CN117864871A - Automatic loading and positioning system of glass fiber doffer and operation method - Google Patents
Automatic loading and positioning system of glass fiber doffer and operation method Download PDFInfo
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- CN117864871A CN117864871A CN202410244553.5A CN202410244553A CN117864871A CN 117864871 A CN117864871 A CN 117864871A CN 202410244553 A CN202410244553 A CN 202410244553A CN 117864871 A CN117864871 A CN 117864871A
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- 239000003365 glass fiber Substances 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000000007 visual effect Effects 0.000 claims abstract description 22
- 238000004804 winding Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 241000628997 Flos Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012681 fiber drawing Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Abstract
The invention provides an automatic loading and positioning system of a glass fiber doffer and an operation method, relates to the technical field of glass fiber manufacturing, and solves the technical problems that yarn groups collide with tiles and damage to the yarn groups when the doffer loads the yarn groups according to a set position due to inaccurate stop and tile deformation of a yarn after long-time use in the prior art. The system comprises a PLC controller, a servo driving system and a visual identification system, wherein the PLC controller is used for establishing an initialization coordinate system and recording initial position coordinates of tiles on a wire barrow, the visual identification system identifies actual position coordinates of the tiles and can transmit the actual position coordinates to the PLC controller, the PLC controller can process the initial position coordinates and the actual position coordinates to obtain position deviation coordinates of the tiles, and the PLC controller can control the servo driving system to push the wire barrow to carry out position adjustment according to the position deviation coordinates.
Description
Technical Field
The invention relates to the technical field of glass fiber manufacturing, in particular to an automatic loading and positioning system of a glass fiber doffer and an operation method.
Background
The glass fiber doffer is an automatic device for carrying glass fiber products and is used for unloading and loading full-package yarn groups of a glass fiber winding machine. In a glass fiber drawing production workshop, after a yarn group of a winding machine is fully wound, a yarn unloading signal is sent to a doffer, the doffer automatically takes the yarn group and operates to a designated loading position, the yarn group is loaded on a tile of an empty yarn car, and the yarn car is conveyed to the next production process through a conveying line after the yarn group is fully wound.
One doffer corresponds to a plurality of winding machines and empty yarn cars, and full yarn groups of the winding machines are unloaded according to system settings and then loaded on tiles of the corresponding empty yarn cars. The coordinates specifying the loading position are set during the commissioning of the apparatus, and no setting is made after the operation of the apparatus. Because of the inaccuracy of stopping and deformation of the tiles after the silk reeling machine is used for a long time, the problem that yarn clusters collide with the tiles and the yarn clusters are damaged when the silk reeling machine is used for loading the yarn clusters according to the set positions is caused.
Disclosure of Invention
The invention aims to provide an automatic loading and positioning system and an operation method of a glass fiber doffer, which are used for solving the technical problems that yarn groups collide with tiles and the yarn groups are damaged when the doffer loads yarn groups according to a set position due to inaccurate stop and tile deformation after a yarn machine is used for a long time in the prior art. The preferred technical solutions of the technical solutions provided by the present invention can produce a plurality of technical effects described below.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the invention provides an automatic loading positioning system of a glass fiber doffer, which comprises a PLC (programmable logic controller), a servo driving system and a visual recognition system, wherein the PLC is used for establishing an initialization coordinate system and recording initial position coordinates of tiles on a doffer, the visual recognition system recognizes the actual position coordinates of the tiles and can transmit the actual position coordinates to the PLC, the PLC can process the initial position coordinates and the actual position coordinates to obtain position deviation coordinates of the tiles, and the PLC can control the servo driving system to push the doffer to adjust positions according to the position deviation coordinates.
Optionally, the servo driving system and the visual recognition system are both communicated with the PLC controller by adopting a communication protocol.
Optionally, the servo driving system comprises a servo driver, a servo motor, a transmission mechanism and an absolute value encoder, wherein the PLC is in communication connection with the servo driver, the servo driver is connected with the servo motor, the servo motor is connected with the transmission mechanism, the PLC sends out instructions to the servo driver and can control the speed, the moment and the position of the doffer, the absolute value encoder can transmit the position information of the doffer to the PLC, and the servo driver can transmit the speed and the moment information of the servo motor to the PLC.
Optionally, the number of the servo driving systems is three, and the moving directions of the three servo driving systems are perpendicular.
Optionally, the visual identification system includes industry camera, image processor and light source, industry camera install in the string lead screw front end below of doffer, the light source encircles around industry camera, image processor install in the electrical control cabinet of doffer, industry camera with image processor passes through the ethernet communication to be connected, the light source with image processor electricity is connected, image processor with the PLC controller passes through the ethernet and connects the communication.
The invention provides an operation method of an automatic loading and positioning system of a glass fiber doffer, which comprises the following operation steps:
step S1: the PLC takes a doffer as an origin, and then establishes an initialization coordinate system by taking the moving directions of three servo driving systems as X, Y and Z coordinate axes;
step S2: recording initial position coordinates of all tiles on the wire barrow in the PLC;
step S3: acquiring a starting position coordinate of the doffer for taking the yarn group from the winding machine;
step S4: the PLC compares the starting position coordinate with the initial position coordinate of one tile, and plans the running path of the doffer until the doffer runs to the initial position coordinate;
step S5: starting the visual recognition system, and carrying out position recognition on the tile to obtain an actual position coordinate;
step S6: the visual recognition system transmits the actual position coordinates to the PLC, and the PLC processes the initial position coordinates and the actual position coordinates to obtain position deviation coordinates of the tiles;
step S7: the PLC controls the servo driving system to push the doffer to adjust the position according to the position deviation coordinates;
step S8: and repeating the steps S5 to S7 until the numerical value of the position deviation coordinate is within a specified numerical range, and aligning the tile by the doffer at the moment to carry out loading operation.
Optionally, the method further comprises:
step S9: and (4) repeating the steps S4 to S8 until all the tiles on the silk mill are loaded with yarn groups, and stopping running.
Optionally, zero calibration switches are arranged on the coordinate axes of the initialization coordinate system X, Y, Z in the step S1.
According to the automatic loading positioning system of the glass fiber doffer, the doffer is driven to move through the servo driving system, after the doffer moves to the initial position coordinates of the tiles, the actual positions of the tiles are identified through the visual identification system, the servo driving system is controlled through the PLC to finely adjust the doffer, accurate positioning of the doffer loading operation is ensured, and the technical problem that yarn clusters collide with the tiles and damage to the yarn clusters occurs when the doffer loads yarn clusters according to the set positions due to inaccurate stop and deformation of the tiles after the doffer is used for a long time in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a doffer of an automatic loading and positioning system of a glass fiber doffer provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a filament car of an automatic loading and positioning system of a glass fiber filament doffer provided by the embodiment of the invention.
1, a silk cart; 2. a tile; 3. a yarn mass; 4. a screw rod is hung; 5. a first servo drive system; 6. a second servo drive system; 7. and a third servo drive system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
In the description of the present invention, it is to be noted that, unless otherwise indicated, the meaning of "plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", etc., refer to an orientation or positional relationship based on that shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
The invention provides an automatic loading and positioning system of a glass fiber doffer, which comprises a PLC (programmable logic controller), a servo driving system and a visual identification system, wherein the PLC is used for establishing an initialization coordinate system and recording initial position coordinates of a tile 2 on a silk truck 1, the visual identification system is used for identifying actual position coordinates of the tile 2 and transmitting the actual position coordinates to the PLC, the PLC can process the initial position coordinates and the actual position coordinates to obtain position deviation coordinates of the tile 2, and the PLC can control the servo driving system to push the silk doffer to adjust positions according to the position deviation coordinates. According to the automatic loading positioning system of the glass fiber doffer, disclosed by the invention, the doffer is driven to move through the servo driving system, after the doffer moves to the initial position coordinates of the tiles 2, the actual positions of the tiles 2 are identified through the visual identification system, the servo driving system is controlled through the PLC to finely adjust the doffer, the accurate positioning of the loading operation of the doffer is ensured, and the technical problems that in the prior art, the yarn clusters collide with the tiles and the yarn clusters are damaged when the doffer loads yarn clusters according to the set positions due to inaccurate stop positions and deformation of the tiles after the yarn trucks are used for a long time are solved.
As an alternative embodiment, both the servo drive system and the visual recognition system communicate with the PLC controller using Profinet communication protocol.
As an alternative implementation mode, the servo driving system comprises a servo driver, a servo motor, a transmission mechanism and an absolute value type encoder, wherein the PLC is in communication connection with the servo driver, the servo driver is connected with the servo motor, the servo motor is connected with the transmission mechanism, the PLC sends out instructions to the servo driver and can control the speed and the moment of the servo motor and the position of the doffer, the absolute value type encoder can transmit the position information of the doffer to the PLC, and the servo driver can transmit the speed and the moment information of the servo motor to the PLC.
As an alternative embodiment, the number of the servo driving systems is three, and the moving directions of the three servo driving systems are perpendicular. The three servo driving systems are a first servo driving system 5, a second servo driving system 6 and a third servo driving system 7 respectively, wherein the first servo driving system can push the doffer to horizontally move along the X axis, the second servo driving system 6 can push the doffer to horizontally move along the Y axis, and the third servo driving system 7 can push the doffer to vertically move along the Z axis. Specifically, the horizontal movement of the X axis is the movement of the doffer body along the suspension track, and the transverse movement of the Y axis and the vertical movement of the Z axis are the movement of the hanging screw rod 4 of the doffer. Yarn group 3 is mounted on hanging lead screw 4, when the doffer carries out loading operation location, through doffer X axle horizontal motion, Y axle sideslip motion and Z axle vertical motion, realizes doffer loading location's accurate location, the accurate tile 2 on butt joint silk car 1 of yarn group 3 that is mounted on hanging lead screw 4 promptly.
As an alternative embodiment, the visual recognition system includes industry camera, image processor and light source, and industry camera installs in the wire rod 4 front end below of doffer, and the light source encircles around industry camera, and image processor installs in the electrical control cabinet of doffer, and industry camera passes through ethernet communication with image processor to be connected, and the light source passes through ethernet connection communication with image processor electricity, image processor and PLC controller.
The invention provides an operation method of an automatic loading and positioning system of a glass fiber doffer, which comprises the following operation steps:
step S1: the PLC takes a doffer as an origin, and then establishes an initialization coordinate system by taking the moving directions of the three servo driving systems as X, Y and Z coordinate axes;
step S2: recording initial position coordinates of all tiles 2 on the wire cart 1 in a PLC;
step S3: acquiring the starting position coordinates of a doffer for taking a yarn group 3 from a winding machine;
step S4: the PLC compares the starting position coordinate with the initial position coordinate of one tile 2, plans the running path of the doffer, and if the X coordinate comparison value is positive, the doffer horizontally moves forward; if the X coordinate axis comparison value is negative, the doffer horizontally moves backwards; if the Y coordinate axis comparison value is positive, the doffer transversely moves right to operate; if the Y coordinate axis comparison value is negative, the doffer transversely moves left to operate; if the Z coordinate axis comparison value is positive, the doffer vertically ascends and operates; if the Z coordinate axis comparison value is negative, the doffer vertically descends to run until the doffer runs to an initial position coordinate;
step S5: starting a visual recognition system, and carrying out position recognition on the tile 2 to obtain actual position coordinates;
step S6: the visual recognition system transmits the actual position coordinates to the PLC, and the PLC processes the initial position coordinates and the actual position coordinates to obtain position deviation coordinates of the tiles 2;
step S7: the PLC controls the servo driving system to push the doffer to adjust the position according to the position deviation coordinates;
step S8: repeating the steps S5 to S7 until the numerical value of the position deviation coordinate is in a specified numerical range which can be 2mm, aligning the doffer with the tile 2 at the moment, and carrying out loading operation; and carrying out fine position adjustment on the position with the value of the position deviation coordinate being larger than 2mm, wherein a system with the value smaller than or equal to 2mm considers that the positioning of the servo driving system has no deviation.
Step S9: and repeating the steps S4 to S8 until all the tiles 2 on the silk floss truck 1 are loaded with yarn groups 3, and stopping running.
As an alternative implementation manner, in the step S1, the coordinate axes of the initialization coordinate system X, Y, Z are all provided with zero calibration switches, which may be capacitive proximity switches, and are electrically connected with the PLC controller. When the doffer moves to the zero calibration switch, the zero calibration switch controls the servo driving system to stop running.
As an alternative implementation manner, the wire cart 1 is divided into A, B two sides, each side comprises 12 tiles 2, the tiles 2 are arranged in 4 layers and 3 columns at equal intervals, the intervals of the tiles 2 in each column are equal, the intervals of the tiles 2 in each layer are equal, each tile 2 has unique coordinate values in a coordinate system, initial position coordinates of all the tiles 2 are recorded, position coordinates of the tiles 2 in each layer 1 column in A, B sides of the wire cart 1 are recorded, and the position coordinates of the positions of 24 tiles 2 can be obtained according to calculation and stored in a data block of the PLC controller.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. An automatic loading and positioning system of a glass fiber doffer is characterized by comprising a PLC controller, a servo driving system and a visual recognition system, wherein,
the PLC is used for establishing an initialization coordinate system and recording initial position coordinates of the tiles (2) on the wire barrow (1), the visual recognition system recognizes the actual position coordinates of the tiles (2) and can transmit the actual position coordinates to the PLC, the PLC can process the initial position coordinates and the actual position coordinates to obtain position deviation coordinates of the tiles (2), and the PLC can control the servo driving system to push the wire barrow to conduct position adjustment according to the position deviation coordinates.
2. The automatic loading and positioning system of a glass fiber doffer of claim 1, wherein the servo drive system and the visual recognition system are in communication with the PLC controller using a communication protocol.
3. The automatic loading and positioning system of the glass fiber doffer according to claim 1, wherein the servo driving system comprises a servo driver, a servo motor, a transmission mechanism and an absolute value type encoder, the PLC is in communication connection with the servo driver, the servo driver is connected with the servo motor, the servo motor is connected with the transmission mechanism, the PLC sends out instructions to the servo driver and can control the speed and the moment of the servo motor and the position of the doffer, the absolute value type encoder can transmit the position information of the doffer to the PLC, and the servo driver can transmit the speed and the moment information of the servo motor to the PLC.
4. The automatic loading and positioning system of the glass fiber doffer according to claim 3, wherein the number of the servo driving systems is three, and the moving directions of the three servo driving systems are perpendicular.
5. The automatic loading and positioning system of a glass fiber doffer according to claim 1, wherein the visual recognition system comprises an industrial camera, an image processor and a light source, the industrial camera is installed below the front end of a screw rod (4) of the doffer, the light source surrounds the periphery of the industrial camera, the image processor is installed in an electrical control cabinet of the doffer, the industrial camera is connected with the image processor through Ethernet communication, the light source is electrically connected with the image processor, and the image processor is communicated with the PLC through Ethernet connection.
6. A method of operation comprising the automatic loading and positioning system of a glass fiber doffer of any of claims 1-5, comprising the steps of:
step S1: the PLC takes a doffer as an origin, and then establishes an initialization coordinate system by taking the moving directions of three servo driving systems as X, Y and Z coordinate axes;
step S2: recording initial position coordinates of all tiles (2) on the wire barrow (1) in the PLC;
step S3: acquiring a starting position coordinate of the doffer for taking the yarn group (3) from the winding machine;
step S4: the PLC compares the starting position coordinate with the initial position coordinate of one tile (2) and plans the running path of the doffer until the doffer runs to the initial position coordinate;
step S5: starting the visual recognition system, and carrying out position recognition on the tile (2) to obtain an actual position coordinate;
step S6: the visual recognition system transmits the actual position coordinates to the PLC, and the PLC processes the initial position coordinates and the actual position coordinates to obtain position deviation coordinates of the tiles (2);
step S7: the PLC controls the servo driving system to push the doffer to adjust the position according to the position deviation coordinates;
step S8: and repeating the steps S5 to S7 until the numerical value of the position deviation coordinate is within a specified numerical range, and aligning the tile (2) by the doffer at the moment to carry out loading operation.
7. The method of operation of claim 6, further comprising:
step S9: and repeating the steps S4 to S8 until all the tiles (2) on the silk truck (1) are loaded with yarn groups (3), and stopping running.
8. The operation method according to claim 6, wherein zero calibration switches are provided on each coordinate axis of the initialization coordinate system X, Y, Z in the step S1.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410244553.5A CN117864871A (en) | 2024-03-05 | 2024-03-05 | Automatic loading and positioning system of glass fiber doffer and operation method |
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| CN202410244553.5A CN117864871A (en) | 2024-03-05 | 2024-03-05 | Automatic loading and positioning system of glass fiber doffer and operation method |
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| CN206887298U (en) * | 2017-04-10 | 2018-01-16 | 中国地质大学（武汉） | A kind of automatic doffer with vision |
| WO2019136996A1 (en) * | 2018-01-11 | 2019-07-18 | 广东科达洁能股份有限公司 | Ceramic tile truss robot, and walking method therefor |
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| WO2022033372A1 (en) * | 2020-08-11 | 2022-02-17 | 北京卫星制造厂有限公司 | Automatic sensing system and method for omnidirectional moving rodless traction-type mobile robot |
| JP2022044421A (en) * | 2020-09-07 | 2022-03-17 | パナソニックＩｐマネジメント株式会社 | Luminaire |
| WO2023123221A1 (en) * | 2021-12-28 | 2023-07-06 | 台州南科智能传感科技有限公司 | Line laser 3d profile scanning reconstruction system and control method therefor |
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2024
- 2024-03-05 CN CN202410244553.5A patent/CN117864871A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206447283U (en) * | 2017-01-18 | 2017-08-29 | 福德机器人（成都）有限责任公司 | Yarn feeding device unloads in a kind of glass fibre yarn group and yarn system is unloaded by glass fibre yarn group |
| CN206887298U (en) * | 2017-04-10 | 2018-01-16 | 中国地质大学（武汉） | A kind of automatic doffer with vision |
| WO2019136996A1 (en) * | 2018-01-11 | 2019-07-18 | 广东科达洁能股份有限公司 | Ceramic tile truss robot, and walking method therefor |
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