, color impurity detection module control No. 2 robotic arms move to cotton fiber performance tester color impurity inspection area, color impurity detection module closes No. 2 sucking discs with pneumatic contact pin No. 2 makes color impurity sample whereabouts extremely cotton fiber performance tester color impurity inspection area, color impurity detection module sends detected signal extremely cotton fiber performance tester equipment, cotton fiber performance tester equipment begins to carry out the color impurity and detects. And the color impurity detection module judges whether the color impurity detection is finished.
And when the color impurity detection is not finished, the color impurity detection module continuously judges whether the color impurity detection is finished.
When the color impurity detection is finished, the color impurity detection module starts the No. 2 sucker and the No. 2 pneumatic contact pin to adsorb the color impurity sample, the color impurity detection module controls the No. 2 mechanical arm to move to a sample recovery area, the color impurity detection module closes the No. 2 sucker and the No. 2 pneumatic contact pin to enable the color impurity sample to fall to the sample recovery area, and the color impurity detection module controls the No. 2 mechanical arm to return to an initial position.
Furthermore, the No. 2 sucker and the No. 2 pneumatic contact pin are arranged at the tail end of the No. 2 mechanical arm.
Further, the micronaire detection operation comprises the following steps:
the micronaire detection module controls the 3 # mechanical arm to clamp an empty sleeve onto the electronic scale, sends a zero clearing signal to the fixed mass extraction module, and sends a zero clearing instruction to the electronic scale.
The micronaire detection module controls the No. 3 mechanical arm to clamp the empty sleeve to cotton fiber sample filling equipment, the cotton fiber sample filling equipment starts to fill a micronaire sample into the empty sleeve, and the micronaire detection module judges whether the micronaire sample is filled completely.
And when the micronaire sample is not completely filled, the micronaire detection module continuously judges whether the micronaire sample is completely filled.
When the micronaire sample is completely filled, the micronaire detection module controls the mechanical arm 3 to clamp the sleeve containing the micronaire sample onto the electronic scale, the micronaire detection module sends a reading signal to the constant mass extraction module, and the constant mass extraction module sends a reading instruction to the electronic scale.
The micronaire detection module controls the mechanical arm 3 to clamp the sleeve containing the micronaire sample to the constant mass extraction module, the micronaire detection module sends a cutting starting signal to the constant mass extraction module, the constant mass extraction module starts constant mass extraction operation, and the micronaire detection module judges whether a cutting ending signal is received.
And when the micronaire detection module does not receive the cutting end signal, the micronaire detection module continuously judges whether the cutting end signal is received.
When the micronaire detection module receives the cutting end signal, the micronaire detection module controls the 3 # mechanical arm to clamp the cut sleeve onto the electronic scale, and the micronaire detection module judges whether the cotton fiber performance tester device successfully reads the cut mass of the micronaire sample.
When the cotton fiber performance tester device fails to read the cut quality of the micronaire sample, the micronaire detection module continuously determines whether the cotton fiber performance tester device successfully reads the cut quality of the micronaire sample.
When the cotton fiber performance tester equipment successfully reads the cut quality of the micronaire sample, the micronaire detection module controls the 3 # mechanical arm to clamp the cut sleeve and place the sleeve into a micronaire detection port at a specific angle, the micronaire detection module controls the 1 # push rod to push the micronaire sample into a micronaire detection cavity, the micronaire detection module controls the 2 # push rod to close the cover of the micronaire detection port, and the micronaire detection module controls the 3 # mechanical arm to clamp the empty sleeve to an initial position.
Further, the micronaire detection module controls the 3 # mechanical arm to clamp the empty sleeve onto the electronic scale for the first time to remove the mass of the empty sleeve. And the micronaire detection module controls the No. 3 mechanical arm to clamp the sleeve containing the micronaire sample for the second time onto the electronic scale so as to obtain the mass of the micronaire sample before cutting. And the micronaire detection module controls the 3 # mechanical arm to clamp the cut sleeve to the electronic scale for the third time so as to transfer the mass of the micronaire sample to the cotton fiber performance tester. The specific angle means that the sleeve is perpendicular to the plane of the micronaire detection port. The No. 1 push rod and the No. 2 push rod are arranged in front of the micronaire detection port.
Further, the constant mass extraction operation comprises the following steps:
the fixed mass extraction module controls the sample push rod to push forwards, records the distance of the sample push rod pushing forwards, and judges whether the pressure value of the pressure sensor is larger than or equal to the pressure critical value.
When the pressure value of the pressure sensor is smaller than the pressure critical value, the fixed mass extraction module controls the sample push rod to push forwards, the fixed mass extraction module records the distance of the sample push rod pushing forwards, and the fixed mass extraction module judges whether the pressure value of the pressure sensor exceeds the pressure critical value or not.
When the pressure value of the pressure sensor is larger than or equal to the pressure critical value, the fixed mass extraction module controls the sample push rod to stop pushing forward, the fixed mass extraction module calculates the length of the micronaire sample to be cut, the fixed mass extraction module controls a cutter to cut the micronaire sample, and the fixed mass extraction module sends a cutting end signal to the micronaire detection module.
Further, when the cotton fiber cooperative detection system is initialized, the fixed mass extraction module controls each IO port and each communication serial port to be initialized, and the fixed mass extraction module controls each motor to return to the initial position. The theory behind the constant mass extraction module calculating the length of the micronaire sample that needs to be cut is that the sample length when the micronaire sample is compressed to homogeneity is assumed to be L1Mass is M1The sample length of the micronaire sample after cutting is L2Mass 10(± 5%) g. According to equal linear density before and after cutting, M1/L1＝10/L2Obtaining L2＝10*L1/M1. The cutting length is L1-L2I.e. L1-10*L1/M1。
The invention also provides a cotton fiber cooperative detection system which comprises six modules and a global variable. The six modules are the starting control module, the ending control module, the length intensity detection module, the color impurity detection module, the micronaire detection module and the quantitative quality extraction module. The name of the global variable is the number of the ending modules, and the number of the ending modules records the number of the modules of the length intensity detection module, the color impurity detection module and the micronaire detection module which are ended in one round of detection. The number of the ending modules ranges from 0 to 3. When the cotton fiber cooperative detection system is initialized, the starting control module sets the number of the ending modules to be 3. The cotton fiber cooperative detection system executes the cotton fiber cooperative detection method.
Further, the No. 1 sucker and the No. 1 pneumatic contact pin are installed at the tail end of the No. 1 mechanical arm.
Compared with the prior art, the invention has the beneficial effects that: the cotton fiber cooperative detection system adopts a No. 1 mechanical arm matched with a No. 1 sucker and a No. 1 pneumatic plug to automatically detect the length strength of cotton fibers, adopts a No. 2 mechanical arm matched with a No. 2 sucker and a No. 2 pneumatic plug to automatically detect color impurities of the cotton fibers, extracts 10 (+/-5%) g of a micronaire sample by a fixed mass extraction module, and clamps 10 (+/-5%) g of the micronaire sample extracted by a fixed mass extraction module by a No. 3 mechanical arm clamp to automatically detect micronaire, so that the full-automatic cooperative detection of the cotton fiber performance tester 1000 is realized, the problems of high working strength, long operation time and low working efficiency of detection operators of the cotton fiber performance tester 1000 are solved, the cotton fiber detection efficiency and benefit are greatly improved, the cotton fiber detection efficiency and detection standard consistency are greatly improved by the fixed mass extraction module, and the mechanization, the detection is realized simultaneously, The problem that the personnel are not enough and the personnel are idle in the slack season is solved completely to automatic full automated inspection, improves the manpower predicament in the cotton fiber detection, improves work quality, promotes work efficiency, provides technical guarantee for the effective operation of cotton notarization inspection work.
Drawings
FIG. 1 is a schematic diagram of a communications control framework of the present invention;
FIG. 2 is a schematic flow diagram of a startup control module of the present invention;
FIG. 3 is a flow diagram of a termination control module of the present invention;
FIG. 4 is a schematic flow diagram of the length intensity detection module of the present invention;
FIG. 5 is a schematic flow diagram of a color impurity detection module according to the present invention;
FIG. 6 is a schematic flow diagram of a micronaire detection module according to the invention;
fig. 7 is a schematic flow diagram of a fixed mass extraction module of the present invention.
In the figure: m1-start control module; m2-end control module; m3-length intensity detection module; m4-color impurity detection module; m5-micronaire detection module; m6-constant mass extraction module; v1-number of end modules.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides a method for detecting cotton fiber in cooperation, comprising the following steps:
step P02 is first performed: the start control module M1 determines whether the end module number V1 is 3.
When the end module number V1 is not 3, continuously performing step P02.
When the end module number V1 is 3, steps P03 to P06 are performed. Wherein, the step P03 is: the start control module M1 sets the end module number V1 to 0. Step P04 is: the start control module M1 sends a start signal to the micronaire detection module M5, which micronaire detection module M5 starts micronaire detection operations. Step P05 is: the start control module M1 starts the pipeline. Step P06 is: the start control module M1 determines whether the length strength sample cassette has reached the length strength sample cassette stop point.
When the length strength sample cassette has not reached the length strength sample cassette stop point, step P06 continues.
When the length strength sample cartridge reaches the length strength sample cartridge landing point, step P07 is performed. Wherein, the step P07 is: the start control module M1 controls the pipeline to stop moving. Then, step P08 is executed: the enable control module M1 sends an enable signal to the length intensity detection module M3. After the execution of P08, step P09 is executed, and during the execution of P09, the steps R1 to R3 are also executed in sequence at the same time.
Step R1 is: the length strength detection module M3 controls the robot arm No. 1 to move to the length strength sample box parking point. Step R2 is: length intensity detection module M3 starts No. 1 sucking disc and No. 1 pneumatic contact pin, No. 1 sucking disc with No. 1 pneumatic contact pin adsorbs length intensity sample. Step R3 is: the length strength detecting module M3 sends a take-away signal to the start control module M1, and the length strength detecting module M3 starts a length strength detecting operation.
Step P09 is: the activation control module M1 determines whether a take-away signal is received.
When the start control module M1 does not receive the take-away signal, step P09 is continuously executed.
When the start control module M1 receives the take-away signal, step P10 is performed. Wherein, the step P10 is: the start control module M1 starts the pipeline. Step P11 is then executed: the start control module M1 determines whether the color impurity sample cell has reached a color impurity sample cell landing point.
When the color impurity sample cell does not reach the color impurity sample cell resting point, step P11 is continuously executed.
When the color impurity sample cartridge reaches the color impurity sample cartridge landing point, step P12 is performed. Wherein, the step P12 is: the start control module M1 controls the pipeline to stop moving. Step P13 is then executed: the start control module M1 sends a start signal to the color impurity detection module M4, and the color impurity detection module M4 starts color impurity detection operation. Finally, step P02 is executed again, and a new round of the loop is entered.
In the sequential execution of steps P02 through P13, steps Q1 through Q6 are also executed in sequence at the same time. Wherein, the step Q1 is: the end control module M2 determines whether the length strength detection module M3 sends an end signal.
When the length strength detecting module M3 does not transmit an end signal, step Q3 is performed.
When the length strength detecting module M3 sends an end signal, step Q2 is performed.
Wherein, the step Q2 is: the end control module M2 increments the end module number V1 by 1 and then executes step Q3. Step Q3 is: the end control module M2 determines whether the color impurity detection module M4 sends an end signal.
When the color impurity detection module M4 does not transmit an end signal, step Q5 is performed.
When the color impurity detection module M4 transmits an end signal, step Q4 is performed.
Wherein, the step Q4 is: the end control module M2 increments the end module number V1 by 1 and then executes step Q5. Step Q5 is: the end control module M2 determines whether the micronaire detection module M5 sends an end signal.
When the micronaire detection module M5 sends an end signal, step Q6 is performed. Wherein, the step Q6 is: the end control module M2 increments the end module number V1 by 1 and then executes step Q1 into a new round of the loop.
When the micronaire detection module M5 does not send an end signal, step Q1 is executed, entering a new cycle.
A cotton fiber cooperative detection system comprises six modules and a global variable. The six modules are the starting control module M1, the ending control module M2, the length intensity detection module M3, the color impurity detection module M4, the micronaire detection module M5 and the quantitative quality extraction module M6. The name of the global variable is the number of end modules V1, and the number of end modules V1 records the number of modules of the length intensity detection module M3, the color impurity detection module M4 and the micronaire detection module M5 which end detection in one round of detection. The number of the end modules V1 ranges from 0 to 3. When the cotton fiber cooperation detection system is initialized, the step P01 is executed. Wherein, the step P01 is: the start control module M1 sets the end module number V1 to 3.
In one embodiment, the No. 1 suction cup and the No. 1 pneumatic insertion pin are installed at the end of the No. 1 mechanical arm.
In one embodiment, the length intensity detection operation comprises steps R4-R9:
wherein, the step R4 is: the length strength detection module M3 controls the No. 1 mechanical arm to move to a length strength detection port of the cotton fiber performance tester. Step R5 is: the length strength detection module M3 closes the suction cup No. 1 and the pneumatic contact pin No. 1 to make the length strength sample fall. Step R6 is: and the length strength detection module M3 starts a pneumatic blowing nozzle to blow air so as to blow the length strength sample into the length strength detection cavity of the cotton fiber performance tester. Step R7 is: the length strength detection module M3 sends out a detection signal to the cotton fiber performance tester equipment, and the cotton fiber performance tester equipment starts to carry out length strength detection. Step R8 is: the length intensity detection module M3 controls the No. 1 mechanical arm to return to the initial position. Step R9 is: the length strength detection module M3 sends an end signal to the end control module M2.
In one embodiment, the color impurity detection operation includes the steps of:
first, steps S01 to S06 are performed. Wherein, step S01 is: the color impurity detection module M4 controls the No. 2 robot arm to move to the color impurity sample box parking point. Step S02 is: the color impurity detection module M4 starts the No. 2 sucker and the No. 2 pneumatic contact pin to adsorb the color impurity sample. Step S03 is: the color impurity detection module M4 controls the No. 2 mechanical arm to move to a color impurity detection area of the cotton fiber performance tester. Step S04 is: and the color impurity detection module M4 closes the No. 2 sucker and the No. 2 pneumatic contact pin to enable the color impurity sample to fall to the color impurity detection area of the cotton fiber performance tester. Step S05 is: the color impurity detection module M4 sends a detection signal to the cotton fiber performance tester equipment, and the cotton fiber performance tester equipment starts to detect color impurities. Step S06 is: the color impurity detection module M4 determines whether the color impurity detection is completed.
When the color impurity detection is not completed, step S06 is continuously performed.
When the color impurity detection is completed, steps S07 to S11 are performed. Wherein, step S07 is: the color impurity detection module M4 starts the No. 2 suction cup and the No. 2 pneumatic insertion pin to absorb the color impurity sample. Step S08 is: the color impurity detection module M4 controls the No. 2 robot arm to move to the sample recovery area. Step S09 is: the color impurity detection module M4 closes the suction cup No. 2 and the pneumatic insertion pin No. 2 to make the color impurity sample fall to the sample recovery area. Step S10 is: the color impurity detection module M4 controls the No. 2 robot arm to return to the initial position. Step S11 is: the color impurity detection module M4 sends an end signal to the end control module M2.
In one embodiment, the No. 2 suction cup and the No. 2 pneumatic insertion pin are mounted at the end of the No. 2 mechanical arm.
In one embodiment, the micronaire detection operation comprises the following steps:
first, step T01 is executed: the micronaire detection module M5 controls the robot arm No. 3 to pick up the empty sleeve onto the electronic scale. Next, step T02 is executed, wherein step T02 is: the micronaire detection module M5 sends a clear signal to the constant mass extraction module M6. Then, step U3 is executed: the fixed mass extraction module M6 sends a clear command to the electronic scale. Then step T03 is executed: the micronaire detection module M5 controls the mechanical arm No. 3 to pick the empty cartridge to a cotton sample filling device, which starts filling micronaire sample into the empty cartridge. And executing the step T04: and the micronaire detection module M5 judges whether the micronaire sample is completely filled.
When the micronaire sample is not completely filled, step T04 is continuously executed.
When the micronaire sample is completely filled, step T05 is performed. Wherein, the step T05 is: the micronaire detection module M5 controls the mechanical arm No. 3 to pick up the sleeve containing the micronaire sample onto the electronic scale. After the execution of step T05, step T06 is executed. Step T06 is: the micronaire detection module M5 sends a read signal to the constant mass extraction module M6. Then step U4 is performed: the fixed mass extraction module M6 sends a read command to the electronic scale.
Step T07 is then performed. Wherein, the step T07 is: the micronaire detection module M5 controls the mechanical arm No. 3 to pick the cartridge containing the micronaire sample to the constant mass extraction module M6. Then step T08 is executed: the micronaire detection module M5 sends a cut initiation signal to the constant mass extraction module M6, which initiates a constant mass extraction operation M6. Then, step T09 is executed: the micronaire detection module M5 determines whether a cut-end signal has been received.
When the micronaire detection module M5 does not receive the cut end signal, T09 is continuously executed.
When the micronaire detection module receives the cut end signal, step T10 is performed. Wherein, the step T10 is: and the micronaire detection module M5 controls the No. 3 mechanical arm to clamp the cut sleeve onto the electronic scale. Then step T11 is executed: the micronaire detection module M5 determines whether the cotton fiber performance tester apparatus successfully reads the cut mass of the micronaire sample.
When the cotton fiber Performance tester apparatus did not successfully read the post-cut mass of the micronaire sample, step T11 was continuously performed.
When the cotton fiber Performance tester apparatus successfully reads the post-cut mass of the micronaire sample, steps T12-T15 are performed. Wherein, the step T12 is: the micronaire detection module M5 controls the 3 # mechanical arm to pick up the cut sleeve and place the sleeve at a specific angle to the micronaire detection port. Step T13 is: the micronaire detection module M5 controls the push rod No. 1 to push the micronaire sample into the micronaire detection chamber, and the micronaire detection module M5 controls the push rod No. 2 to close the lid of the micronaire detection port. Step T14 is: the micronaire detection module M5 controls the No. 3 robot to pick up the empty sleeve to an initial position. Step T15 is: the micronaire detection module M5 sends an end signal to the end control module M2.
In one embodiment, the micronaire detection module M5 controls the robotic arm No. 3 to pick up the empty cartridge for the first time onto the electronic scale to clear the empty cartridge of mass. The micronaire detection module M5 controls the mechanical arm # 3 to pick up the sleeve containing the micronaire sample for a second time onto the electronic scale to obtain the mass of the micronaire sample before it is cut. The micronaire detection module M5 controls the 3 rd mechanical arm to pick up the cut sleeve for the third time onto the electronic scale to transfer the mass of the micronaire sample to the cotton fiber performance tester apparatus. The specific angle means that the sleeve is perpendicular to the plane of the micronaire detection port. The No. 1 push rod and the No. 2 push rod are arranged in front of the micronaire detection port.
In one embodiment, the constant mass extraction operation comprises the steps of:
first, step U6 is performed. Wherein, the step U6 is: the constant mass extraction module M6 controls the sample push rod to advance, and the constant mass extraction module M6 records the distance of the sample push rod to advance. After the step U6 is finished, the step U5 is executed: the constant mass extraction module M6 determines whether the pressure value of the pressure sensor is greater than or equal to a pressure threshold value.
When the pressure value of the pressure sensor is smaller than the pressure critical value, the step U6 is executed, and the step U5 is executed after the step U6 is executed.
When the pressure value of the pressure sensor is greater than or equal to the pressure critical value, steps U7-U9 are executed. Wherein, the step U7 is: the constant mass extraction module M6 controls the sample push rod to stop pushing forward, and the constant mass extraction module calculates the length of the micronaire sample to be cut. Step U8 is: the constant mass extraction module M6 controls a cutter to cut the micronaire sample. Step U9 is: the constant mass extraction module M6 sends a cut end signal to the micronaire detection module M5.
In one embodiment, when the cotton fiber cooperative detection system is initialized, steps U1 and U2 are performed sequentially. Wherein, the step U1 is: the constant quality extraction module M6 controls the initialization of each IO port and communication serial port. Step U2 is: the constant mass extraction module M6 controls the motors to return to the initial position. The quantitative extraction module M6 calculates the micronaire sample to be cutThe theory of length of (a) is that the sample length when the micronaire sample is compressed to homogeneity is assumed to be L1Mass is M1The sample length of the micronaire sample after cutting is L2Mass 10(± 5%) g. According to equal linear density before and after cutting, M1/L1＝10/L2Obtaining L2＝10*L1/M1. The cutting length is L1-L2I.e. L1-10*L1/M1。
The working principle is as follows:
the invention relates to a cotton fiber cooperative detection system which is composed of 6 modules. Respectively a start control module M1, an end control module M2, a length intensity detection module M3, a color impurity detection module M4, a micronaire detection module M5 and a quantitative quality extraction module M6.
The start control module M1 will be described first. The start control module M1 is mainly responsible for the cooperative work among the three detection modules (the length intensity detection module M3, the color impurity detection module M4, and the micronaire detection module M5), that is, the detection of the three detection modules is completed before the next round of detection is performed, and the detection of the module that is completed first must wait for the detection of the module that is completed later. The start control module M1 is controlled by the control box of the robot No. 1.
As shown in fig. 2. In the start control module M1, there is a global variable named end module number V1, which stores the number of modules that have been executed in one round of detection, and the value range is 0 to 3. The initial value is set to 3 so that the activation control module M1 can control the activation of the three detection modules. Firstly, judging whether the variable is 3, wherein 3 indicates that the execution of all three modules is finished, and then the next round can be carried out, and then setting the variable to be 0 to indicate that the detection of a new round is started. Because length intensity sample box parking point and color impurity sample box parking point are in the same position of assembly line, consequently must wait that the sample in the length intensity sample box takes away the back, the assembly line just can continue to operate, makes color impurity sample box stop at color impurity sample box parking point, and the micronaire detects and does not need the assembly line, consequently does not receive the assembly line influence.
In summary, in order to enable the three detection modules to detect simultaneously, the start control module M1 first sends a start signal to the micronaire detection module M5 (arm control box No. 3 controls micronaire detection module M5). The flow of the line is then controlled so that the length strength sample cassette stops at the length strength sample cassette stop point, the line is then halted, and a start signal is sent to the length strength detection module M3 (arm control box No. 1 control length strength detection module M3). And then waiting for the length intensity sample to be taken away, controlling the flow line to continue flowing after the length intensity sample is taken away, stopping the color impurity sample box at a parking point of the color impurity sample box, then pausing the flow line, and sending a starting signal to a color impurity detection module M4 (a No. 2 mechanical arm control box controls the color impurity detection module M4). Thus, the three detection modules can perform detection almost simultaneously. Wherein the length intensity detection and the color impurity detection differ by only one sample cartridge transport time, and the micronaire detection and the two detections are simultaneously detected. To this end, the start control module M1 completes a round of start operation.
As shown in fig. 3. In the ending control module M2, it is determined cyclically whether the three detection modules send ending signals to the module, if the module receives the ending signals, the ending module number V1 is increased by 1, when the ending module number V1 is increased to 3, the starting control module M1 starts a new round of detection (because the starting control module M1 determines whether the ending module number V1 is 3 after completing the starting task), and the ending module number V1 is set to 0, thereby implementing the cooperative work of the three detection modules. The end control module M2 is also controlled by the control box of the No. 1 robot, as are the start control module M1 and the length intensity detection module M3.
As shown in fig. 4. The length intensity detection module M3 first determines whether or not the start signal is received, and starts the whole process only when the start signal is received, and the start signal is sent from the start control module M1. After the module receives a starting signal, the mechanical arm 1 can move to a length strength sample box parking point (at the moment, the length strength sample box is already parked at the length strength sample box parking point), then a suction cup 1 and a pneumatic contact pin 1 at the tail end of the mechanical arm 1 of the starting machine enable the length strength sample to be adsorbed at the tail end of the mechanical arm 1, the length strength sample is transferred to a length strength detection area of cotton fiber performance tester equipment, and a take-away signal is sent to the starting control module M1 in the transfer process (the starting control module M1 is informed that the length strength sample is taken away). After the length strength sample is transferred to the length strength detection area, the No. 1 sucker at the tail end of the No. 1 mechanical arm and the No. 1 pneumatic contact pin are closed, and the pneumatic blowing nozzle in front of the length strength detection port is opened, so that the length strength sample enters the length strength detection cavity. And then, sending a signal to enable the cotton fiber performance tester equipment to start to carry out length strength detection on cotton fibers, wherein the length strength sample can be automatically recovered, so that the No. 1 mechanical arm can return to the initial position when the cotton fiber performance tester equipment detects the length strength sample. And sending an end signal to the end control module M2 after the detection is finished, wherein the end signal is received by the end control module M2, the number V1 of the end modules is increased by 1, and when the number V1 of the end modules is increased to 3, the length intensity detection of the next round is started under the control of the start control module M1. So far, the length strength detection completes one round.
As shown in fig. 5. In the color impurity detection module M4, the length intensity detection module M3, like the color impurity detection module M8926, starts the whole process only after receiving the start signal sent from the start control module M1. After the module receives the starting signal, the No. 2 mechanical arm is controlled to move to the color impurity sample box parking point (at the moment, the color impurity sample box is stopped at the color impurity sample box parking point). Then start No. 2 sucking discs and the pneumatic contact pin of No. 2 mechanical arm end, make colour impurity sample can adsorb at No. 2 mechanical arm end to colour impurity detection area of cotton fiber performance test appearance equipment is transferred to colour impurity with colour impurity sample. After the color impurity sample is transferred to the color impurity detection area, the No. 2 sucker at the tail end of the No. 2 mechanical arm and the No. 2 pneumatic contact pin are closed, the color impurity sample is placed in the detection area, the No. 2 mechanical arm is removed, and a detection signal is sent to enable the cotton fiber performance tester to start color impurity detection. Different from length intensity detection, color impurity detection needs to recover color impurity samples, so when cotton fiber performance tester equipment detects, the No. 2 mechanical arm must wait for the completion of cotton fiber performance tester equipment detection on one side. After the detection is finished, the No. 2 mechanical arm moves to the color impurity detection area again, the No. 2 sucker and the No. 2 pneumatic contact pin are started to adsorb the color impurity sample, the color impurity sample is conveyed to the recovery area, then the No. 2 mechanical arm returns to the initial position, and an end signal is sent to the end control module M2. Thus, a round of color impurity detection is completed.
As shown in fig. 6. In the micronaire detection module M5, the micronaire sample must have a mass of 10(± 5%) g, so a quantitative extraction must be performed before micronaire detection is performed. Whereas the fixed quality extraction operation is performed by the fixed quality extraction module M6, this module must communicate with the fixed quality extraction module M6. Like the above two detection modules, the module starts the following whole process after receiving the start signal, which is sent by the start control module M1. After starting, the 3 # mechanical arm takes the empty sleeve chuck to the electronic scale, sends a zero clearing signal to the mass extraction module M6, informs that the empty sleeve chuck is placed on the electronic scale, and sends a zero clearing instruction to the electronic scale to achieve the purpose of removing the mass of the empty sleeve chuck. The empty collet is then taken to a cotton fiber loading device where more than 10 grams of cotton fiber is loaded into the cartridge, and after loading is complete the collet is taken again to the electronic scale and a read signal is sent to the mass extraction module M6 to allow it to read the mass of the micronaire sample in the cartridge. The collet chuck is then picked up at the mass extraction module M6 and a signal is sent to start cutting, which is received by the mass extraction module M6 which cuts greater than 10 grams of cotton fibers in the collet to 10 grams (+ -5%). After the undetermined mass extraction module M6 is cut, the collet is taken to the electronic scale again, so that the cotton fiber performance tester reads the mass of the cut micronaire sample from the electronic scale (because the mass of the micronaire sample must be input into the cotton fiber performance tester before formal micronaire detection is performed). After the reading of the cotton fiber performance tester is completed, the 3 # mechanical arm takes the sleeve cylinder clamp in front of the micronaire detection port and is perpendicular to the plane of the micronaire detection port, then the 1 # pneumatic push rod is started, the micronaire sample is pushed into the micronaire detection cavity, then the sleeve cylinder is moved away, and then the 2 # push rod is started to close the cover of the micronaire detection port. Since the micronaire sample for the micronaire test does not need to be recovered by the module, the empty cartridge is returned to the initial position by the number 3 robot while the test is being performed. After completion of the detection, an end signal is sent to the end control module M2. Thus, one round of detection of the micronaire value was completed.
As shown in fig. 7, in the quantitative extraction module M6, the module was controlled by the Arduino Mega 2560 development board to realize quantitative extraction of the micronaire sample. I.e. a cartridge containing more than 10 grams of cotton fiber sample, the module cuts the sample quantitatively in the cartridge to achieve a mass of 10 (+/-5%) grams of cotton fiber in the cartridge after cutting. The module assists the micronaire detection module M5 to realize micronaire value detection of the cotton fiber sample. The specific flow is as follows. Firstly, initializing each IO port and communication serial port, and controlling each motor to return to the initial position. And then waiting for the empty sleeve to be placed on the electronic scale, and sending a zero clearing instruction to the electronic scale after the empty sleeve is placed on the electronic scale to remove the mass of the sleeve, so that the mass of the micronaire sample before cutting can be conveniently recorded next. And continuing to wait for the sleeve filled with the micronaire sample of more than 10 g to be placed on the electronic scale after the previous step is finished, and sending a mass reading instruction to the electronic scale after the sleeve is placed on the electronic scale, wherein the mass of the sleeve is removed, so that the read mass is the mass of the sample. After the sample mass is obtained, the cutting preparation is ready to wait for the 3 rd arm to place the cartridge on the module. When the module receives a cutting start signal, cutting can be started. The cutting procedure was as follows. The sample pusher is advanced until the pressure sensor value exceeds a threshold value, indicating that the micronaire sample has been compressed to near uniformity, and the cut length can be calculated according to a calculation formula. And after the cutting length is calculated, cutting can be carried out, and a cutting completion signal is sent to the micronaire detection module M5 after the cutting is completed, so that the micronaire detection module M5 continues to execute corresponding operations backwards.
The cut length formula is derived by setting the sample length when compressed to near uniformity (before cutting) to L1Mass is M1The length of the sample after cutting is L2Mass 10(± 5%) g. From the equal linear density, M1/L1＝10/L2Thus, L can be obtained2＝10*L1/M1. The cutting length is L1-L2I.e. L1-10*L1/M1。
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A cotton fiber cooperative detection method is characterized by comprising the following steps:
the starting control module judges whether the number of the ending modules is 3 or not;
when the number of the ending modules is not 3, the starting control module continuously judges whether the number of the ending modules is 3 or not;
when the number of the ending modules is 3, the starting control module sets the number of the ending modules to be 0, the starting control module sends a starting signal to the micronaire detection module, and the micronaire detection module starts micronaire detection operation;
the starting control module starts a production line and judges whether the length strength sample box reaches a length strength sample box parking point or not;
when the length strength sample box does not reach the length strength sample box parking point, the starting control module continuously judges whether the length strength sample box reaches the length strength sample box parking point;
when the length intensity sample box reaches the parking point of the length intensity sample box, the starting control module controls the production line to stop moving, and the starting control module sends a starting signal to the length intensity detection module;
the length intensity detection module controls the mechanical arm No. 1 to move to a parking point of the length intensity sample box, the length intensity detection module starts a No. 1 sucker and a No. 1 pneumatic contact pin, the No. 1 sucker and the No. 1 pneumatic contact pin adsorb a length intensity sample, the length intensity detection module sends a removal signal to the starting control module, and the length intensity detection module starts to perform length intensity detection operation;
the starting control module starts the assembly line, and judges whether the color impurity sample box reaches a parking point of the color impurity sample box;
when the color impurity sample box does not reach the color impurity sample box parking point, the starting control module continuously judges whether the color impurity sample box reaches the color impurity sample box parking point;
when the color impurity sample box reaches the parking point of the color impurity sample box, the starting control module controls the assembly line to stop moving, the starting control module sends a starting signal to the color impurity detection module, and the color impurity detection module starts color impurity detection operation;
when the detection of the length intensity detection module, the color impurity detection module and the micronaire detection module is finished, the length intensity detection module, the color impurity detection module and the micronaire detection module send a finishing signal to a finishing control module, and the finishing control module adds 1 to the value of the number of the finishing modules.
2. The cooperative detection method for cotton fibers as claimed in claim 1, wherein the length intensity detection operation comprises the following steps:
the length strength detection module controls the No. 1 mechanical arm to move to a length strength detection port of the cotton fiber performance tester, closes the No. 1 sucker and the No. 1 pneumatic contact pin to enable the length strength sample to fall down, and starts a pneumatic blowing nozzle to blow air to blow the length strength sample into a length strength detection cavity of the cotton fiber performance tester;
the length strength detection module sends a detection signal to cotton fiber performance tester equipment, the cotton fiber performance tester equipment starts to carry out length strength detection, and the length strength detection module controls the No. 1 mechanical arm to return to an initial position.
3. The cooperative cotton fiber detection method according to claim 1, wherein the color impurity detection operation comprises the following steps:
the color impurity detection module controls a No. 2 mechanical arm to move to a parking point of the color impurity sample box, the color impurity detection module starts a No. 2 sucker and a No. 2 pneumatic contact pin to adsorb a color impurity sample, the color impurity detection module controls the No. 2 mechanical arm to move to a color impurity detection area of a cotton fiber performance tester, the color impurity detection module closes the No. 2 sucker and the No. 2 pneumatic contact pin to enable the color impurity sample to fall to the color impurity detection area of the cotton fiber performance tester, the color impurity detection module sends a detection signal to the cotton fiber performance tester, the cotton fiber performance tester starts to perform color impurity detection, and the color impurity detection module judges whether the color impurity detection is finished;
when the color impurity detection is not finished, the color impurity detection module continuously judges whether the color impurity detection is finished;
when the color impurity detection is finished, the color impurity detection module starts the No. 2 sucker and the No. 2 pneumatic contact pin to adsorb the color impurity sample, the color impurity detection module controls the No. 2 mechanical arm to move to a sample recovery area, the color impurity detection module closes the No. 2 sucker and the No. 2 pneumatic contact pin to enable the color impurity sample to fall to the sample recovery area, and the color impurity detection module controls the No. 2 mechanical arm to return to an initial position.
4. The cooperative cotton fiber detection method according to claim 1, wherein the No. 2 suction cup and the No. 2 pneumatic insertion pin are installed at the end of the No. 2 mechanical arm.
5. The cooperative detection method for cotton fibers according to claim 1, wherein the micronaire detection operation comprises the following steps:
the micronaire detection module controls the mechanical arm No. 3 to clamp an empty sleeve onto the electronic scale, sends a zero clearing signal to the fixed mass extraction module, and sends a zero clearing instruction to the electronic scale;
the micronaire detection module controls the No. 3 mechanical arm to clamp the empty sleeve to cotton fiber sample filling equipment, the cotton fiber sample filling equipment starts to fill a micronaire sample into the empty sleeve, and the micronaire detection module judges whether the micronaire sample is filled completely;
when the micronaire sample is not completely filled, the micronaire detection module continuously judges whether the micronaire sample is completely filled;
when the micronaire sample is completely filled, the micronaire detection module controls the mechanical arm 3 to clamp the sleeve containing the micronaire sample onto the electronic scale, the micronaire detection module sends a reading signal to the constant-mass extraction module, and the constant-mass extraction module sends a reading instruction to the electronic scale;
the micronaire detection module controls the mechanical arm 3 to clamp the sleeve containing the micronaire sample to the constant-mass extraction module, the micronaire detection module sends a cutting starting signal to the constant-mass extraction module, the constant-mass extraction module starts constant-mass extraction operation, and the micronaire detection module judges whether a cutting ending signal is received;
when the micronaire detection module does not receive the cutting end signal, the micronaire detection module continuously judges whether the cutting end signal is received;
when the micronaire detection module receives the cutting end signal, the micronaire detection module controls the 3 # mechanical arm to clamp the cut sleeve onto the electronic scale, and the micronaire detection module judges whether the cotton fiber performance tester equipment successfully reads the cut mass of the micronaire sample;
when the cotton fiber performance tester device fails to read the cut quality of the micronaire sample, the micronaire detection module continuously judges whether the cotton fiber performance tester device successfully reads the cut quality of the micronaire sample;
when the cotton fiber performance tester equipment successfully reads the cut quality of the micronaire sample, the micronaire detection module controls the 3 # mechanical arm to clamp the cut sleeve and place the sleeve into a micronaire detection port at a specific angle, the micronaire detection module controls the 1 # push rod to push the micronaire sample into a micronaire detection cavity, the micronaire detection module controls the 2 # push rod to close the cover of the micronaire detection port, and the micronaire detection module controls the 3 # mechanical arm to clamp the empty sleeve to an initial position.
6. The cooperative cotton fiber detection method according to claim 5, wherein the micronaire detection module controls the 3-arm to grip the empty sleeve onto the electronic scale for the first time to remove the mass of the empty sleeve, and controls the 3-arm to grip the sleeve containing the micronaire sample onto the electronic scale for the second time to obtain the mass before cutting of the micronaire sample; the micronaire detection module controls the 3 # mechanical arm to clamp the cut sleeve for the third time onto the electronic scale so as to transfer the mass of the micronaire sample after cutting onto the cotton fiber performance tester equipment; the specific angle means that the sleeve is perpendicular to the plane of the micronaire detection port, and the No. 1 push rod and the No. 2 push rod are arranged in front of the micronaire detection port.
7. The cooperative detection method for cotton fibers as claimed in claim 5, wherein the constant mass extraction operation comprises the following steps:
the fixed mass extraction module controls a sample push rod to push forwards, records the distance of the sample push rod pushing forwards, and judges whether the pressure value of the pressure sensor is larger than or equal to a pressure critical value;
when the pressure value of the pressure sensor is smaller than the pressure critical value, the fixed mass extraction module controls a sample push rod to push forwards, the fixed mass extraction module records the distance of the sample push rod pushing forwards, and the fixed mass extraction module continuously judges whether the pressure value of the pressure sensor exceeds the pressure critical value;
when the pressure value of the pressure sensor is larger than or equal to the pressure critical value, the fixed mass extraction module controls the sample push rod to stop pushing forward, the fixed mass extraction module calculates the length of the micronaire sample to be cut, the fixed mass extraction module controls a cutter to cut the micronaire sample, and the fixed mass extraction module sends a cutting end signal to the micronaire detection module.
8. The cooperative cotton fiber detection method according to claim 7, wherein when the cooperative cotton fiber detection system is initialized, the constant mass extraction module controls each IO port and each communication serial port to be initialized, and the constant mass extraction module controls each motor to return to an initial position; the theory behind the constant mass extraction module calculating the length of the micronaire sample that needs to be cut is that the sample length when the micronaire sample is compressed to homogeneity is assumed to be L1Mass is M1The sample length of the micronaire sample after cutting is L2Mass 10 (+ -5%) g, according to equal linear density before and after cutting, M1/L1＝10/L2Obtaining L2＝10*L1/M1Then the cutting length is L1-L2I.e. L1-10*L1/M1。
9. A cotton fiber cooperative detection system is characterized by comprising six modules and a global variable; the six modules are the starting control module, the ending control module, the length intensity detection module, the color impurity detection module, the micronaire detection module and a fixed quality extraction module, the name of the global variable is the number of the ending modules, and the number of the ending modules records the number of the modules which are detected to be ended by the length intensity detection module, the color impurity detection module and the micronaire detection module in one round of detection; the end module number ranges from 0 to 3; when the cotton fiber cooperative detection system is initialized, the starting control module sets the number of the ending modules to be 3, and the cotton fiber cooperative detection system executes the cotton fiber cooperative detection method of any one of claims 1 to 8.
10. The cooperative cotton fiber detection system of claim 9, wherein the suction cup No. 1 and the pneumatic insertion pin No. 1 are mounted at the end of the mechanical arm No. 1.
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