A suspension conveying control system and method for a chemical fiber texturing workshop

Abstract

The invention relates to a suspension conveying control system and method for a chemical fiber texturing workshop, which is applied to the technical field of chemical fiber texturing workshops, comprising: setting a host computer to send a POY wire filling instruction and a DTY spindle wire dropping instruction to a PLC control module; the PLC control module controls a drive module to drive a carrier to move to a first designated location according to the POY wire filling instruction and the DTY spindle wire dropping instruction; after receiving the position information of the carrier sent by a sensor module, a control instruction is sent to a manipulator control module; after receiving an empty-load signal or a full-load signal of the carrier sent by the manipulator control module, the drive module is controlled to drive the carrier to move to a second designated location; the full process automation of the chemical fiber texturing workshop from spindle wire loading, automatic wire dropping to automatic unloading is realized, the production process is separated between man and machine, no manual intervention is required, the safety risk caused by the mixing of man and machine is avoided, the personnel demand is reduced, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of chemical fiber texturing workshops, and in particular to a suspension conveying control system and method for a chemical fiber texturing workshop. Background Art

[0002] The production workshops of chemical fiber enterprises have many equipments, occupy a large area and have many production processes. At present, chemical fiber texturing production has never been able to achieve full process automation with upstream and downstream links. The method commonly used in texturing workshops is the "semi-automatic + manual" production method, that is, manually transporting POY spindles to the creel, and the texturing machine automatically produces DTY spindles. After the DTY spindles are fully rolled, the spindles are manually taken away.

[0003] Due to the semi-manual production mode, the entire conveying process puts forward many requirements on the workers. Not only is the operation efficiency low and the labor intensity high, but also due to the large number of product specifications, manual records are prone to errors and low reliability. In serious cases, it is easy to cause contamination of the spindles. In addition, the manual conveying of spindles is prone to mixing people and machines in the workshop, which poses a safety hazard. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a suspension conveying control system and method for a chemical fiber texturing workshop, so as to solve the problem in the prior art that chemical fiber texturing production adopts a semi-manual production mode, and the entire conveying process puts forward many requirements on workers. Not only is the operating efficiency low and the labor intensity high, but also due to the large number of product specifications, manual records are prone to errors and low reliability. In serious cases, it is easy to cause contamination of the spindles. At the same time, the manual conveying of the spindles is adopted, which easily causes the mixing of people and machines in the workshop, posing a safety hazard.

[0005] According to a first aspect of an embodiment of the present invention, a suspension conveying control system for a chemical fiber texturing workshop is provided, the system comprising:

[0006] Host computer: used to send POY wire filling instructions and DTY spindle wire dropping instructions to the PLC control module;

[0007] PLC control module: used for controlling the driving module to drive the POY carrier or the DTY carrier to move to the first designated location after receiving the POY wire filling instruction and the DTY spindle wire dropping instruction from the host computer;

[0008] It is also used to send control instructions to the manipulator control module after receiving the POY carrier or DTY carrier position information sent by the sensor module;

[0009] It is also used to control the driving module to drive the POY carrier or the DTY carrier to move to the second designated location after receiving an empty signal or a full signal of the POY carrier or the DTY carrier sent by the manipulator control module;

[0010] Sensor module: used to detect the position information of the POY carrier and the DTY carrier and send it to the PLC control module;

[0011] Manipulator control module: used to receive control instructions from the PLC control module and control the manipulator to perform corresponding actions, and also used to send an empty signal or a full signal to the PLC control module after the POY carrier or the DTY carrier is empty or full;

[0012] Driving module: used to receive the driving instructions of the PLC control module, and drive the POY carrier or DTY carrier to move to the designated location according to the driving instructions.

[0013] Preferably, it also includes:

[0014] RFID module: used to obtain the carrier number information in the electronic tag on the POY carrier or the DTY carrier, and send the carrier number information to the PLC control module;

[0015] The RFID module includes an RFID gateway and an RFID reader;

[0016] The RFID reader is used to read the carrier number information in the electronic tag on the POY carrier or the DTY carrier;

[0017] The RFID gateway is used to send the carrier number information read by the RFID reader to the PLC control module.

[0018] Preferably,

[0019] The manipulator control module comprises:

[0020] A first manipulator control module, a second manipulator control module, a third manipulator control module and a fourth manipulator control module;

[0021] The first manipulator control module is used to receive the first grabbing instruction of the PLC control module, and load the POY spindles into the POY empty carrier according to the first grabbing instruction, and send a first full load signal to the PLC control module after the POY carrier is fully loaded;

[0022] The second manipulator control module is used to receive the second grabbing instruction of the PLC control module, and put the spindles in the full POY carrier onto the empty yarn rack according to the second grabbing instruction, and send a first empty signal to the PLC control module after the POY carrier is empty;

[0023] The third manipulator control module is used to receive the wire dropping instruction of the PLC control module, drop the wire into the empty DTY carrier according to the wire dropping instruction, and send a second full load signal to the PLC control module after the DTY carrier is fully loaded;

[0024] The fourth robot control module is used to receive the yarn unloading instruction of the PLC control module, and perform the yarn unloading operation on the DTY full load according to the yarn unloading instruction, and send a second empty signal to the PLC control module after the DTY carrier is empty.

[0025] Preferably,

[0026] The sensor module includes a photoelectric sensor, a proximity sensor and a magnetic induction sensor;

[0027] The photoelectric sensor is used to detect the real-time position information of the POY carrier or the DTY carrier and send it to the PLC control module;

[0028] The proximity sensor is used to detect whether the POY carrier or DTY carrier has arrived at a designated location and send it to the PLC control module;

[0029] The magnetic induction sensor is used to detect the operating state of the switch cylinder at the track switch intersection when the POY carrier or the DTY carrier arrives at a designated location and send it to the PLC control module.

[0030] Preferably,

[0031] The PLC control module is used to send a first driving instruction to the driving module after receiving the POY wire filling instruction sent by the host computer;

[0032] The PLC control module is further configured to send a second driving instruction to the driving module after receiving a first full load signal sent by the first manipulator control module;

[0033] The PLC control module is further configured to send a third driving instruction to the driving module after receiving a first no-load signal sent by the second manipulator control module;

[0034] The PLC control module is also used to send a fourth driving instruction to the driving module after receiving the DTY spindle drop instruction sent by the host computer;

[0035] The PLC control module is further configured to send a fifth driving instruction to the driving module after receiving a second full load signal sent by the third manipulator control module;

[0036] The PLC control module is also used to send a sixth driving instruction to the driving module after receiving the second no-load signal sent by the fourth manipulator control module.

[0037] Preferably,

[0038] The driving module is used to drive the POY empty carrier to move to the POY spindle threading point after receiving the first driving instruction sent by the PLC control module;

[0039] The driving module is also used to drive the POY full load to move to the POY wire filling station after receiving the second driving instruction sent by the PLC control module;

[0040] The driving module is further used to drive the POY empty carrier to return to the POY empty carrier cache line after receiving the third driving instruction sent by the PLC control module;

[0041] The driving module is also used to drive the DTY empty carrier to move to the DTY spindle doffing station after receiving the fourth driving instruction sent by the PLC control module;

[0042] The driving module is also used to drive the DTY full load to move to the yarn unloading point after receiving the fifth driving instruction sent by the PLC control module;

[0043] The driving module is further configured to drive the DTY empty vehicle to return to the DTY empty vehicle cache line after receiving a sixth driving instruction sent by the PLC control module.

[0044] Preferably,

[0045] The PLC control module is used to receive the POY empty carrier position information sent by the sensor module, and after the POY empty carrier moves to the POY spindle threading point, send a first grabbing instruction to the first manipulator control module;

[0046] The PLC control module is used to receive the POY full load position information sent by the sensor module, and after the POY full load moves to the POY wire filling station, send a second grabbing instruction to the second manipulator control module;

[0047] The PLC control module is used to receive the DTY empty carrier position information sent by the sensor module, and after the DTY empty carrier moves to the DTY spindle drop wire station, send a drop wire instruction to the third manipulator control module;

[0048] The PLC control module is used to receive the position information of the DTY full load sent by the sensor module, and after the DTY full load moves to the yarn unloading point, send a yarn unloading instruction to the fourth robot control module.

[0049] According to a second aspect of an embodiment of the present invention, a method for controlling a suspension conveying in a chemical fiber texturing workshop is provided. The method is applied to a suspension conveying control system of a chemical fiber texturing workshop as described in any one of the above, and the method comprises:

[0050] Write the number of the POY carrier or DTY carrier into the RFID electronic tag and bind it to the POY carrier or DTY carrier;

[0051] The RFID module scans and obtains the number information of each POY carrier or DTY carrier and sends it to the PLC control module, which then sends it to the host computer;

[0052] The host computer selects the POY empty carrier number and the DTY empty carrier number according to the pre-set POY carrier and DTY carrier table information;

[0053] According to the POY empty carrier number information, the host computer sends a POY wire filling request instruction to the PLC control module;

[0054] After receiving the POY thread-repairing request instruction, the PLC control module sends a first driving instruction to the driving module according to the POY empty carrier number information therein;

[0055] The driving module drives the POY empty carrier with the corresponding number to move to the POY spindle loading point according to the first driving instruction;

[0056] The PLC control module continuously receives the position information of the POY empty carrier sent by the sensor module during the movement of the POY empty carrier. When the POY empty carrier moves to the POY spindle threading point, the PLC control module sends a first grabbing instruction to the first manipulator control module.

[0057] The first manipulator control module loads the POY spindles into the POY empty carrier according to the first grabbing instruction, and sends a first full-load signal to the PLC control module after the POY carrier is fully loaded;

[0058] After receiving the first full-load signal, the PLC control module sends a second driving instruction to the driving module;

[0059] After receiving the second driving instruction, the driving module drives the POY full load to move to the POY wire patching station;

[0060] The PLC control module continuously receives the position information of the POY full load sent by the sensor module during the movement of the POY full load, and when the POY full load moves to the POY thread-repairing station, the PLC control module sends a second grabbing instruction to the second manipulator control module;

[0061] The second manipulator control module places the spindles in the full POY carrier onto the empty yarn rack according to the second grabbing instruction, and sends a first empty signal to the PLC control module after the POY carrier is empty;

[0062] After receiving the first no-load signal, the PLC control module sends a third driving instruction to the driving module;

[0063] The driving module drives the POY empty carrier to return to the POY empty carrier cache line according to the third driving instruction;

[0064] The PLC control module returns the wire-replenishing completion information to the host computer. After the host computer receives the wire-replenishing completion information, the host computer sends a DTY spindle wire-dropping instruction to the PLC control module according to the DTY empty carrier number information;

[0065] After receiving the DTY spindle drop instruction, the PLC control module sends a fourth drive instruction to the drive module;

[0066] The driving module drives the DTY empty carrier with the corresponding number to move to the DTY spindle doffing station according to the fourth driving instruction;

[0067] The PLC control module continuously receives the position information of the DTY empty carrier sent by the sensor module during the movement of the DTY empty carrier. When the DTY empty carrier moves to the DTY spindle drop wire station, the PLC control module sends a drop wire instruction to the third manipulator control module.

[0068] The third manipulator control module drops the wire into the empty DTY carrier according to the wire dropping instruction, and sends a second full-load signal to the PLC control module after the DTY carrier is fully loaded;

[0069] After receiving the second full-load signal, the PLC control module sends a fifth driving instruction to the driving module;

[0070] The driving module drives the DTY full load to move to the yarn unloading point according to the fifth driving instruction;

[0071] The PLC control module continuously receives the position information of the DTY full load sent by the sensor module during the movement of the DTY full load, and when the DTY full load moves to the yarn unloading point, the PLC control module sends a yarn unloading instruction to the fourth manipulator control module;

[0072] The fourth manipulator control module performs a yarn unloading operation on the DTY full carrier according to the yarn unloading instruction, and sends a second no-load signal to the PLC control module after the DTY carrier is empty;

[0073] After receiving the second no-load signal, the PLC control module sends a sixth driving instruction to the driving module;

[0074] The driving module drives the DTY empty carrier to return to the DTY empty carrier cache line according to the sixth driving instruction;

[0075] The PLC control module returns wire drop completion information to the host computer.

[0076] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0077] The present application sets up a host computer to send a POY wire-replenishing instruction and a DTY spindle-dropping instruction to a PLC control module; uses a sensor module to detect the position information of the POY carrier and the DTY carrier and sends it to the PLC control module; uses a manipulator control module to control the manipulator to perform corresponding actions, and uses a drive module to drive the POY carrier or the DTY carrier to move to a designated location; the PLC control module controls the drive module to drive the POY carrier or the DTY carrier to move to the first designated location according to the POY wire-replenishing instruction or the DTY spindle-dropping instruction; and the PLC control module is also used to receive After receiving the position information of the POY carrier or DTY carrier sent by the sensor module, a control instruction is sent to the manipulator control module; the PLC control module is also used to control the drive module to drive the POY carrier or DTY carrier to move to the second designated location after receiving the empty signal or full load signal of the POY carrier or DTY carrier sent by the manipulator control module; the full process automation of the chemical fiber texturing workshop from spindle silk loading, automatic silk dropping, to automatic unloading is realized, the production process is separated from man and machine, no manual intervention is required, and the safety risk caused by the mixing of man and machine is avoided, the personnel demand is reduced, and the labor cost is reduced.

[0078] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0080] Figure 1 is a system schematic diagram of a suspension conveying control system for a chemical fiber texturing workshop according to an exemplary embodiment;

[0081] Figure 2 is a schematic diagram of the suspension conveying principle of a chemical fiber texturing workshop according to another exemplary embodiment;

[0082] Figure 3 is a schematic flow chart of a wire patching process according to another exemplary embodiment;

[0083] Figure 4 is a schematic flow chart of a wire dropping process according to another exemplary embodiment;

[0084] In the attached figure: 1-host computer, 2-PLC control module, 3-sensor module, 4-manipulator control module, 5-drive module, 6-RFID module, 101-POY online point; 102-DTY online point; 103-POY wire filling station; 104-DTY wire dropping station; 105-POY empty carrier cache line; 106-DTY empty carrier cache line. DETAILED DESCRIPTION

[0085] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0086] Embodiment 1

[0087] Figure 1 is a system schematic diagram of a suspension conveying control system for a chemical fiber texturing workshop according to an exemplary embodiment. Figure 1 As shown, the system includes:

[0088] Host computer 1: used to send POY wire filling instructions and DTY spindle wire dropping instructions to PLC control module 2;

[0089] PLC control module 2: for receiving the POY wire filling instruction and the DTY spindle wire dropping instruction from the host computer 1, and controlling the driving module 5 to drive the POY carrier or the DTY carrier to move to the first designated location;

[0090] It is also used to send control instructions to the manipulator control module 4 after receiving the POY carrier or DTY carrier position information sent by the sensor module 3;

[0091] It is also used to control the driving module 5 to drive the POY carrier or the DTY carrier to move to the second designated location after receiving the empty signal or full signal of the POY carrier or the DTY carrier sent by the manipulator control module 4;

[0092] Sensor module 3: used to detect the position information of the POY carrier and the DTY carrier and send it to the PLC control module 2;

[0093] Manipulator control module 4: used to receive control instructions from the PLC control module 2, and control the manipulator to perform corresponding actions, and also used to send an empty signal or a full signal to the PLC control module 2 after the POY carrier or the DTY carrier is empty or full;

[0094] Driving module 5: used to receive the driving instruction of the PLC control module 2, and drive the POY carrier or DTY carrier to move to the designated location according to the driving instruction;

[0095] RFID module 6: used to obtain the carrier number information in the electronic tag on the POY carrier or the DTY carrier, and send the carrier number information to the PLC control module 2;

[0096] The RFID module 2 includes an RFID gateway and an RFID reader;

[0097] The RFID reader is used to read the carrier number information in the electronic tag on the POY carrier or the DTY carrier;

[0098] The RFID gateway is used to send the carrier number information read by the RFID reader to the PLC control module 2;

[0099] It can be understood that the PLC control module 2 is connected to the RFID module 6 via the Profinet network, the drive module 5 and the sensor module 3 are electrically connected to the PLC control module 2 respectively, the PLC control module 2 is communicatively connected to the host computer 1; the manipulator control module 4 is communicatively connected to the PLC control module 2;

[0100] The function of the RFID module 6 is to identify the electronic tag of the carrier in the conveying system and send the identified information to the PLC control module 2. The RFID module 6 includes an RFID gateway, an RFID reader and an electronic tag, wherein the RFID gateway and the RFID reader adopt the RS485 communication protocol. The electronic tag is set on the POY carrier and the DTY carrier, and the electronic tag is used to store the POY carrier number or the DTY carrier number;

[0101] The PLC control module 2 includes a PLC controller, an I / O module and an HMI module, wherein the I / O module is electrically connected to the drive module 5 and the sensor module 3 respectively, and the HMI module is used to display the operating status of the suspension conveying system and monitor the suspension conveying system;

[0102] The function of the drive module 5 is to execute the signal instructions sent by the PLC control module 2, control the start and stop and running speed of the variable frequency drive unit, and control the vehicle to stop accurately. The variable frequency drive unit includes a frequency converter and an AC asynchronous motor;

[0103] The function of the sensor module 3 is to detect the running position of the vehicle through the sensor and send the detection signal to the PLC control module 2. The sensor module 3 includes a photoelectric sensor, a proximity sensor, and a magnetic induction sensor. The photoelectric sensor is used to detect the real-time position of the vehicle, the proximity sensor is used to detect the precise stop position of the vehicle, and the magnetic induction sensor is used to detect the action state of each turnout cylinder in the track route of the vehicle to the target location (such as the attached Figure 2 As shown, when driving to a certain location, there will be intersections on the track. Therefore, it is necessary to ensure that the turnout cylinder at the intersection is in the correct action state so that the vehicle can drive to the target location);

[0104] The manipulator control module 4 is used to receive the control instructions of the PLC control module 2 and control the corresponding manipulator to perform corresponding actions. The manipulator also includes various sensor detection units, which can detect whether the carrier is fully loaded or unloaded. The manipulator returns the full load or unload signal to the manipulator control module 4, which is then sent to the PLC control module by the manipulator control module 4;

[0105] The manipulator control module 4 includes a first manipulator control module, a second manipulator control module, a third manipulator control module and a fourth manipulator control module; wherein the first manipulator control module is used to control the first manipulator, and the first manipulator is used to automatically complete the action of loading the POY spindle into the POY empty carrier; the second manipulator control module is used to control the second manipulator, and the second manipulator is used to automatically complete the action of placing the spindles in the POY full carrier onto the empty yarn rack; the third manipulator control module is used to control the third manipulator, and the third manipulator is used to automatically complete the action of dropping the yarn into the DTY empty carrier; the fourth manipulator control module is used to control the fourth manipulator, and the fourth manipulator is used to automatically complete the action of unloading the yarn from the DTY full carrier;

[0106] In the above, the communication protocol between the PLC control module 2 and the host computer 1 refers to an agreement for the interaction between the PLC control module 2 and the host computer 1, which includes but is not limited to unified regulations on the communication method and data transmission format, which both parties must comply with. The communication method between the PLC control module 2 and the host computer 1 is OPC communication;

[0107] POY wire filling control process:

[0108] Data sent by host computer 1: "POY wire filling request" of "BOOL" data type, "POY wire filling request carrier quantity" of "INT" data type, "POY empty carrier information verification completed" of "BOOL" data type, "POY full carrier information verification completed" of "BOOL" data type; Data sent by PLC control module 2: "POY empty carrier request verification" of "BOOL" data type, "POY full carrier request verification" of "BOOL" data type;

[0109] DTY wire drop control process:

[0110] Data sent by host computer 1: "DTY wire drop request" of "BOOL" data type, "DTY wire drop request carrier quantity" of "INT" data type, "DTY wire drop request workstation number" of "INT" data type, "DTY empty carrier information verification completed" of "BOOL" data type, "DTY full carrier information verification completed" of "BOOL" data type; data sent by PLC control module 2: "DTY empty carrier request verification" of "BOOL" data type, "DTY full carrier request verification" of "BOOL" data type.

[0111] After understanding the components of the system and their corresponding functions, this embodiment will also introduce in detail the control process of the wire filling process and the wire dropping process, among which, as shown in the attached Figure 2 As shown, the points involved in the wire mending process include the POY on-line point 101 (the entry point of the POY empty carrier), the POY wire mending station 103 and the POY empty carrier cache line;

[0112] Combined with Figure 2 And attached Figure 3 As shown in the figure, the wire filling control process is as follows:

[0113] S1, write the number of the POY carrier or DTY carrier into the RFID electronic tag and bind it with the POY carrier or DTY carrier;

[0114] S2, scan and obtain the number information of each POY carrier or DTY carrier through the RFID module and send it to the PLC control module, which then sends it to the host computer;

[0115] S3, the host computer selects the POY empty carrier number and the DTY empty carrier number according to the pre-set POY carrier and DTY carrier table information;

[0116] S4, according to the POY empty carrier number information, the host computer sends a POY wire filling request instruction to the PLC control module;

[0117] S5, after receiving the POY thread filling request instruction, the PLC control module sends a first driving instruction to the driving module according to the POY empty carrier number information therein;

[0118] S6, the driving module drives the POY empty carrier with the corresponding number to move to the POY spindle loading point according to the first driving instruction;

[0119] S7, the PLC control module continuously receives the position information of the POY empty carrier sent by the sensor module during the movement of the POY empty carrier, and when the POY empty carrier moves to the POY spindle threading point, the PLC control module sends a first grabbing instruction to the first manipulator control module;

[0120] S8, the first manipulator control module loads the POY spindles into the POY empty carrier according to the first grabbing instruction, and sends a first full load signal to the PLC control module after the POY carrier is fully loaded;

[0121] S9, after receiving the first full load signal, the PLC control module sends a second driving instruction to the driving module;

[0122] S10, after receiving the second driving instruction, the driving module drives the POY full load to move to the POY thread-repairing station;

[0123] S11, the PLC control module continuously receives the position information of the POY full load sent by the sensor module during the movement of the POY full load, and when the POY full load moves to the POY thread-repairing station, the PLC control module sends a second grabbing instruction to the second manipulator control module;

[0124] S12, the second manipulator control module places the spindles in the full POY carrier onto the empty yarn rack according to the second grabbing instruction, and sends a first empty signal to the PLC control module after the POY carrier is empty;

[0125] S13, after receiving the first no-load signal, the PLC control module sends a third driving instruction to the driving module;

[0126] S14, the driving module drives the POY empty carrier to return to the POY empty carrier cache line according to the third driving instruction;

[0127] As attached Figure 2 As shown, the points involved in the wire dropping process include a DTY line-up point 102, a DTY wire dropping station 104, a DTY empty carrier buffer line 106;

[0128] Combined with Figure 2 And attached Figure 4 As shown in the figure, the wire drop control process is as follows:

[0129] S15, the PLC control module returns the wire-replenishing completion information to the host computer. After the host computer receives the wire-replenishing completion information, the host computer sends a DTY spindle drop instruction to the PLC control module according to the DTY empty carrier number information;

[0130] S16, after receiving the DTY spindle drop instruction, the PLC control module sends a fourth drive instruction to the drive module;

[0131] S17, the driving module drives the DTY empty carrier with the corresponding number to move to the DTY spindle doffing station according to the fourth driving instruction;

[0132] S18, the PLC control module continuously receives the position information of the DTY empty carrier sent by the sensor module during the movement of the DTY empty carrier, and when the DTY empty carrier moves to the DTY spindle doffing station, the PLC control module sends a doffing instruction to the third manipulator control module;

[0133] S19, the third manipulator control module drops the wire into the empty DTY carrier according to the wire dropping instruction, and sends a second full-load signal to the PLC control module after the DTY carrier is fully loaded;

[0134] S20, after receiving the second full-load signal, the PLC control module sends a fifth driving instruction to the driving module;

[0135] S21, the driving module drives the DTY full load to move to the yarn unloading point according to the fifth driving instruction;

[0136] S22, the PLC control module continuously receives the position information of the DTY full load sent by the sensor module during the movement of the DTY full load, and when the DTY full load moves to the yarn unloading point, the PLC control module sends a yarn unloading instruction to the fourth manipulator control module;

[0137] S23, the fourth manipulator control module performs a yarn unloading operation on the DTY full carrier according to the yarn unloading instruction, and sends a second no-load signal to the PLC control module after the DTY carrier is empty;

[0138] S24, the PLC control module sends a sixth driving instruction to the driving module after receiving the second no-load signal;

[0139] S25, the driving module drives the DTY empty carrier to return to the DTY empty carrier cache line according to the sixth driving instruction;

[0140] S26, the PLC control module returns wire drop completion information to the host computer.

[0141] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0142] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0143] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0144] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0145] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0146] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0147] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0148] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0149] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A suspension conveying control system for a chemical fiber texturing workshop, characterized in that: The system comprises: Host computer: used to send POY wire filling instructions and DTY spindle wire dropping instructions to the PLC control module; PLC control module: used for controlling the driving module to drive the POY carrier or the DTY carrier to move to the first designated location after receiving the POY wire filling instruction and the DTY spindle wire dropping instruction from the host computer; It is also used to send control instructions to the manipulator control module after receiving the position information of the POY carrier or the DTY carrier sent by the sensor module; It is also used to control the driving module to drive the POY carrier or the DTY carrier to move to the second designated location after receiving an empty signal or a full signal of the POY carrier or the DTY carrier sent by the manipulator control module; Sensor module: used to detect the position information of the POY carrier and the DTY carrier and send it to the PLC control module; Manipulator control module: used to receive control instructions from the PLC control module and control the manipulator to perform corresponding actions, and also used to send an empty signal or a full signal to the PLC control module after the POY carrier or the DTY carrier is empty or full; The manipulator control module comprises: A first manipulator control module, a second manipulator control module, a third manipulator control module and a fourth manipulator control module; The first manipulator control module is used to receive the first grabbing instruction of the PLC control module, and load the POY spindles into the POY empty carrier according to the first grabbing instruction, and send a first full load signal to the PLC control module after the POY carrier is fully loaded; The second manipulator control module is used to receive the second grabbing instruction of the PLC control module, and put the spindles in the full POY carrier onto the empty yarn rack according to the second grabbing instruction, and send a first empty signal to the PLC control module after the POY carrier is empty; The third manipulator control module is used to receive the wire dropping instruction of the PLC control module, drop the wire into the empty DTY carrier according to the wire dropping instruction, and send a second full load signal to the PLC control module after the DTY carrier is fully loaded; The fourth manipulator control module is used to receive the yarn unloading instruction of the PLC control module, and perform the yarn unloading operation on the DTY full carrier according to the yarn unloading instruction, and send a second no-load signal to the PLC control module after the DTY carrier is empty; Driving module: used to receive the driving instructions of the PLC control module, and drive the POY carrier or DTY carrier to move to the designated location according to the driving instructions.

2. The system according to claim 1, characterized in that Also includes: RFID module: used to obtain the carrier number information in the electronic tag on the POY carrier or the DTY carrier, and send the carrier number information to the PLC control module; The RFID module includes an RFID gateway and an RFID reader; The RFID reader is used to read the carrier number information in the electronic tag on the POY carrier or the DTY carrier; The RFID gateway is used to send the carrier number information read by the RFID reader to the PLC control module.

3. The system according to claim 1, characterized in that The sensor module includes a photoelectric sensor, a proximity sensor and a magnetic induction sensor; The photoelectric sensor is used to detect the real-time position information of the POY carrier or the DTY carrier and send it to the PLC control module; The proximity sensor is used to detect whether the POY carrier or DTY carrier has arrived at a designated location and send it to the PLC control module; The magnetic induction sensor is used to detect the operating state of the switch cylinder at the track switch intersection when the POY carrier or the DTY carrier arrives at a designated location and send it to the PLC control module.

4. The system according to claim 3, characterized in that The PLC control module is used to send a first driving instruction to the driving module after receiving the POY wire filling instruction sent by the host computer; The PLC control module is further configured to send a second driving instruction to the driving module after receiving a first full load signal sent by the first manipulator control module; The PLC control module is further configured to send a third driving instruction to the driving module after receiving a first no-load signal sent by the second manipulator control module; The PLC control module is also used to send a fourth driving instruction to the driving module after receiving the DTY spindle drop instruction sent by the host computer; The PLC control module is further configured to send a fifth driving instruction to the driving module after receiving a second full load signal sent by the third manipulator control module; The PLC control module is also used to send a sixth driving instruction to the driving module after receiving the second no-load signal sent by the fourth manipulator control module.

5. The system according to claim 4, characterized in that The driving module is used to drive the POY empty carrier to move to the POY spindle threading point after receiving the first driving instruction sent by the PLC control module; The driving module is also used to drive the POY full load to move to the POY wire filling station after receiving the second driving instruction sent by the PLC control module; The driving module is further used to drive the POY empty carrier to return to the POY empty carrier cache line after receiving the third driving instruction sent by the PLC control module; The driving module is also used to drive the DTY empty carrier to move to the DTY spindle doffing station after receiving the fourth driving instruction sent by the PLC control module; The driving module is also used to drive the DTY full load to move to the yarn unloading point after receiving the fifth driving instruction sent by the PLC control module; The driving module is further configured to drive the DTY empty vehicle to return to the DTY empty vehicle cache line after receiving a sixth driving instruction sent by the PLC control module.

6. The system according to claim 5, characterized in that The PLC control module is used to receive the POY empty carrier position information sent by the sensor module, and after the POY empty carrier moves to the POY spindle threading point, send a first grabbing instruction to the first manipulator control module; The PLC control module is used to receive the position information of the POY full load sent by the sensor module, and send a second grabbing instruction to the second manipulator control module after the POY full load moves to the POY wire filling station; The PLC control module is used to receive the DTY empty carrier position information sent by the sensor module, and after the DTY empty carrier moves to the DTY spindle drop wire station, send a drop wire instruction to the third manipulator control module; The PLC control module is used to receive the position information of the DTY full load sent by the sensor module, and after the DTY full load moves to the yarn unloading point, send a yarn unloading instruction to the fourth robot control module.

7. A method for controlling hanging conveying in a chemical fiber texturing workshop, characterized in that: The method is applied to a suspension conveying control system for a chemical fiber texturing workshop according to any one of claims 1 to 6, and the method comprises: Write the number of the POY carrier or DTY carrier into the RFID electronic tag and bind it to the POY carrier or DTY carrier; The RFID module scans and obtains the number information of each POY carrier or DTY carrier and sends it to the PLC control module, which then sends it to the host computer; The host computer selects the POY empty carrier number and the DTY empty carrier number according to the pre-set POY carrier and DTY carrier table information; According to the POY empty carrier number information, the host computer sends a POY wire filling request instruction to the PLC control module; After receiving the POY thread-repairing request instruction, the PLC control module sends a first driving instruction to the driving module according to the POY empty carrier number information therein; The driving module drives the POY empty carrier with the corresponding number to move to the POY spindle loading point according to the first driving instruction; The PLC control module continuously receives the position information of the POY empty carrier sent by the sensor module during the movement of the POY empty carrier. When the POY empty carrier moves to the POY spindle threading point, the PLC control module sends a first grabbing instruction to the first manipulator control module. The first manipulator control module loads the POY spindles into the POY empty carrier according to the first grabbing instruction, and sends a first full-load signal to the PLC control module after the POY carrier is fully loaded; After receiving the first full-load signal, the PLC control module sends a second driving instruction to the driving module; After receiving the second driving instruction, the driving module drives the POY full load to move to the POY wire patching station; The PLC control module continuously receives the position information of the POY full load sent by the sensor module during the movement of the POY full load, and when the POY full load moves to the POY thread-repairing station, the PLC control module sends a second grabbing instruction to the second manipulator control module; The second manipulator control module places the spindles in the full POY carrier onto the empty yarn rack according to the second grabbing instruction, and sends a first empty signal to the PLC control module after the POY carrier is empty; After receiving the first no-load signal, the PLC control module sends a third driving instruction to the driving module; The driving module drives the POY empty carrier to return to the POY empty carrier cache line according to the third driving instruction; The PLC control module returns the wire-replenishing completion information to the host computer. After the host computer receives the wire-replenishing completion information, the host computer sends a DTY spindle wire-dropping instruction to the PLC control module according to the DTY empty carrier number information; After receiving the DTY spindle drop instruction, the PLC control module sends a fourth drive instruction to the drive module; The driving module drives the DTY empty carrier with the corresponding number to move to the DTY spindle doffing station according to the fourth driving instruction; The PLC control module continuously receives the position information of the DTY empty carrier sent by the sensor module during the movement of the DTY empty carrier. When the DTY empty carrier moves to the DTY spindle drop wire station, the PLC control module sends a drop wire instruction to the third manipulator control module. The third manipulator control module drops the wire into the empty DTY carrier according to the wire dropping instruction, and sends a second full-load signal to the PLC control module after the DTY carrier is fully loaded; After receiving the second full-load signal, the PLC control module sends a fifth driving instruction to the driving module; The driving module drives the DTY full load to move to the yarn unloading point according to the fifth driving instruction; The PLC control module continuously receives the position information of the DTY full load sent by the sensor module during the movement of the DTY full load, and when the DTY full load moves to the yarn unloading point, the PLC control module sends a yarn unloading instruction to the fourth manipulator control module; The fourth manipulator control module performs a yarn unloading operation on the DTY full carrier according to the yarn unloading instruction, and sends a second no-load signal to the PLC control module after the DTY carrier is empty; After receiving the second no-load signal, the PLC control module sends a sixth driving instruction to the driving module; The driving module drives the DTY empty carrier to return to the DTY empty carrier cache line according to the sixth driving instruction; The PLC control module returns wire drop completion information to the host computer.

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