CN114717741B - 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 PDFInfo
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- CN114717741B CN114717741B CN202210458321.0A CN202210458321A CN114717741B CN 114717741 B CN114717741 B CN 114717741B CN 202210458321 A CN202210458321 A CN 202210458321A CN 114717741 B CN114717741 B CN 114717741B
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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
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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
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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; the industrial cameras arranged on the front surface and the side surface of the active yarn carrying cylinder photograph the winding process in real time to obtain image information, the winding angle and the winding diameter of the carbon fiber winding are obtained through image processing, the accurate length of the wound carbon fiber is obtained by combining a size chain tolerance distribution principle, the accurate length is compared with the specified length, and when the accurate length is equal, the yarn breaking device works to complete the automatic yarn dividing process.
Description
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 invention aims to: 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 cycle i (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 profile i (ii) a The camera positioned on the side surface of the active yarn carrying cylinder takes a picture after each winding cycle begins for a period of time, and the obtained picture is subjected to pretreatment, gradient morphological treatment and image segmentation through the calculation module to obtain the winding angle alpha of the wound carbon fiber i ；
The calculation module is used for calculating the length L of the wound carbon fiber M ：
The controller receives the carbon fiber winding calculated length L transmitted by the calculation module M When 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 driving yarn drum from the driven yarn drum, and the revolution of the motor rotor driving the driving yarn drum is the carbon fiber winding number 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 sharpening 1 The winding diameter obtained after a period of winding is greater than d 1 And 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:
obtaining the number of turns N of the wound carbon fiber of the i-th winding cycle i Winding diameter d of i-th winding cycle of wound carbon fiber i Winding angle alpha of wound carbon fiber i ；
Calculating the wound carbon fiber length L M ：
Carbon fiber winding calculated length L M And 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 figure 1, the automatic yarn dividing system for winding the continuous carbon fibers with the specified length on the yarn carrier of the 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 computing 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 in real time from the calculation module i 。
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 0.02439mm. The camera in the axial direction of the active yarn carrying cylinder 6 takes pictures at the frequency of 30 frames per second, and a calculation module is introduced for image processing. Firstly, carrying out gray level binarization processing on a photo, carrying out filtering processing by using GaussianBlur, and carrying out edge binarization processing by using a Log operatorAnd (5) sharpening after detection. Extracting the contour through a Findcountours function, and obtaining the winding diameter d after shape fitting i 。d i The winding diameter of the ith cycle is judged by winding a carbon fiber back and forth, and the formula is as follows: d i >d i-1 +1.8d(i>1，d 1 Diameter 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 between two adjacent winding cycles, carrying out image segmentation on the extracted features and then obtaining the winding angle alpha of the winding cycle i . Specific winding angle alpha i The acquisition method comprises the following steps: firstly, carrying out gray level processing on a shot winding circulation picture and carrying out image enhancement, counting local minimum values on a gray level histogram of an enhanced yarn image, carrying out automatic detection, searching for an optimal segmentation threshold value on each row, determining the segmentation threshold values according to a sequence from small to large to obtain a binary image obtained after the dynamic threshold value segmentation of the yarn, carrying out Gaussian filtering on the binary image to remove image noise, then carrying out gradient morphological processing, carrying out image segmentation of two winding circulations based on open operation, obtaining the difference of two adjacent winding circulations and further obtaining a winding angle alpha i 。
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 alpha i 。
The length l of the single-loop carbon fiber is calculated by projection calculation on the active yarn carrying cylinder, and the formula is as follows:
as shown in fig. 2 and 3, the carbon fiber is wound based on the size chain tolerance distribution principleThe dimension length calculation reduces the accumulated deviation of winding by a ring increasing and ring decreasing closing mode, and the length L of the wound carbon fiber can be obtained by combining the obtained winding parameters M The final formula is:
referring to fig. 1 and 4, when the PLC controller 2 receives the calculated length L of the wound carbon fiber from the calculation module M When 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 cycle i (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 profile i (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 fiber i (ii) a One winding cycle is that the carbon fiber on the active yarn carrying cylinder winds back and forth once, and the back and forth process is the reverse processAnd the length of the single-circle carbon fiber is calculated by projection calculation on the active yarn carrying cylinder, and the projection angle is the winding angle alpha i ；
The calculation module is used for calculating the length L of the wound carbon fiber M ：
The controller receives the carbon fiber winding calculated length L transmitted by the calculation module M When 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 dividing system according to claim 2, further comprising a machine vision calibration plate for camera calibration, wherein the machine vision calibration plate obtains the actual length of the pixels, the winding image is obtained by the camera in the axial direction of the active yarn carrier, and the length d of the winding diameter of the carbon fiber is obtained by preprocessing, edge detection and image sharpening 1 The winding diameter obtained after a period of winding is greater than d 1 Judging to be the next winding cycle stage at +1.8d, and repeating the steps; where d is the carbon fiber thickness.
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-separating method of an automatic yarn-separating system applied to a yarn carrier of a three-dimensional knitting machine as claimed in claim 1, 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 cycle i Winding angle alpha of wound carbon fiber i ；
Calculating the wound carbon fiber length L M 。
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| CN202210458321.0A CN114717741B (en) | 2022-04-28 | 2022-04-28 | Automatic yarn dividing system and method on yarn carrier of three-dimensional knitting machine |
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| CN114717741B true CN114717741B (en) | 2023-03-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CH661587A5 (en) * | 1983-03-29 | 1987-07-31 | Loepfe Ag Geb | LENGTH MEASURING DEVICE FOR A THREAD ON A THREAD WINDING DEVICE. |
| ITMI20051929A1 (en) * | 2005-10-13 | 2007-04-14 | Savio Macchine Tessili Spa | DEVICE AND PROCEDURE FOR THE MEASUREMENT OF PRECISIONS OF THE WINDING OF THE FILM WRAPPED ON A ROCK |
| 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 |
| US10207890B2 (en) * | 2017-05-19 | 2019-02-19 | Reelex Packaging Solutions, Inc. | 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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