CN114717741A - Automatic yarn dividing system and method on yarn carrier of three-dimensional knitting machine - Google Patents

Automatic yarn dividing system and method on yarn carrier of three-dimensional knitting machine Download PDF

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Publication number
CN114717741A
CN114717741A CN202210458321.0A CN202210458321A CN114717741A CN 114717741 A CN114717741 A CN 114717741A CN 202210458321 A CN202210458321 A CN 202210458321A CN 114717741 A CN114717741 A CN 114717741A
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yarn
winding
carbon fiber
length
carrying cylinder
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CN114717741B (en
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单忠德
汪俊
康正水
孙正
王尧尧
马晓康
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
    • D04C3/00—Braiding or lacing machines
    • D04C3/02—Braiding or lacing machines with spool carriers guided by track plates or by bobbin heads exclusively
    • D04C3/14—Spool carriers
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
    • D04C3/00—Braiding or lacing machines

Abstract

The invention discloses an automatic yarn dividing system and method on a yarn carrier of a three-dimensional knitting machine; the system comprises: the yarn cutting machine comprises a rack, a controller, an encoder, a computing module, a high-definition industrial camera, a direct-current motor, a driving yarn carrying cylinder, a driven yarn carrying cylinder, a yarn pressing rod and a yarn cutting device. The motor drives the driving yarn carrying cylinder to rotate, carbon fibers to be separated are wound onto the main yarn cylinder from the driven yarn carrying cylinder through the yarn pressing rod, and the rotary revolution number of the motor is fed back to the controller by the encoder and is displayed on the computer; and (3) photographing an image information in real time in the winding process by using industrial cameras arranged on the front surface and the side surface of the active yarn carrying cylinder, processing the image to obtain a winding angle and a winding diameter of the carbon fiber winding, obtaining the accurate length of the wound carbon fiber by combining a size chain tolerance distribution principle, comparing the accurate length with a specified length, and finishing the automatic yarn dividing process by the yarn breaking device when the accurate length is equal to the specified length.

Description

Automatic yarn dividing system and method on yarn carrier of three-dimensional knitting machine
Technical Field
The invention relates to the field of carbon fiber length yarn splitting of yarn carriers in a three-dimensional weaving technology.
Background
The carbon fiber composite material that three-dimensional braider used has structural performance, for example light in weight, high temperature resistant, anticorrosive, rigidity etc. and the carbon fiber that can buy at present rolls up length at 3000m, carries out length bundling with the carbon fiber book according to the yarn carrier section of thick bamboo number of actual equipment and demand needs and to carry out the actual demand of guaranteeing that the carbon fiber is smooth to be fed to 10 yarn carriers on. Therefore, it is meaningful to research an automatic yarn dividing method for a specified length of carbon fiber.
At present, the calculation method of the carbon fiber length comprises a theoretical calculation method, a weighing calculation method and a test calculation method. The theoretical calculation method is to calculate the projection of the coil on the plane approximately. The weighing calculation method is to weigh the fabric mass and then calculate the coil length under the condition of knowing the linear density of the yarn and the number of the knitted coils. The experimental calculation method is to calculate the length of the coil by using a static test method or a dynamic test method. These methods cannot calculate the length of the carbon fiber in real time on the actual operation site, and have low automation. The device is limited by the moving reciprocation of the carbon fiber winding, and a length or speed sensor cannot be arranged for measuring the length when the carbon fiber comes out of the driven yarn carrying barrel.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an automatic yarn dividing system and method on a yarn carrier of a three-dimensional knitting machine, which are used for calculating the length of carbon fiber on the yarn carrier of the three-dimensional knitting machine in real time.
The technical scheme is as follows: in order to solve the problems, the automatic yarn dividing system on the yarn carrier of the three-dimensional knitting machine provided by the invention can adopt the following technical scheme:
an automatic yarn dividing system on a yarn carrier of a three-dimensional knitting machine is characterized by comprising a driving yarn carrier, a driven yarn carrier, a yarn breaking device, a vision measuring system, an encoder, a calculation module and a controller;
the encoder is used for acquiring the number N of the wound carbon fibers of the ith winding cyclei(ii) a The vision testThe measuring system comprises a camera positioned in the axial direction of the active yarn carrying cylinder and a camera positioned on the side surface of the active yarn carrying cylinder; a camera positioned in the axial direction of the active yarn carrying cylinder is used for acquiring the profile of the yarn cylinder for winding the carbon fiber, and the winding diameter d of the ith winding cycle of the corresponding profile is obtained by fitting the profilei(ii) a The camera positioned on the side surface of the active yarn carrying cylinder takes a picture after a period of time after each winding cycle begins, and the obtained picture is preprocessed, processed in a gradient morphology mode and segmented by the computing module to obtain the winding angle alpha of the wound carbon fiberi；
The calculation module is used for calculating the length L of the wound carbon fiberM：
Figure BDA0003621243490000011
The controller receives the carbon fiber winding calculated length L transmitted by the calculation moduleMWhen the length is equal to the designated length L, controlling a yarn breaking device to perform yarn breaking operation on the carbon fiber; m represents the measured yarn length.
Furthermore, the carbon fiber is smoothly unfolded in the process of winding the driven yarn drum on the driving yarn drum, and the number of revolutions of a motor rotor driving the driving yarn drum is equal to the number of wound carbon fiber N.
Further, the device comprises a machine vision calibration plate used for calibrating a camera, wherein the machine vision calibration plate acquires the actual length of pixels, acquires winding images through the camera which actively carries the axial direction of the yarn drum, and acquires the length d of the winding diameter of the carbon fiber through preprocessing, edge detection and image sharpening1The winding diameter obtained after a period of winding is greater than d1And when the time is +1.8d, judging that the next winding cycle stage, and repeating the steps.
Furthermore, the yarn pressing device further comprises a yarn pressing rod located on the side face of the driving yarn carrying cylinder, the working length of the yarn pressing rod is larger than the axial winding length of the driven yarn carrying cylinder, and the size of a rod opening of the yarn pressing rod is controlled within 1mm larger than the thickness d of carbon fibers.
The invention also provides an automatic yarn dividing method on the yarn carrier of the three-dimensional knitting machine, which comprises the following steps:
get the ithNumber of turns N of wound carbon fiber in winding cycleiWinding diameter d of i-th winding cycle of wound carbon fiberiWinding angle alpha of wound carbon fiberi；
Calculating the wound carbon fiber length LM：
Figure BDA0003621243490000021
Carbon fiber winding calculated length LMAnd when the length is equal to the designated length L, controlling the yarn breaking device to perform yarn breaking operation on the carbon fiber.
The invention has the beneficial effects that: compared with the traditional carbon fiber yarn splitting method, the method has the characteristics of automation, controllability, rapidness and accuracy, can calculate the length of the wound yarn in real time in the limited space of a yarn splitting frame and break the yarn according to the designed length value, and greatly meets the operation requirement of continuous synchronous feeding of a plurality of yarn carriers of the three-dimensional knitting machine.
Drawings
Fig. 1 is a schematic view of the overall structure of the invention.
FIG. 2 is a schematic view of a vision measurement system process flow.
Fig. 3 is a schematic view of a winding cycle.
FIG. 4 is a schematic structural diagram of a yarn cutting device.
Detailed Description
As shown in fig. 1, an automatic yarn dividing system for winding continuous carbon fibers with specified length on a yarn carrier of a three-dimensional knitting machine comprises a rack 1, a controller 2, a 1024 encoder 3, a direct current motor 4, a vision measuring system 5, a driving yarn carrier 6, a yarn pressing rod 7, a driven yarn carrier 8, a calculating module and a yarn breaking device.
Will wait to divide the carbon fiber book to pass through the chucking device card on driven yarn section of thick bamboo 8 of taking, the yarn section of thick bamboo 6 is taken at the initiative to carbon fiber book yarn section of thick bamboo cover, takes the yarn section of thick bamboo 8 from the driven yarn section of thick bamboo of taking through pressing yarn pole 7 to be fixed in on the yarn section of thick bamboo, adjusts and presses yarn pole 7 to suitable position, makes follow-up carbon fiber coiling process level and smooth and not add the twelve stamen.
The power is switched on, the direct current motor rotates 4 to drive the driving yarn carrying cylinder 6 to rotate, the driving yarn carrying cylinder transmits motion to the driven yarn carrying cylinder 8, and the whole device starts to work.
The 1024 encoder 3 is connected to the PLC controller and the DC motor through communication lines, and both are directly connected to the rack 1. The 1024 encoder is connected with a 24V power supply and is connected with the PLC and the direct current motor through a communication line, the number of revolutions of the encoder represents the number of rolls N of each winding cycle, and the number of revolutions of the encoder is set to be zero after one winding cycle is finished. The number N of carbon fiber rolls can be read from the calculation module in real timei。
Referring to fig. 1 and 2, the high definition industrial camera 7 is a Basler acA1300-30gm Gige area-array camera, the machine vision calibration board used is a calibration board of AFT-MCT-HC100, and the actual length of 1 pixel obtained by calibration is 0.02439 mm. The camera in the axial direction of the active yarn carrying cylinder 6 takes pictures at the frequency of 30 frames per second, and the pictures are led into a calculation module for image processing. Firstly, carrying out gray level binarization processing on a photo, carrying out filtering processing by using GaussianBlur, and carrying out edge detection and sharpening by using a Log operator. Extracting the contour through a Findcountours function, and obtaining the winding diameter d after shape fittingi。diThe winding diameter of the ith cycle is judged by winding a carbon fiber back and forth, and the formula is as follows: di>di-1+1.8d(i>1，d1Diameter of the active carrier).
The camera on the side of the active yarn carrying cylinder 6 starts to take pictures after 1.5s after each winding cycle, and the pictures are led into a calculation module for image processing. Firstly, carrying out gray level binary processing on a picture of a winding cycle, then carrying out gradient morphology processing to obtain the difference of two adjacent winding cycles, carrying out image segmentation on the extracted features and then obtaining the winding angle alpha of the winding cyclei. Specific winding angle alphaiThe acquisition method comprises the following steps: firstly, carrying out gray level processing on a shot winding circulation picture and carrying out image enhancement, counting the local minimum value on a gray level histogram of the enhanced yarn image, carrying out automatic detection, and searching the optimal segmentation threshold value on each columnDetermining a segmentation threshold value according to the sequence from small to large to obtain a binary image after the yarn dynamic threshold value is segmented, performing Gaussian filtering on the binary image to remove image noise, then performing gradient morphological processing, performing image segmentation of two winding cycles based on open operation, obtaining the difference of two adjacent winding cycles to obtain a winding angle alphai。
With reference to fig. 1 and 3, one winding cycle is a carbon fiber one-time back-and-forth winding process on the active yarn carrying cylinder 6, the back-and-forth process is the reverse process, and the calculation of the length of the single-turn carbon fiber is performed by projection calculation on the active yarn carrying cylinder, and the projection angle is the winding angle alphai。
The calculation of the length l of the single-loop carbon fiber is calculated by projection on the active yarn carrying cylinder, and the formula is as follows:
Figure BDA0003621243490000031
with reference to fig. 2 and 3, the calculation of the length of the wound carbon fiber based on the principle of size chain tolerance distribution reduces the accumulated deviation of winding by means of increasing and decreasing ring closure, and the obtained winding parameters are combined to obtain the length L of the wound carbon fiberMThe final formula is:
Figure BDA0003621243490000041
referring to fig. 1 and 4, when the PLC controller 2 receives the calculated length L of the wound carbon fiber from the calculation moduleMWhen the length is equal to the designated length L, the device controls the yarn breaking device to perform yarn breaking operation. The specific operation is that the controller controls the stop spring 9 to return, the compressed spring 10 extends to drive the yarn breaking blade 11 to break yarn, and the push spring 9 rises after the yarn breaking succeeds to compress the spring to the original position.
The foregoing is directed to embodiments of the present invention, and it is understood that various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims (5)

1. An automatic yarn dividing system on a yarn carrier of a three-dimensional knitting machine is characterized by comprising a driving yarn carrier, a driven yarn carrier, a yarn breaking device, a vision measuring system, an encoder, a calculation module and a controller;
the encoder is used for acquiring the number N of the wound carbon fibers of the ith winding cyclei(ii) a The vision measuring system comprises a camera positioned in the axial direction of the active yarn carrying cylinder and a camera positioned on the side surface of the active yarn carrying cylinder; a camera positioned in the axial direction of the active yarn carrying cylinder is used for acquiring the profile of the yarn cylinder for winding the carbon fiber, and the winding diameter d of the ith winding cycle of the corresponding profile is obtained by fitting the profilei(ii) a The camera positioned on the side surface of the active yarn carrying cylinder takes a picture after a period of time after each winding cycle begins, and the obtained picture is preprocessed, processed in a gradient morphology mode and segmented by the computing module to obtain the winding angle alpha of the wound carbon fiberi；
The calculation module is used for calculating the length L of the wound carbon fiberM：
Figure FDA0003621243480000011
The controller receives the carbon fiber winding calculated length L transmitted by the calculation moduleMWhen the length is equal to the designated length L, controlling a yarn breaking device to perform yarn breaking operation on the carbon fiber; m represents the measured yarn length.
2. The automatic yarn distribution system of claim 1, wherein the carbon fiber is unwound smoothly from the driven bobbin to the driving bobbin, and the number of revolutions of the motor rotor driving the driving bobbin is N.
3. The automatic yarn distribution system of claim 2, further comprising a machine vision calibration board for camera calibration, wherein the machine vision calibration board obtains the actual length of the pixels by actively driving the yarn carrierAn axial camera acquires a winding image, and the length d of the winding diameter of the carbon fiber is obtained through preprocessing, edge detection and image sharpening1The winding diameter obtained after a period of winding is greater than d1And when the time is +1.8d, judging that the next winding cycle stage, and repeating the steps.
4. The automatic yarn dividing system according to claim 1, 2 or 3, further comprising a yarn pressing rod arranged on the side surface of the driving yarn carrying cylinder, wherein the working length of the yarn pressing rod is greater than the axial winding length of the driven yarn carrying cylinder, and the size of a rod opening of the yarn pressing rod is controlled within 1mm greater than the thickness d of the carbon fiber.
5. An automatic yarn dividing method on a yarn carrier of a three-dimensional knitting machine is characterized in that,
obtaining the number Ni of the wound carbon fiber of the ith winding cycle and the winding diameter d of the wound carbon fiber of the ith winding cycleiWinding angle alpha of wound carbon fiberi；
Calculating the wound carbon fiber length LM：
Figure FDA0003621243480000012
Carbon fiber winding calculated length LMWhen the length is equal to the designated length L, controlling a yarn breaking device to perform yarn breaking operation on the carbon fiber; m represents the measured yarn length.
CN202210458321.0A 2022-04-28 2022-04-28 Automatic yarn dividing system and method on yarn carrier of three-dimensional knitting machine Active CN114717741B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4635216A (en) * 1983-03-29 1987-01-06 Loepfe Brothers Limited Length measuring device for a thread
CN1948109A (en) * 2005-10-13 2007-04-18 Savio纺织机械责任有限公司 Device and process for the precision measurement of the length of thread wound onto a bobbin
CN104058300A (en) * 2014-06-13 2014-09-24 中山市宏图精密机械制造有限公司 Method for measuring reel diameter and thickness of yarns on reel of air-covered yarn machine
CN107525473A (en) * 2017-06-22 2017-12-29 卡尔迈耶（中国）有限公司 The method for measuring tricot machine warp let-off length
CN108132020A (en) * 2018-01-17 2018-06-08 青岛大学 Braiding yarn speed and measurement of length system and method based on line-scan digital camera
CN110709342A (en) * 2017-05-19 2020-01-17 力雷克斯包装方案公司 Apparatus and method for winding coil

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4635216A (en) * 1983-03-29 1987-01-06 Loepfe Brothers Limited Length measuring device for a thread
CN1948109A (en) * 2005-10-13 2007-04-18 Savio纺织机械责任有限公司 Device and process for the precision measurement of the length of thread wound onto a bobbin
CN104058300A (en) * 2014-06-13 2014-09-24 中山市宏图精密机械制造有限公司 Method for measuring reel diameter and thickness of yarns on reel of air-covered yarn machine
CN110709342A (en) * 2017-05-19 2020-01-17 力雷克斯包装方案公司 Apparatus and method for winding coil
CN107525473A (en) * 2017-06-22 2017-12-29 卡尔迈耶（中国）有限公司 The method for measuring tricot machine warp let-off length
CN108132020A (en) * 2018-01-17 2018-06-08 青岛大学 Braiding yarn speed and measurement of length system and method based on line-scan digital camera

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