Automatic control system of rotor spinning equipment

Abstract

The invention discloses an automatic control system for rotor spinning equipment, and relates to the technical field of rotor spinning equipment, the automatic control system comprises a database, a controller, an adjusting assembly and a moving assembly, the controller is connected with the database through signal transmission, and the adjusting assembly and the moving assembly are connected with the controller through signal transmission. The adjusting assembly comprises a dexterous hand, a visual sensor, a rotating joint, a lifting unit and a power unit, the visual sensor is connected with the controller through signal transmission, and the power unit provides power for the dexterous hand, the rotating joint and the lifting unit. By designing the adjusting assembly, the automatic maintenance function of the equipment is achieved, the problems that manual maintenance time is long, accuracy cannot be guaranteed and safety risks exist are solved, manual troubleshooting time can be shortened, secondary damage is avoided, the risk of manual operation is reduced, the working efficiency of the equipment is improved, the cost of the equipment is reduced, and the working efficiency of the equipment is improved. And the economic benefit is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of air-spinning equipment, in particular to an automatic control system for air-spinning equipment. Background Art

[0002] The core principle of air-spinning technology is to use airflow to condense fibers and twist them into yarn through a high-speed rotating rotor. Early air-spinning yarns were limited in application due to their rough feel, but with technological iterations, the yarn quality has gradually approached that of ring-spun yarns, making it a preferred raw material for fields such as denim and knitted underwear. Compared with traditional ring spinning, air-spinning technology does not require spindles, which reduces mechanical friction. While reducing energy and mechanical consumption, it can also process shorter fibers, broadening the range of raw material options. The air-spinning automation system is automatically controlled through PLC and HMI. By equipping it with multiple sensors to monitor yarn status and equipment operating parameters in real time, it ensures the stability and efficiency of the production process.

[0003] In the existing technology, most air-jet spinning equipment adopts modular distribution, which greatly increases the cost. At the same time, the equipment debugging and maintenance operations are more cumbersome. When a fault occurs, it is more difficult to troubleshoot and repair. Since the modular design makes the equipment more cumbersome, the safety risks in the event of a fault are higher.

[0004] Patent CN114687026B discloses a fully automatic spinning management system and a spinning control method. The above patent realizes the automatic feeding of slivers into the cans while transporting the cans, thereby improving the automation, continuity and intelligence of the spinning process.

[0005] The above patent is provided with a control unit, a fully automatic spinning machine and at least one can conveying robot. Each can conveying robot is provided with a can placement area and an inner circulation traction structure. The inner circulation traction structure is used to cooperate with the outer circulation traction structure of the fully automatic spinning machine. When the can conveying robot transports the can to the position of the outer circulation traction structure, the control unit can control the joint structure to connect the outer circulation traction structure and the inner circulation traction structure to form a closed-loop sliver conveying structure to convey the slivers on the can to the channel of the guide, and release the sliver limiting structure from fixing the sliver head when the sliver head enters the front end of the guide, thereby realizing the function of automatically feeding the can and slivers while transporting the can. There is room for optimization in automatic maintenance.

[0006] To this end, the present application proposes an automatic maintenance automatic control system for air-spinning equipment. Summary of the Invention

[0007] The object of the present invention is to provide an automatic control system for air-spinning equipment to solve the technical problem of the inability to automatically perform maintenance proposed in the above background technology.

[0008] To achieve the above-mentioned object, the present invention provides the following technical solution: an automatic control system for air-spinning equipment, comprising a database, a controller, an adjustment component, and a moving component, wherein the controller is connected to the database via signal transmission, and the adjustment component and the moving component are connected to the controller via signal transmission;

[0009] The database includes a workshop model of an air-spinning equipment, spindle position information and spindle codes;

[0010] The adjustment component includes: a dexterous hand, a visual sensor, a rotating joint, a lifting unit and a power unit, wherein the visual sensor is connected to the controller through signal transmission, and the power unit provides power for the dexterous hand, the rotating joint and the lifting unit;

[0011] After receiving the intervention instruction transmitted by the controller, the adjustment component moves to the abnormal spindle through the moving component, drives the lifting unit through the power unit to adjust the position of the rotating joint and the dexterous hand, and adjusts the orientation of the dexterous hand through the rotating joint. The visual sensor collects information about the abnormal spindle and transmits it to the controller. The controller compares the information with the information in the database to determine the situation of the abnormal spindle. The controller controls the dexterous hand to work on the spindle according to the abnormal situation of the spindle.

[0012] Preferably, the mobile assembly includes: a steering wheel, a buffer unit and a radar sensor, and the radar sensor is connected to the controller via signal transmission;

[0013] After the controller issues an intervention command, the power unit provides power to the steering wheel to make the adjustment component move in the air-jet spinning equipment workshop. The controller calls the air-jet spinning equipment workshop model pre-entered in the database. During the movement, the radar sensor collects information in the air-jet spinning equipment workshop and transmits it to the controller. The controller calculates the route of the adjustment component to the abnormal spindle based on the workshop information, and thus moves the adjustment component to the position of the abnormal spindle.

[0014] Preferably, the controller is connected to a monitoring component via signal transmission. The monitoring component is located in the air-spinning equipment workshop and is used to detect the working status of the air-spinning equipment. When a spindle abnormality occurs, the monitoring component transmits the abnormality information to the controller.

[0015] The monitoring components include: yarn break detection sensor, yarn sensor, airflow monitoring sensor, differential pressure sensor and vacuum sensor;

[0016] Yarn break detection sensor is used to detect yarn breakage and defects to ensure spinning continuity;

[0017] The yarn sensor identifies the transport status of the yarn through electromagnetic induction;

[0018] The airflow monitoring sensor is used to measure the airflow speed and direction to ensure uniform airflow in the spinning rotor;

[0019] The differential pressure sensor is used to detect the pressure difference of the air-spinning equipment to prevent blockage and leakage in the air-spinning equipment pipeline;

[0020] The vacuum sensor monitors the negative pressure environment through a capacitive film vacuum gauge to ensure stable spinning process parameters.

[0021] Preferably, the controller is connected to the environmental component through signal transmission, the environmental component includes a temperature sensor, a humidity sensor, a humidity adjustment unit, a temperature adjustment unit and an air unit, the temperature sensor and the humidity sensor are respectively connected to the temperature adjustment unit and the humidity adjustment unit through signal transmission, and the environmental components are respectively arranged on the equipment and the adjustment component in the air-spinning equipment workshop;

[0022] The temperature sensors and humidity sensors installed on the equipment in the air-jet spinning equipment workshop monitor the temperature and humidity of the working environment during the operation of the air-jet spinning equipment, transmit the information to the controller, and compare it with the temperature range and humidity range stored in the database. When the temperature and humidity data of the working environment of the air-jet spinning equipment are abnormal, the controller controls the temperature adjustment unit and the humidity adjustment unit to adjust the temperature and humidity in the air-jet spinning equipment workshop.

[0023] Preferably, after the monitoring component transmits the spindle abnormality information to the controller, the controller uses the abnormal spindle number in the abnormal information to query the spindle number-position information table in the air-jet spinning equipment workshop model pre-entered in the database to obtain the position information of the abnormal spindle. After the moving component drives the adjusting component to move to the abnormal spindle position, the number of the abnormal spindle is obtained through the visual sensor, and the information is transmitted to the controller. The controller compares the abnormal spindle number transmitted by the monitoring component with the abnormal spindle number obtained by the adjusting component to ensure that the adjusting component accurately moves to the abnormal spindle position.

[0024] Preferably, the dexterous hand comprises an infrared sensor, a tactile sensor and a movable frame, the infrared sensor and the tactile sensor are connected to the controller via signal transmission, and the power unit provides power for the movable frame;

[0025] After the adjustment component moves to the abnormal spindle, the controller controls the adjustment component to move the dexterous hand into the working range, collects abnormal spindle information through the visual sensor, and combines the spindle abnormality information transmitted by the monitoring component to control the active skeleton to operate the abnormal spindle. During the operation, the position information between the dexterous hand and the abnormal spindle is sensed by the infrared sensor, and the tactile sensor collects the pressure applied by the active skeleton and transmits the information to the controller. The controller calls the pre-entered pressure range in the database according to the spindle abnormality type, and adjusts the pressure applied by the active skeleton to avoid damage to the abnormal spindle.

[0026] Preferably, the rotary joint includes a first rotary shaft, a second rotary shaft, a connector, an angle sensor and a reducer, the first rotary shaft and the second rotary shaft are connected by the connector, an angle sensor and a reducer are provided at the connection, and a power unit provides power to the first rotary shaft and the second rotary shaft;

[0027] When the rotary joint adjusts the orientation of the dexterous hand, the power unit drives the first and second rotary shafts to rotate. During the rotation process, the angle sensor transmits the rotation angle to the controller. The controller controls the rotation angle of the rotary joint based on the information transmitted by the visual sensor. The reducer reduces the rotation speed of the first and second rotary shafts to facilitate the controller to control the rotation angle.

[0028] Preferably, the controller stores a deep learning algorithm for training the movements of the dexterous hand;

[0029] Under the operator's demonstration, the visual sensor collects the operator's motion information and transmits the information to the controller. The visual sensor, angle sensor and tactile sensor obtain the image, path and operation parameters of the dexterous hand when operating the abnormal spindle. Based on PyBullet / ROS, a virtual air-spinning equipment production line is built to simulate the physical characteristics and abnormal scenarios of the spindle. The domain randomization technology is used to generate diversified training data to train the adjustment components.

[0030] Preferably, the deep learning algorithm also includes an optimization algorithm, which updates the model parameters in the database by adjusting the data collected when the component operates on abnormal spindles in the air-jet spinning equipment workshop, calibrates the parameter deviation between the database simulation model and the actual operation, and improves the algorithm migration stability.

[0031] Preferably, the air unit is connected to the controller through signal transmission. After the adjustment component completes the intervention instruction, it collects information on the dust concentration, harmful gas concentration and air pressure in the air-jet spinning equipment workshop, and transmits the information to the controller. The controller compares the information with the preset values ​​in the database and makes adjustments.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The present invention realizes the function of automatic maintenance of the equipment by designing an adjustment component, which solves the problems of long manual maintenance time, lack of accuracy and safety risks. It can reduce the time of manual inspection, avoid secondary damage, reduce the risk of manual operation, improve the working efficiency of the equipment, reduce the cost of the equipment, and improve the economic benefits.

[0034] 2. The present invention realizes the intelligent driving function of the equipment by designing a mobile component, solving the problems of high cost and low work efficiency. It can collect information in the factory, reduce errors caused by human intervention, reduce equipment costs, improve economic benefits, and reduce the safety hazards of manual maintenance.

[0035] 3. The present invention incorporates a monitoring component and visual sensor to accurately monitor the operating status of the air-spinning equipment. This solves the problems of delayed fault detection and unclear fault types. It can promptly identify the fault type and location of the air-spinning equipment, shortening troubleshooting time, extending the equipment's service life, and improving its operating efficiency and safety.

[0036] 4. The present invention realizes the function of controlling the working environment of the equipment by designing an environmental component, solves the problems of equipment performance degradation, shortened service life and reduced operational safety caused by unsuitable working environment conditions, ensures that the working environment of the equipment is suitable, improves the working accuracy and efficiency of the equipment, and extends the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the control system composition of the present invention;

[0038] Figure 2 It is a schematic diagram of the composition of the regulating assembly of the present invention;

[0039] Figure 3 It is a schematic diagram of the mobile component composition of the present invention;

[0040] Figure 4 It is a schematic diagram of the monitoring component of the present invention;

[0041] Figure 5 This is a schematic diagram of the environmental components of the present invention;

[0042] Figure 6 This is a schematic diagram of the composition of the dexterous hand of the present invention;

[0043] Figure 7 It is a schematic diagram of the rotary joint composition of the present invention. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0045] Example 1: Please refer to Figure 1 、 Figure 2 Figure 6 and Figure 7 , an air-spinning equipment automation control system, comprising a database, a controller, an adjustment component and a moving component, wherein the controller is connected to the database via signal transmission, and the adjustment component and the moving component are connected to the controller via signal transmission;

[0046] The adjustment component includes: a dexterous hand, a visual sensor, a rotating joint, a lifting unit and a power unit, wherein the visual sensor is connected to the controller through signal transmission, and the power unit provides power for the dexterous hand, the rotating joint and the lifting unit;

[0047] After receiving the intervention instruction transmitted by the controller, the adjustment component moves to the abnormal spindle through the moving component, drives the lifting unit through the power unit to adjust the positions of the rotating joint and the dexterous hand, and adjusts the orientation of the dexterous hand through the rotating joint. The visual sensor collects information about the abnormal spindle and transmits it to the controller. The controller compares the information with the information in the database to determine the condition of the abnormal spindle. The controller controls the dexterous hand to work on the spindle according to the abnormal condition of the spindle.

[0048] The dexterous hand includes an infrared sensor, a tactile sensor and a movable frame, wherein the infrared sensor and the tactile sensor are connected to the controller through signal transmission, and the power unit provides power for the movable frame;

[0049] After the adjustment component moves to the abnormal spindle, the controller controls the adjustment component to move the dexterous hand into the working range, collects abnormal spindle information through the visual sensor, and combines the spindle abnormality information transmitted by the monitoring component to control the active skeleton to operate the abnormal spindle. During the operation, the position information between the dexterous hand and the abnormal spindle is sensed by the infrared sensor, and the tactile sensor collects the pressure applied by the active skeleton and transmits the information to the controller. The controller calls the pre-input pressure range in the database according to the spindle abnormality type, and adjusts the pressure applied by the active skeleton to avoid damage to the abnormal spindle.

[0050] The rotary joint includes a first rotary shaft, a second rotary shaft, a connector, an angle sensor and a reducer. The first rotary shaft and the second rotary shaft are connected by a connector. An angle sensor and a reducer are provided at the connection. A power unit provides power to the first rotary shaft and the second rotary shaft.

[0051] When the rotary joint adjusts the orientation of the dexterous hand, the power unit drives the first and second rotary shafts to rotate. During the rotation process, the angle sensor transmits the rotation angle to the controller. The controller controls the rotation angle of the rotary joint based on the information transmitted by the visual sensor. The reducer reduces the rotation speed of the first and second rotary shafts to facilitate the controller to control the rotation angle.

[0052] The controller stores a deep learning algorithm for training the movements of the dexterous hand;

[0053] Under the operator's demonstration, the visual sensor collects the operator's action information and transmits the information to the controller. The visual sensor, angle sensor, and tactile sensor obtain the image, path, and operation parameters of the dexterous hand when operating the abnormal spindle. Based on PyBullet / ROS, a virtual air-spinning equipment production line is built to simulate the physical characteristics of the spindle and abnormal scenarios. The domain randomization technology is used to generate diverse training data to train the adjustment component.

[0054] The deep learning algorithm also includes an optimization algorithm that updates the model parameters in the database by adjusting the data collected by the component when operating abnormal spindles in the air-spinning equipment workshop, calibrates the parameter deviation between the database simulation model and the actual operation, and improves the algorithm migration stability;

[0055] Furthermore, after the controller issues an intervention instruction to the adjustment component for the abnormal spindle, the moving component moves the adjustment component to the abnormal spindle position. After reaching the abnormal spindle position, the visual sensor collects information about the abnormal spindle. The controller controls the lifting unit to adjust the position of the dexterous hand and the rotary joint so that the dexterous hand and the rotary joint are close to the abnormal spindle. Then the rotary joint drives the first rotary shaft and the second rotary shaft to rotate through the power unit. During the rotation, the rotation speed of the first rotary shaft and the second rotary shaft is reduced by the reducer. The angle sensor collects information about the rotation angle of the first rotary shaft and the second rotary shaft and transmits the data to the controller. The controller controls the rotation angle of the rotary joint according to the position information between the adjustment component and the abnormal spindle transmitted by the visual sensor, so that the dexterous hand can accurately stay at the position where the abnormal spindle needs to be operated. When the dexterous hand accurately reaches the operating position, according to the spindle abnormality type transmitted by the monitoring component, the controller controls the dexterous hand to operate the abnormal spindle, including but not limited to changing the bobbin, connecting the wire end and replacing the cotton sliver. During the operation of the dexterous hand, the tactile sensor and the infrared sensor are used to assist the movable skeleton to complete the work. The data of the dexterous hand's work process is transmitted to the controller and uploaded to the database. The data in the simulation model is corrected according to the actual working data of the dexterous hand, the parameters in the simulation model are updated, the working parameters of the dexterous hand are adjusted in real time, and the angle of the dexterous hand is adjusted. For example, when the dexterous hand is splicing broken yarns, the splicing pressure is dynamically adjusted between 0.5N and 1.2N to match the fiber cohesion requirements of different raw materials. After the splicing is completed, the diameter of the yarn connection point is collected through the infrared sensor. When the diameter deviation exceeds 8%, the controller controls the dexterous hand to start secondary splicing compensation. When the controller receives the intervention instruction to doff the air-spinning equipment, the pressure of the dexterous hand grabbing the full yarn bobbin is collected through the tactile sensor, and the connection point between the yarn and the inner wall of the spinning rotor is separated. The visual sensor assists the dexterous hand to install the empty bobbin to complete the doffing operation, realizing the automatic maintenance function of the equipment, solving the problems of long manual maintenance time, lack of accuracy and safety risks, reducing the time of manual troubleshooting, avoiding secondary damage, reducing the risk of manual operation, improving the working efficiency of the equipment, reducing the cost of the equipment, and improving economic benefits.

[0056] Example 2: Please refer to Figure 1 、 Figure 2 and Figure 4 , an automatic control system for air-spinning equipment, the moving component includes: a steering wheel, a buffer unit and a radar sensor, the radar sensor is connected to the controller through signal transmission;

[0057] After the controller issues an intervention command, the power unit provides power to the steering wheel, causing the adjustment component to move in the air-jet spinning equipment workshop. The controller retrieves the air-jet spinning equipment workshop model pre-entered in the database. During the movement, the radar sensor collects information in the air-jet spinning equipment workshop and transmits it to the controller. The controller calculates the route of the adjustment component to the abnormal spindle based on the workshop information, and thus moves the adjustment component to the abnormal spindle position.

[0058] After the monitoring component transmits the spindle abnormality information to the controller, the controller uses the abnormal spindle number in the abnormal information to query the spindle number-position information table in the air-jet spinning equipment workshop model pre-input in the database to obtain the position information of the abnormal spindle. After the moving component drives the adjusting component to move to the abnormal spindle position, the number of the abnormal spindle is obtained by the visual sensor and the information is transmitted to the controller. The controller compares the abnormal spindle number transmitted by the monitoring component with the abnormal spindle number obtained by the adjusting component to ensure that the adjusting component accurately moves to the abnormal spindle position.

[0059] Furthermore, when the mobile component drives the dexterous hand to travel in the air-spinning equipment workshop, the radar sensor collects information such as the air-spinning equipment, workshop size and debris stacking in the workshop, and transmits it together with the information collected by the visual sensor to the controller and database. The database stores information such as the air-spinning equipment workshop model, spindle position and spindle coding, and updates the air-spinning equipment workshop model pre-entered in the database. When a sudden abnormality occurs in the air-spinning equipment, the controller obtains the position of the abnormal spindle in the model and compares it with the position of the adjustment component. The optimal driving path is obtained through the path planning algorithm, the steering wheel is powered by the power unit, the adjustment component is moved to the abnormal spindle position, and the braking is triggered when the dexterous hand approaches the target position. During the braking process, buffering is performed through the buffer unit to prevent the dexterous hand from moving too quickly and causing deviations in internal components, which may lead to a decrease in the accuracy of the dexterous hand. When the adjustment component moves to the abnormal spindle position, the spindle code is obtained through the visual sensor and compared with the code of the abnormal spindle in the database. At the same time, the position of the abnormal spindle in the air-jet spinning equipment workshop model and the position of the adjustment component are compared to ensure that the adjustment component reaches the correct position. Then the controller controls the dexterous hand to complete the preparation work, realizes the intelligent driving function of the equipment, solves the problems of high cost and low work efficiency, can collect information in the factory, reduces errors caused by human intervention, reduces equipment costs, improves economic benefits, and reduces safety hazards caused by manual maintenance.

[0060] Example 3: Please refer to Figure 1 、 Figure 2 and Figure 4, an automatic control system for air-spinning equipment, wherein the controller is connected to a monitoring component through signal transmission, the monitoring component is located in the air-spinning equipment workshop and is used to detect the working status of the air-spinning equipment. When a spindle abnormality occurs, the monitoring component transmits the abnormality information to the controller;

[0061] The monitoring components include: yarn break detection sensor, yarn sensor, airflow monitoring sensor, differential pressure sensor and vacuum sensor;

[0062] Yarn break detection sensor is used to detect yarn breakage and defects to ensure spinning continuity;

[0063] The yarn sensor identifies the transport status of the yarn through electromagnetic induction;

[0064] The airflow monitoring sensor is used to measure the airflow speed and direction to ensure uniform airflow in the spinning rotor;

[0065] The differential pressure sensor is used to detect the pressure difference of the air-spinning equipment to prevent blockage and leakage in the air-spinning equipment pipeline;

[0066] The vacuum sensor monitors the negative pressure environment through a capacitive film vacuum gauge to ensure stable spinning process parameters;

[0067] After the monitoring component transmits the spindle abnormality information to the controller, the controller uses the abnormal spindle number in the abnormal information to query the spindle number-position information table in the air-jet spinning equipment workshop model pre-input in the database to obtain the position information of the abnormal spindle. After the moving component drives the adjusting component to move to the abnormal spindle position, the number of the abnormal spindle is obtained by the visual sensor and the information is transmitted to the controller. The controller compares the abnormal spindle number transmitted by the monitoring component with the abnormal spindle number obtained by the adjusting component to ensure that the adjusting component accurately moves to the abnormal spindle position.

[0068] Furthermore, a monitoring component is installed on the air-spinning equipment and connected to the controller through signal transmission. The yarn break detection sensor is used to detect yarn breakage and defects to ensure spinning continuity. The yarn sensor identifies the transport status of the yarn through electromagnetic induction. The airflow monitoring sensor is used to measure the airflow speed and direction to ensure uniform airflow in the spinning cup. The pressure difference sensor is used to detect the pressure difference of the air-spinning equipment to prevent blockage and leakage in the air-spinning equipment pipeline. The vacuum sensor monitors the negative pressure environment through a capacitive film vacuum gauge to ensure the stability of the spinning process parameters. When an abnormality occurs in the air-spinning equipment, the monitoring component confirms the fault type of the abnormal spindle and the number of the spindle in the air-spinning workshop model, and transmits the number information to the controller. The controller compares the spindle number with the number-position information table in the air-spinning workshop model to confirm the position of the abnormal spindle. The controller controls the moving component to move the adjustment component to the position, realizing the function of accurately obtaining the working status of the air-spinning equipment, solving the problems of untimely fault detection and unclear fault type, and being able to timely detect the location of the fault type of the air-spinning equipment, shortening the troubleshooting time, extending the service life of the equipment, and improving the working efficiency and safety of the equipment.

[0069] Example 4: Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 5 , an air-spinning equipment automation control system, the controller is connected to the environmental component through signal transmission, the environmental component includes a temperature sensor, a humidity sensor, a humidity adjustment unit, a temperature adjustment unit and an air unit, the temperature sensor and the humidity sensor are respectively connected to the temperature adjustment unit and the humidity adjustment unit through signal transmission, and the environmental components are respectively arranged on the equipment and the adjustment component in the air-spinning equipment workshop;

[0070] The temperature sensors and humidity sensors installed on the equipment in the air-spinning equipment workshop monitor the temperature and humidity of the working environment during the operation of the air-spinning equipment, transmit the information to the controller, and compare it with the temperature range and humidity range stored in the database. When the temperature and humidity data of the working environment of the air-spinning equipment are abnormal, the controller controls the temperature adjustment unit and the humidity adjustment unit to adjust the temperature and humidity in the air-spinning equipment workshop;

[0071] The air unit is connected to the controller through signal transmission. After the adjustment component completes the intervention instruction, it collects information about the dust concentration, harmful gas concentration and air pressure in the air-spinning equipment workshop and transmits the information to the controller. The controller compares the information with the preset values ​​in the database and makes adjustments.

[0072] Furthermore, when the mobile component drives the dexterous hand to move in the air-jet spinning equipment workshop, the temperature and humidity of the working environment of the air-jet spinning equipment are detected by the temperature sensor and the humidity sensor, and the information is transmitted to the controller. The controller compares the received temperature and humidity information with the preset information. When the detected local temperature is lower than 22°C, the controller controls the temperature adjustment unit to increase the local temperature of the air-jet spinning equipment. When the local temperature is higher than 28°C or the local humidity is higher than 70%, the controller controls the temperature adjustment unit and the humidity adjustment unit to cool down or dehumidify the local temperature of the air-jet spinning equipment. When the local humidity is lower than 60%, the humidity adjustment unit is controlled to perform local humidification on the air-jet spinning equipment. During the normal operation of the air-jet spinning equipment, the temperature, humidity and air quality in the workshop are monitored by the temperature sensors and humidity sensors installed on the air-jet spinning equipment. When an abnormality occurs, the temperature and humidity in the workshop are adjusted by the temperature adjustment unit, the humidity adjustment unit and the air unit, thereby realizing the function of controlling the working environment of the equipment, solving the problems of equipment performance degradation, shortened service life and reduced operational safety caused by unsuitable working environment conditions, ensuring that the working environment of the equipment is suitable, improving the working accuracy and efficiency of the equipment, and extending the service life of the equipment.

[0073] Example 5: Please refer to Figure 1 、 Figure 2 and Figure 4 , an air-spinning equipment automation control system, comprising a database, a controller, an adjustment component and a moving component, wherein the controller is connected to the database via signal transmission, and the adjustment component and the moving component are connected to the controller via signal transmission;

[0074] The adjustment component includes: a dexterous hand, a visual sensor, a rotating joint, a lifting unit and a power unit, wherein the visual sensor is connected to the controller through signal transmission, and the power unit provides power for the dexterous hand, the rotating joint and the lifting unit;

[0075] After receiving the intervention instruction transmitted by the controller, the adjustment component moves to the abnormal spindle through the moving component, drives the lifting unit through the power unit to adjust the position of the rotating joint and the dexterous hand, and adjusts the orientation of the dexterous hand through the rotating joint. The visual sensor collects information about the abnormal spindle and transmits it to the controller. The controller compares the information with the information in the database to determine the condition of the abnormal spindle. The controller controls the dexterous hand to work on the spindle according to the abnormal condition of the spindle.

[0076] The controller is connected to the monitoring component through signal transmission, and the monitoring component includes: a yarn break detection sensor, a yarn sensor, an airflow monitoring sensor, a pressure difference sensor and a vacuum sensor;

[0077] Yarn break detection sensor is used to detect yarn breakage and defects to ensure spinning continuity;

[0078] The yarn sensor identifies the transport status of the yarn through electromagnetic induction;

[0079] The airflow monitoring sensor is used to measure the airflow speed and direction to ensure uniform airflow in the spinning rotor;

[0080] The differential pressure sensor is used to detect the pressure difference of the air-spinning equipment to prevent blockage and leakage in the air-spinning equipment pipeline;

[0081] The vacuum sensor monitors the negative pressure environment through a capacitive film vacuum gauge to ensure stable spinning process parameters;

[0082] Furthermore, after the monitoring component transmits the spindle abnormality information to the controller, the controller obtains the number and position information of the spindle in the database, controls the moving component to move the adjusting component to the position, and after the adjusting component arrives, collects the spindle information through the visual sensor, and transmits the information to the controller. The controller compares it with the information pre-entered in the database to determine whether the spindle has an abnormality. If an abnormality occurs, it further determines the type of abnormality, compares the information collected by the visual sensor with the information transmitted by the monitoring component, and thus determines whether the spindle has an abnormality and the type of abnormality. After confirmation, the controller controls the adjusting component to operate the spindle to avoid errors in the monitoring results of the monitoring component. It still controls the adjusting component to operate the spindle, causing damage to the air-spinning equipment and the adjusting component, thereby improving the accuracy of identifying spindle abnormalities, avoiding equipment loss caused by identification errors of the monitoring component, improving the accuracy of abnormality identification, and reducing the frequency of manual maintenance.

[0083] Working principle: The monitoring component is installed on the air-spinning equipment and connected to the controller through signal transmission. The yarn break detection sensor is used to detect yarn breakage and defects to ensure the continuity of spinning. The yarn sensor identifies the transportation status of the yarn through electromagnetic induction. The airflow monitoring sensor is used to measure the airflow speed and direction to ensure uniform airflow in the spinning cup. The pressure difference sensor is used to detect the pressure difference of the air-spinning equipment to prevent blockage and leakage in the air-spinning equipment pipeline. The vacuum sensor monitors the negative pressure environment through a capacitive film vacuum gauge to ensure the stability of the spinning process parameters. When an abnormality occurs in the air-spinning equipment, the fault type of the abnormal spindle and the number of the spindle in the air-spinning workshop model are confirmed by the monitoring component, and the number information is transmitted to the controller. The controller compares the spindle number with the number-position information table in the air-spinning workshop model to confirm the position of the abnormal spindle. The controller controls the moving component to move the adjusting component to that position.

[0084] When the mobile component drives the dexterous hand to travel in the air-spinning equipment workshop, the radar sensor collects information such as the air-spinning equipment, workshop size and debris stacking in the workshop, and transmits it together with the information collected by the visual sensor to the controller and database. The database stores information such as the air-spinning equipment workshop model, spindle position and spindle coding, and updates the air-spinning equipment workshop model pre-entered in the database. When a sudden abnormality occurs in the air-spinning equipment, the controller obtains the position of the abnormal spindle in the model, compares it with the position of the adjustment component, obtains the best driving path through the path planning algorithm, and controls the power unit. Provide power to the steering wheel, move the adjustment component to the abnormal spindle position, trigger the brake when the dexterous hand approaches the target position, and use the buffer unit to buffer during the braking process to prevent the dexterous hand from moving too quickly and causing deviations in internal components, which may lead to a decrease in the accuracy of the dexterous hand. When the adjustment component moves to the abnormal spindle position, the spindle code is obtained through the visual sensor and compared with the code of the abnormal spindle in the database. At the same time, the position of the abnormal spindle in the air-jet spinning equipment workshop model and the position of the adjustment component are compared to ensure that the adjustment component reaches the correct position. Then the controller controls the dexterous hand to complete the preparation work.

[0085] After the adjustment component arrives, the information of the spindle is collected by the visual sensor and transmitted to the controller. The controller compares it with the information pre-entered in the database to determine whether the spindle has an abnormality. If an abnormality occurs, the type of abnormality is further determined. The information collected by the visual sensor is compared with the information transmitted by the monitoring component to determine whether the spindle has an abnormality and the type of abnormality. The controller issues an intervention instruction to the abnormal spindle to the adjustment component according to the type of abnormality. The moving component moves the adjustment component to the position of the abnormal spindle. After reaching the position of the abnormal spindle, the visual sensor collects information about the abnormal spindle. The controller controls the lifting unit to adjust the position of the dexterous hand and the rotary joint so that the dexterous hand and the rotary joint are close to the abnormal spindle. Then the rotary joint drives the first rotary shaft and the second rotary shaft to rotate through the power unit. During the rotation process, the rotation speed of the first rotary shaft and the second rotary shaft is reduced by the reducer. The angle sensor collects information about the rotation angle of the first rotary shaft and the second rotary shaft and transmits the data to the controller. The controller controls the rotation angle of the rotary joint according to the position information between the adjustment component and the abnormal spindle transmitted by the visual sensor, so that the dexterous hand can accurately The controller stays at the position where the abnormal spindle needs to be operated. When the dexterous hand reaches the operating position accurately, the controller controls the dexterous hand to operate the abnormal spindle according to the spindle abnormality type transmitted by the monitoring component, including but not limited to changing the bobbin, connecting the wire end and replacing the cotton strip. During the working process of the dexterous hand, the tactile sensor and the infrared sensor are used to assist the active skeleton to complete the work, and the data of the dexterous hand during the working process are transmitted to the controller and uploaded to the database. According to the actual working data of the dexterous hand, the data in the simulation model are corrected, the parameters in the simulation model are updated, the working parameters of the dexterous hand are adjusted in real time, and the angle of the dexterous hand is adjusted. Adjustments are made, such as dynamically adjusting the splicing pressure between 0.5N and 1.2N when the dexterous hand is splicing broken yarns, so as to match the fiber cohesion requirements of different raw materials. After the splicing is completed, the diameter of the yarn connection point is collected through the infrared sensor. When the diameter deviation exceeds 8%, the controller controls the dexterous hand to start secondary splicing compensation. When the controller receives the intervention instruction for doffing the air-spinning equipment, the tactile sensor collects the pressure of the dexterous hand grabbing the full yarn bobbin and separates the connection point between the yarn and the inner wall of the spinning rotor. The visual sensor assists the dexterous hand to install the empty bobbin to complete the doffing operation.

[0086] When the mobile component drives the dexterous hand to move in the air-jet spinning equipment workshop, the temperature and humidity of the working environment of the air-jet spinning equipment are detected by the temperature sensor and the humidity sensor, and the information is transmitted to the controller. The controller compares the received temperature and humidity information with the preset information. When the detected local temperature is lower than 22°C, the controller controls the temperature adjustment unit to increase the local temperature of the air-jet spinning equipment. When the local temperature is higher than 28°C or the local humidity is higher than 70%, the controller controls the temperature adjustment unit and the humidity adjustment unit to cool down or dehumidify the local temperature of the air-jet spinning equipment. When the local humidity is lower than 60%, the humidity adjustment unit is controlled to perform local humidification on the air-jet spinning equipment. During the normal operation of the air-jet spinning equipment, the temperature, humidity and air quality in the workshop are monitored by the temperature sensors and humidity sensors installed on the air-jet spinning equipment. In case of abnormality, the temperature and humidity in the workshop are adjusted by the temperature adjustment unit, the humidity adjustment unit and the air unit.

[0087] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An automatic control system for air-spinning equipment, characterized by: It includes a database, a controller, an adjustment component and a mobile component, wherein the controller is connected to the database through signal transmission, and the adjustment component and the mobile component are connected to the controller through signal transmission; The adjustment component includes: a dexterous hand, a visual sensor, a rotating joint, a lifting unit and a power unit, wherein the visual sensor is connected to the controller through signal transmission, and the power unit provides power for the dexterous hand, the rotating joint and the lifting unit; After receiving the intervention instruction transmitted by the controller, the adjustment component moves to the abnormal spindle through the moving component, drives the lifting unit through the power unit to adjust the position of the rotating joint and the dexterous hand, and adjusts the orientation of the dexterous hand through the rotating joint. The visual sensor collects information about the abnormal spindle and transmits it to the controller. The controller compares the information with the information in the database to determine the situation of the abnormal spindle. The controller controls the dexterous hand to work on the spindle according to the abnormal situation of the spindle.

2. The automatic control system for air-spinning equipment according to claim 1, characterized in that: The mobile assembly includes: a steering wheel, a buffer unit and a radar sensor, and the radar sensor is connected to the controller through signal transmission; After the controller issues an intervention command, the power unit provides power to the steering wheel to make the adjustment component move in the air-jet spinning equipment workshop. The controller calls the air-jet spinning equipment workshop model pre-entered in the database. During the movement, the radar sensor collects information in the air-jet spinning equipment workshop and transmits it to the controller. The controller calculates the route of the adjustment component to the abnormal spindle based on the workshop information, and thus moves the adjustment component to the position of the abnormal spindle.

3. The automatic control system for air-spinning equipment according to claim 1, characterized in that: The controller is connected to the monitoring component through signal transmission. The monitoring component is located in the air-spinning equipment workshop and is used to detect the working status of the air-spinning equipment. When a spindle abnormality occurs, the monitoring component transmits the abnormal information to the controller. The monitoring components include: yarn break detection sensor, yarn sensor, airflow monitoring sensor, differential pressure sensor and vacuum sensor; Yarn break detection sensor is used to detect yarn breakage and defects to ensure spinning continuity; The yarn sensor identifies the transport status of the yarn through electromagnetic induction; The airflow monitoring sensor is used to measure the airflow speed and direction to ensure uniform airflow in the spinning rotor; The differential pressure sensor is used to detect the pressure difference of the air-spinning equipment to prevent blockage and leakage in the air-spinning equipment pipeline; The vacuum sensor monitors the negative pressure environment through a capacitive film vacuum gauge to ensure stable spinning process parameters.

4. The automatic control system for air-spinning equipment according to claim 1, characterized in that: The controller is connected to the environmental component through signal transmission, and the environmental component includes a temperature sensor, a humidity sensor, a humidity adjustment unit, a temperature adjustment unit and an air unit. The temperature sensor and the humidity sensor are respectively connected to the temperature adjustment unit and the humidity adjustment unit through signal transmission. The environmental components are respectively arranged on the equipment and the adjustment component in the air-spinning equipment workshop; The temperature sensors and humidity sensors installed on the equipment in the air-jet spinning equipment workshop monitor the temperature and humidity of the working environment during the operation of the air-jet spinning equipment, transmit the information to the controller, and compare it with the temperature range and humidity range stored in the database. When the temperature and humidity data of the working environment of the air-jet spinning equipment are abnormal, the controller controls the temperature adjustment unit and the humidity adjustment unit to adjust the temperature and humidity in the air-jet spinning equipment workshop.

5. The automatic control system for air-spinning equipment according to claim 3, characterized in that: After the monitoring component transmits the spindle abnormality information to the controller, the controller uses the abnormal spindle number in the abnormal information to query the spindle number-position information table in the air-jet spinning equipment workshop model pre-entered in the database to obtain the position information of the abnormal spindle. After the moving component drives the adjusting component to move to the abnormal spindle position, the number of the abnormal spindle is obtained by the visual sensor and the information is transmitted to the controller. The controller compares the abnormal spindle number transmitted by the monitoring component with the abnormal spindle number obtained by the adjusting component to ensure that the adjusting component accurately moves to the abnormal spindle position.

6. The automatic control system for air-spinning equipment according to claim 1, characterized in that: The dexterous hand includes an infrared sensor, a tactile sensor and a movable frame, wherein the infrared sensor and the tactile sensor are connected to the controller through signal transmission, and the power unit provides power for the movable frame; After the adjustment component moves to the abnormal spindle, the controller controls the adjustment component to move the dexterous hand into the working range, collects abnormal spindle information through the visual sensor, and combines the spindle abnormality information transmitted by the monitoring component to control the active skeleton to operate the abnormal spindle. During the operation, the position information between the dexterous hand and the abnormal spindle is sensed by the infrared sensor, and the tactile sensor collects the pressure applied by the active skeleton and transmits the information to the controller. The controller calls the pre-entered pressure range in the database according to the spindle abnormality type, and adjusts the pressure applied by the active skeleton to avoid damage to the abnormal spindle.

7. The automatic control system for air-spinning equipment according to claim 1, characterized in that: The rotary joint includes a first rotary shaft, a second rotary shaft, a connector, an angle sensor and a reducer. The first rotary shaft and the second rotary shaft are connected by a connector. An angle sensor and a reducer are provided at the connection. A power unit provides power to the first rotary shaft and the second rotary shaft. When the rotary joint adjusts the orientation of the dexterous hand, the power unit drives the first and second rotary shafts to rotate. During the rotation process, the angle sensor transmits the rotation angle to the controller. The controller controls the rotation angle of the rotary joint based on the information transmitted by the visual sensor. The reducer reduces the rotation speed of the first and second rotary shafts to facilitate the controller to control the rotation angle.

8. The automatic control system for air-spinning equipment according to claim 1, characterized in that: The controller stores a deep learning algorithm for training the movements of the dexterous hand; Under the operator's demonstration, the visual sensor collects the operator's motion information and transmits the information to the controller. The visual sensor, angle sensor and tactile sensor obtain the image, path and operation parameters of the dexterous hand when operating the abnormal spindle. Based on PyBullet / ROS, a virtual air-spinning equipment production line is built to simulate the physical characteristics and abnormal scenarios of the spindle. The domain randomization technology is used to generate diversified training data to train the adjustment components.

9. The automatic control system for air-spinning equipment according to claim 8, characterized in that: The deep learning algorithm also includes an optimization algorithm, which updates the model parameters in the database by adjusting the data collected when the component operates on abnormal spindles in the air-jet spinning equipment workshop, calibrates the parameter deviation between the database simulation model and the actual operation, and improves the algorithm migration stability.

10. The automatic control system for air-spinning equipment according to claim 4, characterized in that: The air unit is connected to the controller through signal transmission. After the adjustment component completes the intervention instruction, it collects information on the dust concentration, harmful gas concentration and air pressure in the air-jet spinning equipment workshop and transmits the information to the controller. The controller compares the information with the preset values ​​in the database and makes adjustments.

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