Automatic control method, device and system for automatic doffer

Abstract

The present invention relates to the technical field of spindle replacement of a doffer, and in particular to an automatic control method, device and system for an automatic doffer. The present invention obtains a position adjustment path of a pipe grabber base according to the offset of the top area of ​​the spindle in the top image of the spindle on all spindle seats relative to the corresponding position of the spindle seat in the top image; moves the pipe grabber base along the position adjustment path to obtain an optimized grabbing position; obtains the required pressure of each clamping rod of the clamping claw of the spindle grabbing according to the distance from each clamping rod of the clamping claw of the spindle grabbing and the tilt degree of the spindle; obtains the valve opening rate of the clamping rod according to the difference between the tilt degree of the spindle and the offset degree of the pipe grabber base, and the required pressure of the clamping rod of the clamping claw; opens the clamping rod valve of the clamping rod of the clamping claw of the spindle grabbing according to the valve opening rate, thereby improving the stability of the automatic doffer in grabbing the spindle and improving the yarn winding efficiency of the automatic doffer.

Description

Technical Field

[0001] The present invention relates to the technical field of doffer spindle replacement, and in particular to an automatic control method, device and system for an automatic doffer. Background Art

[0002] The doffing machine needs to accurately complete coordinated operations such as unloading full yarn tubes, positioning empty bobbins, and maintaining yarn tension. Manual operation is prone to yarn breakage or bobbin dislocation due to insufficient coordination of movements. Automatic control of the doffing machine to grab the spindles includes inserting the empty spindles on the spindle seat and grabbing the full spindles, which can increase the stability of the spindle grabbing and improve the spinning efficiency and yarn quality of the doffing machine.

[0003] Existing spindle gripping methods are mainly achieved through pneumatic clamping devices, that is, the spindle is inserted into the central cavity of the tube grabber, and by increasing the air pressure inside the tube grabber, the spindle and the clamping rod in the central cavity of the tube grabber are tightly fitted together to achieve fixed grip of the spindle. However, during the yarn winding process of the automatic doffer, due to factors such as device wear, yarn quality differences and environmental factors, the spindle may experience uneven tension in the winding yarn, causing the spindle to tilt on the spindle seat. At the same time, the tube grabber may grab a large number of spindles at the same time, and the tube grabber may not be able to hold the tilted spindle firmly, resulting in the inability to place new spindles or the spindles falling, affecting the yarn winding progress and easily contaminating the full spindles. Summary of the Invention

[0004] In order to solve the technical problem that the pipe grabber cannot firmly grasp the tilted spindle on the spindle seat, resulting in low yarn winding efficiency of the doffer, the purpose of the present invention is to provide an automatic control method, device and system for an automatic doffer. The technical solutions adopted are as follows:

[0005] The present invention proposes an automatic control method for an automatic doffer, comprising an automatic doffer body, wherein the doffer body comprises a spindle seat and a tube grabber base, wherein the tube grabber base is provided with a clamping claw, wherein the clamping claw has a plurality of clamping rods, and each clamping rod has a clamping rod valve. The method is characterized in that:

[0006] Acquire a top image of a spindle on each spindle seat of an automatic doffer;

[0007] According to the offset of the top area of ​​the spindle in the top image of all the spindles on the spindle holder relative to the corresponding position of the spindle holder in the top image, the position adjustment path of the pipe grabber base is obtained; the pipe grabber base is moved along the position adjustment path to obtain the optimized grasping position when the pipe grabber base grasps the spindle;

[0008] Obtaining the required pressure of each clamping rod of the clamping claw that grasps the spindle according to the distance from each clamping rod of the clamping claw that grasps the spindle to the spindle and the inclination of the spindle;

[0009] According to the difference between the inclination degree of the spindle and the offset degree of the pipe grabber base, as well as the required pressure of each clamping rod of the clamping claw, the valve opening rate of each clamping rod of the clamping claw that grabs the spindle is obtained; the clamping rod valve of the clamping rod of the clamping claw that grabs the spindle is opened at the valve opening rate, and the pressure of the clamping rod at each moment in the grabbing process is obtained until the pressure of the clamping rod reaches the required pressure, and then the clamping rod valve of the clamping rod is closed.

[0010] Furthermore, the step of obtaining the position adjustment path of the pipe grabber base includes:

[0011] Perform edge detection on the top image of the spindle to obtain closed edges; count the total number of pixels in the area formed by all closed edges, and select the area formed by the closed edge corresponding to the minimum value as the spindle top area;

[0012] Determine the pixel point corresponding to the central axis of the spindle seat in the top image of the spindle, and record it as the standard spindle center point;

[0013] The direction of the centroid of the spindle top area pointing to the center point of the standard spindle is taken as the direction of the tilt vector, and the distance between the centroid of the spindle top area and the center point of the standard spindle is taken as the magnitude of the tilt vector;

[0014] Adding the tilt vectors of all spindles to obtain the path offset vector of the pipe grabber base;

[0015] A point on the pipe grabber base located at the standard grabbing position is randomly selected as the representative grabbing point to obtain the pipe grabbing adjustment point. The direction from the representative grabbing point to the pipe grabbing adjustment point is the direction of the path offset vector, and the distance between the representative grabbing point and the pipe grabbing adjustment point is equal to the modulus length of the path offset vector. The straight line from the representative grabbing point to the pipe grabbing adjustment point is used as the position adjustment path of the pipe grabber base.

[0016] Furthermore, the step of obtaining the required pressure of each clamping rod of the clamping claw for gripping the spindle comprises:

[0017] The spindles are divided into inclined spindles and non-inclined spindles;

[0018] The required pressure of each clamping rod of the clamping jaws that grasp the non-tilted spindle is set to the standard pressure;

[0019] The distance between each clamping rod of the clamping claw for grasping the tilted spindle and the corresponding spindle is obtained and recorded as the spindle spacing of the corresponding clamping rod; the pressure adjustment coefficient of each clamping rod of the clamping claw for grasping the tilted spindle is obtained according to the modulus length of the tilt vector of the tilted spindle and the spindle spacing of each clamping rod of the clamping claw for grasping the tilted spindle;

[0020] The standard pressure is weighted by the sum of the constant 1 and the pressure adjustment coefficient to obtain the required pressure of each clamping rod of the clamping claw that grabs the tilted spindle.

[0021] Furthermore, obtaining the valve opening rate of each clamping rod of the clamping claw that grasps the spindle includes:

[0022] determining a pressure change speed of each clamping rod of the clamping claw gripping the spindle according to a distance between a center of the clamping claw and each clamping rod and a result of subtracting the path offset vector from the tilt vector of the spindle;

[0023] The ratio of the pressure change rate to the pressure data acquisition frequency is used as the pressure growth step of each clamping rod of the clamping claw for grabbing the spindle; the ratio of the required pressure of each clamping rod of the clamping claw for grabbing the spindle to the maximum value of the required pressure of all clamping rods is normalized to obtain the final valve opening of each clamping rod of the clamping claw for grabbing the spindle;

[0024] Obtain the initial pressure of the clamping rod; calculate the ratio of the pressure growth step of each clamping rod of the clamping claw that grabs the spindle to the initial pressure, and use the product of the ratio and the final valve opening as the valve opening rate of each clamping rod of the clamping claw that grabs the spindle.

[0025] Furthermore, the step of determining the pressure change speed of each clamping rod of the clamping claw that grasps the spindle comprises:

[0026] Obtain the distance between the center of the clamping claw and each clamping rod, and record it as the center distance of each clamping rod;

[0027] Subtracting the path offset vector from the tilt vector of the spindle to obtain a relative offset vector;

[0028] Obtain the stiffness coefficient; calculate the product of the sine of the angle between the relative offset vector of the spindle and the reference direction and the modulus of the relative offset vector, use the product and the sum of the center distances of each clamping rod of the clamping claw that grasps the spindle as the numerator, and the center distances of each clamping rod as the denominator to obtain the product of the ratio and the stiffness coefficient as the pressure change rate of each clamping rod of the clamping claw that grasps the spindle.

[0029] Furthermore, the modulus of the tilt vector and the spindle spacing are both positively correlated with the pressure adjustment coefficient.

[0030] Furthermore, the spindles are divided into inclined spindles and non-inclined spindles, comprising:

[0031] Determine whether the centroid of the spindle top area of ​​the spindle is the same as the position of the standard spindle center point. If so, the spindle is regarded as a non-tilted spindle; otherwise, the spindle is regarded as a tilted spindle.

[0032] Furthermore, the moving of the pipe grabber base along the position adjustment path is moving a pipe grabbing representative point on the pipe grabber base along the position adjustment path.

[0033] An automatic control device for an automatic doffer, the device comprising a processor, which implements the steps of the automatic control method for the automatic doffer when executed.

[0034] An automatic control system for an automatic doffer, the system comprising:

[0035] A data acquisition module is used to obtain the top image of the spindle on each spindle seat of the automatic doffer;

[0036] The pipe grabber adjustment module is used to obtain a position adjustment path for the pipe grabber based on the offset of the top area of ​​the spindle in the top image of the spindles on all spindle seats relative to the corresponding position of the spindle seat in the top image; and move the pipe grabber along the position adjustment path to obtain an optimized gripping position when the pipe grabber grips the spindle;

[0037] a required pressure determination module, configured to obtain the required pressure of each clamping rod of the clamping claw for gripping the spindle according to the distance from each clamping rod of the clamping claw for gripping the spindle to the spindle and the inclination of the spindle;

[0038] A pressure rate determination module is used to obtain the pressure of each clamping rod of the clamping claw that grasps the spindle according to the distance from the center of the matching port of the spindle to each clamping rod thereof and the difference in the degree of offset between the spindle and the pipe grabber; and obtain the valve opening rate of each clamping rod of the spindle to be tested according to the required pressure of the clamping rod of the matching port of the spindle and the pressure increase step length;

[0039] The clamping rod control module is used to open the control valve of the clamping rod of the clamping claw that grabs the spindle, obtain the pressure of the clamping rod of the clamping claw that grabs the spindle at each moment, and close the valve of the clamping rod until the pressure of the clamping rod reaches the required pressure.

[0040] The present invention has the following beneficial effects:

[0041] In an embodiment of the present invention, in order to ensure that all the clamping claws of the pipe grabber can catch the spindles, it is necessary to consider the inclination of the spindles on all spindle seats, determine the position adjustment path of the pipe grabber base, and make all the clamping claws catch the spindles after the pipe grabber base moves along the position adjustment path to the optimized gripping position; the distance from the spindle to the clamping rod of its corresponding clamping claw and the inclination of the spindle can both reflect the degree of deviation of the spindle to the clamping rod, determine the magnitude of the passive contact force generated between the clamping rod and the spindle, determine the required pressure of each clamping rod, and avoid damage or tipping of the spindle due to excessive force difference on different sides; by dynamically adjusting the pressure change speed of the clamping rod to avoid local stress concentration, and controlling the pressure of the clamping rod of the clamper on the spindle with the valve opening rate, the stability of the automatic doffing machine in grabbing the spindle can be improved, and the situation where new spindles cannot be placed or spindles fall off can be avoided, thereby improving the low yarn winding efficiency of the automatic doffing machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 1 is a structural diagram of an automatic doffer provided by an embodiment of the present invention;

[0044] Figure 2 This is a structural diagram of a pipe grabber base provided by an embodiment of the present invention;

[0045] Figure 3 This is a structural diagram of a clamping claw provided by an embodiment of the present invention;

[0046] Figure 4 A flowchart of the steps of an automatic control method of an automatic doffer provided by one embodiment of the present invention;

[0047] Figure 5 A schematic diagram of an initial top image of a spindle provided by one embodiment of the present invention;

[0048] Figure 6 A system structure diagram of an automatic control system for an automatic doffer provided by one embodiment of the present invention;

[0049] Figure 1 、 Figure 2 、 Figure 3The numbers in the figure are: 1. Tube grabber base; 2. Clamping claw; 3. Clamping rod; 4. Clamping claw valve; 5. Air source module; 6. Visual sensor; 7. Pressure sensor; 8. Clamping rod valve; 9. Spindle seat. DETAILED DESCRIPTION

[0050] To further illustrate the technical means and effectiveness of the present invention in achieving its intended objectives, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail the specific implementation, structure, features, and effectiveness of an automatic doffer control method, device, and system according to the present invention. In the following description, references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0051] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0052] See also Figure 1 、 Figure 2 、 Figure 3 , which shows a structural diagram of an automatic doffing machine provided by an embodiment of the present invention, including an automatic doffing machine body, and the doffing machine body includes: a tube grabber base 1; a clamping claw 2; a clamping rod 3; a clamping claw valve 4; an air source module 5; a visual sensor 6; a pressure sensor 7; a clamping rod valve 8; and a spindle seat 9.

[0053] Multiple clamping jaws 2 are mounted on the pipe grabber base 1. These jaws 2 are used to grasp spindles from the spindle holder 9. Each clamping jaw 2 has several clamping rods 3, each equipped with a clamping rod valve 8 and a pressure sensor 7. The pressure sensor measures the pressure applied by the clamping rod 3 to the spindle during grasping. The clamping jaw 2 is a pneumatic clamping device. Each clamping rod 3 can adjust the pressure applied to the spindle by varying the internal pressure. All clamping rods 3 are controlled by an air source module 5, which controls the internal pressure within the jaw 2 via a clamping rod valve 4. Each clamping rod 3 is connected to the air source module 5 via a clamping rod valve 8. Adjusting the opening of the clamping rod valve 8 dynamically adjusts the pressure applied to each clamping rod 3. A visual sensor 6 is mounted in the center of the clamping jaw 2 to capture an image of the spindle. Each clamping jaw 2 can grasp a spindle inserted into the spindle holder 9. The air source module 5 is used to adjust the air pressure inside the clamping claw 2 and can provide precise air pressure.

[0054] The spindle is hollow. Before winding the yarn, the empty spindle needs to be inserted into the spindle seat 9 first; then, the empty spindle is wound with yarn using an automatic doffing machine until it is fully wound; then, the position of the tube grabber base 1 is adjusted to the optimized gripping position based on the inclination of the spindle inserted on the spindle seat 9; after that, the tube grabber base 1 runs downward from the optimized gripping position until the tube grabber base 1 reaches the predetermined position, that is, the position where the clamping claw 2 can grip the spindle, and the clamping claw valve 4 and the clamping rod valve 8 are opened to increase the pressure of the clamping rod 3 and the spindle on the spindle seat 9 to grip the spindle.

[0055] The specific scheme of the automatic control method, device and system of the automatic doffer provided by the present invention is described in detail below with reference to the accompanying drawings.

[0056] Example 1:

[0057] The present invention proposes an automatic control method for an automatic doffer. Figure 4 , which shows a flowchart of the steps of an automatic control method of an automatic doffer provided by one embodiment of the present invention, the method comprising:

[0058] Step S1: Acquire the top image of the spindle on each spindle seat of the automatic doffer.

[0059] When the spindle on the spindle seat completes yarn winding and reaches the full yarn state, a new empty spindle needs to be replaced, and the spindle seat automatically stops. The image of the spindle on the spindle seat is collected by the visual sensor installed in the middle position of the spindle claw, which is recorded as the initial top image and belongs to the RGB image; Figure 5 A schematic diagram of an initial top image of a spindle provided by one embodiment of the present invention is shown. Figure 5 The circle in the box represents the spindle tip. The initial tip image is grayscaled and denoised, and then semantic segmentation is used to remove irrelevant background areas. The remaining spindle portion is used as the tip image.

[0060] It should be noted that the weighted average grayscale algorithm used in the embodiments of the present invention for grayscale conversion, the Gaussian filter for denoising, and the semantic segmentation are all well-known techniques to those skilled in the art. Other image acquisition devices and image preprocessing algorithms may also be used in other embodiments, and are not limited here.

[0061] Step S2: Obtain the position adjustment path of the tube grabber base based on the offset of the top area of ​​the spindle in the top image of all spindles on the spindle seats relative to the corresponding position of the spindle seats in the top image; move the tube grabber base along the position adjustment path to obtain the optimized grabbing position when the tube grabber base grabs the spindle.

[0062] During the yarn winding process, the spindle may be affected by factors such as wear of the device, yarn quality differences, and the environment, causing the spindle to tilt on the spindle seat. The top area of ​​the spindle represents the spindle position. When the spindle is not tilted, the corresponding position of the spindle seat in the top image should be the same as the position of the top area of ​​the spindle. Therefore, the offset of the top area of ​​the spindle relative to the corresponding position of the spindle seat in the top image can reflect the spindle tilt. Spindle tilt will cause the spindle to shift from the center of the corresponding clamping claw. If the pipe grabber base continues to grasp the spindle according to the set standard grasping position, the clamping claw will not be able to grasp the severely tilted spindle. At the same time, the clamping claws on the pipe grabber base can grasp all spindles simultaneously. To ensure that all clamping claws on the pipe grabber base can grasp the spindle, it is necessary to consider the degree of spindle tilt on all spindle seats and determine the position adjustment path of the pipe grabber base. After the pipe grabber base moves along the position adjustment path to the optimized grasping position, all clamping claws can grasp the spindle.

[0063] It should be noted that the standard gripping position of the tube grabber base is: the central axis of all spindle seats should pass through the center of the corresponding clamping claw of each spindle seat on the tube grabber base.

[0064] Step S3: Obtain the required pressure of each clamping rod of the clamping claw that grabs the spindle according to the distance from each clamping rod of the clamping claw that grabs the spindle to the spindle and the inclination of the spindle.

[0065] Although step S2 adjusts the position of the pipe gripper base based on the inclination of all spindles, there may still be a situation where the spindle deviates from the center of the clamping claw; if all clamping rods corresponding to the clamping claw of the spindle seat maintain the same clamping pressure when grabbing the spindle, in the eccentric state, the actual contact pressure of the clamping rod close to the deviated side will be passively increased by the squeezing of the spindle, and the clamping rod on the far side may have poor contact, resulting in compression and deformation of one side of the spindle, and even the spindle may fall during the clamping process. The distance from the spindle to the clamping rod of its corresponding clamping claw and the degree of inclination of the spindle can reflect the degree of deviation of the spindle to the clamping rod, and determine the magnitude of the passive contact force generated between the clamping rod and the spindle. In order to avoid excessive squeezing of the spindle by the clamping rod, it is necessary to adjust the standard gripping pressure of the different clamping rods of the clamping claw that grabs the spindle, determine the required pressure of each clamping rod, and avoid damage or fall of the spindle due to excessive force differences on different sides.

[0066] Step S4: Based on the difference in the inclination degree of the spindle and the offset degree of the pipe grabber base, as well as the required pressure of each clamping rod of the clamping claw, obtain the valve opening rate of each clamping rod of the clamping claw that grabs the spindle; open the clamping rod valve of the clamping rod of the clamping claw that grabs the spindle at the valve opening rate, obtain the pressure of the clamping rod at each moment in the gripping process, and close the clamping rod valve of the clamping rod until the pressure of the clamping rod reaches the required pressure.

[0067] By limiting the amplitude of single-step pressure changes, oscillation or overshoot caused by sudden changes is avoided. The growth rate allows for gradual adjustment of the clamping force, avoiding sudden changes that could cause spindle vibration or clamp overshoot. Local stress concentration is avoided by dynamically adjusting the pressure change rate of the clamping rod. Through the real-time integration of geometry and kinematics, spatial dynamic balance of the clamping force is achieved, balancing efficiency and reliability. Controlling the pressure of the clamping rod on the spindle using the valve opening rate can improve the stability of the automatic doffer's grasping of the spindle. When the tube grabber base completes grasping a full spindle, a new empty spindle is placed on the spindle holder, and the winding process begins again, repeating the process.

[0068] Preferably, in some possible implementations of the embodiments of the present invention, the method for obtaining the position adjustment path includes: performing edge detection on the top image of the spindle to obtain closed edges; counting the total number of pixels in the area formed by all closed edges, and selecting the area formed by the closed edges corresponding to the minimum value as the spindle top area; determining the pixel point corresponding to the central axis of the spindle seat in the top image of the spindle, and recording it as the standard spindle center point; taking the direction of the centroid of the spindle top area of ​​the spindle pointing to the standard spindle center point as the direction of the tilt vector, and the distance between the centroid of the spindle top area and the standard spindle center point as the magnitude of the tilt vector; adding the tilt vectors of all spindles to obtain the path offset vector of the pipe grabber base; randomly selecting a point on the pipe grabber base located at the standard grabbing position as the pipe grabbing representative point to obtain the pipe grabbing adjustment point; the direction of the pipe grabbing representative point pointing to the pipe grabbing adjustment point is the direction of the path offset vector, and the distance between the pipe grabbing representative point and the pipe grabbing adjustment point is equal to the modulus of the path offset vector; and taking the straight line from the pipe grabbing representative point to the pipe grabbing adjustment point as the position adjustment path of the pipe grabber base.

[0069] It should be noted that the spindle is wound around the yarn, and the spindle and the yarn are different colors. Edge detection on the top image yields at least two closed edges, including the spindle top edge and the edge formed by the yarn and the background. Because the yarn is wrapped around the spindle, the area formed by the spindle top edge is relatively small. The area is measured by the number of pixels within the area, and the area corresponding to the closed edge with the smallest area is selected as the spindle top area. Since the visual sensor is located directly above the spindle seat, the center axis of the spindle seat corresponds to the pixel in the spindle top image as the center point of the top image. When the spindle is not tilted, the centroid of the spindle top area should be the same as the center point of the top image. Therefore, the positional offset of the spindle top area relative to the center point of the top image can reflect the spindle's tilt. The direction and magnitude of the tilt vector indicate the direction and degree of the spindle's tilt. To ensure that all grippers of the pipe grabber base can grasp the spindle, the offset of all spindles must be integrated to obtain a path offset vector, which reflects the net offset trend required by the pipe grabber base to ensure that all grippers can grasp the spindle.

[0070] Preferably, in some possible implementation methods of the embodiments of the present invention, the method for obtaining the required pressure of the clamping rod of the clamping claw includes: dividing the spindles into inclined spindles and non-inclined spindles; setting the required pressure of each clamping rod of the clamping claw that grasps the non-inclined spindles to the standard pressure; obtaining the distance from each clamping rod of the clamping claw that grasps the inclined spindle to the corresponding spindle and recording it as the spindle spacing of the corresponding clamping rod; obtaining the pressure adjustment coefficient of each clamping rod of the clamping claw that grasps the inclined spindle according to the modulus of the inclination vector of the inclined spindle and the spindle spacing of each clamping rod of the clamping claw that grasps the inclined spindle; using the sum of the constant 1 and the pressure adjustment coefficient to weight the standard pressure to obtain the required pressure of each clamping rod of the clamping claw that grasps the inclined spindle.

[0071] It should be noted that in the embodiment of the present invention, the spindle classification method is to determine whether the centroid of the spindle top area is located at the same position as the center point of the standard spindle. If so, the spindle is classified as a non-tilted spindle; otherwise, the spindle is classified as a tilted spindle. Non-tilted spindles do not have any tilt. When gripped by a clamping claw, the only difference between the different holding blocks and the spindle is the contact distance, which does not affect the clamping pressure of the clamping rod. Therefore, the pressure required by all clamping rods of the clamping claw to grip the non-tilted spindle is equal and is set to the standard pressure. The tilted spindle itself is tilted. Although the tilted spindle is close to the center of the clamping claw during grasping, the different clamping rods of the clamping claw still have different clamping angles. The modulus of the tilt vector reflects the degree of spindle tilt. The larger the modulus, the greater the degree of deviation of the clamping claw in the direction of the tilt vector. Passive contact force is generated between the clamping rod and the spindle, and the passive contact force increases with the increase in the degree of deviation. To avoid the superposition of passive contact forces, the clamping pressure of the clamping rod needs to be reduced. The larger the spindle spacing between the clamping rods, the closer the spindle center is to the clamping rod, causing the clamping rod to passively bear more load, that is, the torque generated by gravity or inertia. The pressure of the right clamping rod should be smaller than that of the other clamping rods. To avoid excessive compression of the spindle by the clamping rod, the clamping pressure of the clamping rod should be reduced. Therefore, the modulus and spindle distance are both negatively correlated with the pressure adjustment coefficient.

[0072] In one implementation of the embodiment of the present invention, since the visual sensor is installed in the middle of the spindle claw, the center point of the standard spindle is the center point of the top image.

[0073] In an embodiment of the present invention, the modulus of the tilt vector of the tilted spindle is normalized by multiplying the spindle spacing of each clamping rod of the clamping claw that grasps the tilted spindle to obtain the pressure adjustment coefficient of the corresponding clamping rod. The correlation between the modulus and the modulus and the pressure adjustment coefficient can also be constructed through other basic mathematical operations, which are not limited or elaborated here. It should be noted that in the embodiment of the present invention, the Norm function is used for normalization, and other normalization methods can also be selected, such as function conversion, maximum and minimum normalization, etc., which are not limited here.

[0074] A laser sensor is installed on each clamping rod of the clamping claw to directly measure the distance from each clamping rod of the clamping claw that grabs the spindle to the spindle.

[0075] Preferably, in some possible implementations of the embodiments of the present invention, the method for obtaining the pressure change rate includes: obtaining the distance between the center of the clamping claw and each clamping rod, recorded as the center spacing of each clamping rod; subtracting the path offset vector from the tilt vector of the spindle to obtain a relative offset vector; obtaining a stiffness coefficient; calculating the product of the sine value of the angle between the relative offset vector of the spindle and the reference direction and the modulus of the relative offset vector, and taking the product and the sum of the center spacing of each clamping rod of the clamping claw that grasps the spindle as the numerator, and the center spacing of each clamping rod as the denominator to obtain the product of the ratio and the stiffness coefficient as the pressure change rate of each clamping rod of the clamping claw that grasps the spindle. Wherein, when the clamping claw does not grasp the spindle, all the clamping rods of the clamping claw are parallel, and the clamping rods are parallel to the central axis of the clamping claw, and the distance between the center of the clamping claw and the clamping rod refers to the distance between the central axis of the clamping claw that does not grasp the spindle and the clamping rod. It should be noted that the pressure change rate is used to quantify the effect of spindle offset on the pressure growth of the clamping rod; the pressure growth step represents the pressure increment of the pressure block at each data collection. In an embodiment of the present invention, the method for obtaining the pressure change rate is as follows: obtain the distance between the center of the clamping claw and each clamping rod, recorded as the center distance of each clamping rod; subtract the path offset vector from the tilt vector of the spindle to obtain a relative offset vector; calculate the product of the sine value of the angle between the relative offset vector of the spindle and the reference direction and the modulus of the relative offset vector, and use the product and the sum of the center distances of each clamping rod of the clamping claw that grasps the spindle as the numerator, and the center distance of each clamping rod as the denominator to obtain the ratio as the pressure change rate of each clamping rod of the clamping claw that grasps the spindle.

[0076] In the embodiment of the present invention, the pressure change speed of each clamping rod of the clamping claw that grabs the spindle is expressed by the formula:

[0077]

[0078] Where, is the pressure change speed of the u-th clamping rod of the clamping claw that grabs the i-th spindle; is the distance between the u-th clamping rod of the clamping claw that grabs the i-th spindle and the center of the clamping claw; is the angle between the relative offset vector of the i-th spindle and the reference direction; is the modulus of the relative offset vector of the i-th spindle; cos is the sine function; and k is the stiffness coefficient. It should be noted that the tilt vector represents the actual tilt of the spindle, the path offset vector represents the overall tilt of all spindles, and the relative offset vector represents the residual misalignment error of the spindle after compensation by the pipe grab base. The offset component perpendicular to the relative offset vector will generate a tipping torque, which needs to be compensated by pressure adjustment. It represents the additional pressure increase demand that the u-th clamping rod needs to bear due to the spindle offset. The pressure change rate is used to quantify the impact of spindle offset on the pressure increase of the clamping rod.

[0079] Among them, the stiffness coefficient is a key parameter that connects the spindle offset distance and the pressure change rate, and is used to convert the dimensionless Converted into a physically meaningful pressure control signal. The stiffness coefficient is obtained by calculating the bending stiffness of the clamping rod, taking the ratio of the bending stiffness to the contact area between the clamping rod and the spindle as the stiffness coefficient, and combining it with the control period, such as 1s, to make the unit Pa / (mm·s). The unit of the pressure change rate is Pa / s.

[0080] Preferably, in some possible implementation methods of the embodiments of the present invention, the method for obtaining the valve opening rate includes: determining the pressure change rate of each clamping rod of the clamping claw that grabs the spindle based on the distance between the center of the clamping claw and each clamping rod, and the result of subtracting the path offset vector from the tilt vector of the spindle; taking the ratio of the pressure change rate to the pressure data acquisition frequency as the pressure growth step of each clamping rod of the clamping claw that grabs the spindle; normalizing the ratio of the required pressure of each clamping rod of the clamping claw that grabs the spindle to the maximum value of the required pressure of all clamping rods to obtain the final valve opening of each clamping rod of the clamping claw that grabs the spindle; calculating the ratio of the pressure growth step of each clamping rod of the clamping claw that grabs the spindle to the pressure at the current moment, and taking the product of the ratio and the final valve opening as the valve opening rate of each clamping rod of the clamping claw that grabs the spindle.

[0081] It should be noted that the pressure increase step size is directly used to calculate the valve opening increment, ensuring synchronization between pressure and valve control. If the data acquisition frequency is times / second, the unit of the pressure increase step size is Pa / time, representing the pressure adjustment amount collected each time. The final valve opening is dimensionless. The ratio of the pressure increase step size for each clamping rod of the clamping claw that grasps the spindle to the initial pressure measures the proportional pressure change. Multiplying this by the final valve opening yields the valve opening rate, representing the valve opening adjustment amount collected each time, expressed in % / time. The data acquisition frequency refers to the data acquisition frequency of the pressure sensor on the clamping rod during the process of the clamping claw grasping the spindle. Each adjustment of the clamping rod valve on the clamping rod is referred to as the valve opening rate. The pressure of the clamping rod during the clamping claw grasping process is collected in real time until the required pressure is reached. The clamping rod valve on the clamping rod is then closed to ensure that the system dynamically responds to spindle deflection while maintaining stable pressure increase and valve adjustment. The initial pressure is the pressure at which the clamping rod of the clamping claw is in contact with the spindle when preparing to grasp the spindle. This pressure is typically greater than 0.

[0082] So far, the present invention is completed.

[0083] Example 2:

[0084] Based on the same inventive concept as the aforementioned embodiment of the automatic control method for an automatic doffer, one embodiment of the present invention provides an automatic control device for an automatic doffer. The device includes a processor that, when executed, implements the aforementioned automatic control method for an automatic doffer. The automatic control method for an automatic doffer has been described in detail in the aforementioned embodiment and will not be further described.

[0085] Example 3:

[0086] The present invention proposes an automatic control system for an automatic doffer. Figure 6 , which shows a system structure diagram of an automatic control system of an automatic doffer provided by one embodiment of the present invention, the system includes:

[0087] The data acquisition module 510 is used to obtain the top image of the spindle on each spindle seat of the automatic doffer;

[0088] The pipe grabber adjustment module 520 is configured to obtain a position adjustment path for the pipe grabber base based on the offset of the spindle top region in the top image of the spindles on all spindle holders relative to the corresponding position of the spindle holder in the top image; and to move the pipe grabber base along the position adjustment path to obtain an optimized gripping position for the pipe grabber base when gripping the spindle.

[0089] a required pressure determination module 530 for obtaining a required pressure of each clamping rod of the clamping claw for gripping the spindle according to a distance from each clamping rod of the clamping claw for gripping the spindle to the spindle and an inclination of the spindle;

[0090] The clamping rod control module 540 is used to obtain the valve opening rate of each clamping rod of the clamping claw that grabs the spindle based on the difference in the inclination degree of the spindle and the offset degree of the pipe grabber base, as well as the required pressure of each clamping rod of the clamping claw; open the clamping rod valve of the clamping rod of the clamping claw that grabs the spindle at the valve opening rate, obtain the pressure of the clamping rod at each moment in the gripping process, and close the clamping rod valve of the clamping rod until the pressure of the clamping rod reaches the required pressure.

[0091] It should be noted that the device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device can be divided into different functional modules to complete all or part of the functions described above. In addition, the automatic control system of an automatic doffer provided in the above embodiment and the automatic control method embodiment of an automatic doffer are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0092] Example 4:

[0093] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement an automatic control method for an automatic yarn doffing machine provided in the above embodiment.

[0094] Example 5:

[0095] This embodiment also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement the automatic control method of the automatic doffing machine provided by the above embodiment.

[0096] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0097] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0098] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0099] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

Claims

1. An automatic control method for an automatic doffer, comprising an automatic doffer body, the doffer body comprising a spindle seat and a tube grabber base, the tube grabber base having a clamping claw, the clamping claw having a plurality of clamping rods, each clamping rod having a clamping rod valve, characterized in that: The method includes: Acquire a top image of a spindle on each spindle seat of an automatic doffer; According to the offset of the top area of ​​the spindle in the top image of all the spindles on the spindle holder relative to the corresponding position of the spindle holder in the top image, the position adjustment path of the pipe grabber base is obtained; the pipe grabber base is moved along the position adjustment path to obtain the optimized grasping position when the pipe grabber base grasps the spindle; Obtaining the required pressure of each clamping rod of the clamping claw that grasps the spindle according to the distance from each clamping rod of the clamping claw that grasps the spindle to the spindle and the inclination of the spindle; According to the difference between the inclination degree of the spindle and the offset degree of the pipe grabber base, as well as the required pressure of each clamping rod of the clamping claw, the valve opening rate of each clamping rod of the clamping claw that grabs the spindle is obtained; the clamping rod valve of the clamping rod of the clamping claw that grabs the spindle is opened at the valve opening rate, and the pressure of the clamping rod at each moment in the grabbing process is obtained until the pressure of the clamping rod reaches the required pressure, and then the clamping rod valve of the clamping rod is closed.

2. The automatic control method of an automatic doffer according to claim 1, characterized in that: The obtaining of the position adjustment path of the pipe grabber base includes: Perform edge detection on the top image of the spindle to obtain closed edges; count the total number of pixels in the area formed by all closed edges, and select the area formed by the closed edge corresponding to the minimum value as the spindle top area; Determine the pixel point corresponding to the central axis of the spindle seat in the top image of the spindle, and record it as the standard spindle center point; The direction of the centroid of the spindle top area pointing to the center point of the standard spindle is taken as the direction of the tilt vector, and the distance between the centroid of the spindle top area and the center point of the standard spindle is taken as the magnitude of the tilt vector; Adding the tilt vectors of all spindles to obtain the path offset vector of the pipe grabber base; A point on the pipe grabber base located at the standard grabbing position is randomly selected as the representative grabbing point to obtain the pipe grabbing adjustment point. The direction from the representative grabbing point to the pipe grabbing adjustment point is the direction of the path offset vector, and the distance between the representative grabbing point and the pipe grabbing adjustment point is equal to the modulus length of the path offset vector. The straight line from the representative grabbing point to the pipe grabbing adjustment point is used as the position adjustment path of the pipe grabber base.

3. The automatic control method of an automatic doffer according to claim 2, characterized in that: The method of obtaining the required pressure of each clamping rod of the clamping claw for grabbing the spindle comprises: The spindles are divided into inclined spindles and non-inclined spindles; The required pressure of each clamping rod of the clamping jaws that grasp the non-tilted spindle is set to the standard pressure; The distance between each clamping rod of the clamping claw for grasping the tilted spindle and the corresponding spindle is obtained and recorded as the spindle spacing of the corresponding clamping rod; the pressure adjustment coefficient of each clamping rod of the clamping claw for grasping the tilted spindle is obtained according to the modulus length of the tilt vector of the tilted spindle and the spindle spacing of each clamping rod of the clamping claw for grasping the tilted spindle; The standard pressure is weighted by the sum of the constant 1 and the pressure adjustment coefficient to obtain the required pressure of each clamping rod of the clamping claw that grabs the tilted spindle.

4. The automatic control method of an automatic doffer according to claim 2, characterized in that: The method of obtaining the valve opening rate of each clamping rod of the clamping claw for grasping the spindle comprises: determining a pressure change speed of each clamping rod of the clamping claw gripping the spindle according to a distance between a center of the clamping claw and each clamping rod and a result of subtracting the path offset vector from the tilt vector of the spindle; The ratio of the pressure change rate to the pressure data acquisition frequency is used as the pressure growth step of each clamping rod of the clamping claw for grabbing the spindle; the ratio of the required pressure of each clamping rod of the clamping claw for grabbing the spindle to the maximum value of the required pressure of all clamping rods is normalized to obtain the final valve opening of each clamping rod of the clamping claw for grabbing the spindle; Obtain the initial pressure of the clamping rod; calculate the ratio of the pressure growth step of each clamping rod of the clamping claw that grabs the spindle to the initial pressure, and use the product of the ratio and the final valve opening as the valve opening rate of each clamping rod of the clamping claw that grabs the spindle.

5. The automatic control method of an automatic doffer according to claim 4, characterized in that: Determining the pressure change speed of each clamping rod of the clamping claw that grabs the spindle includes: Obtain the distance between the center of the clamping claw and each clamping rod, and record it as the center distance of each clamping rod; Subtracting the path offset vector from the tilt vector of the spindle to obtain a relative offset vector; Obtain the stiffness coefficient; calculate the product of the sine of the angle between the relative offset vector of the spindle and the reference direction and the modulus of the relative offset vector, use the product and the sum of the center distances of each clamping rod of the clamping claw that grasps the spindle as the numerator, and the center distances of each clamping rod as the denominator to obtain the product of the ratio and the stiffness coefficient as the pressure change rate of each clamping rod of the clamping claw that grasps the spindle.

6. The automatic control method of an automatic doffer according to claim 3, characterized in that: The modulus of the tilt vector and the spindle spacing are both positively correlated with the pressure adjustment coefficient.

7. The automatic control method of an automatic doffer according to claim 2, characterized in that: The method of dividing the spindles into inclined spindles and non-inclined spindles comprises: Determine whether the centroid of the spindle top area of ​​the spindle is the same as the position of the center point of the standard spindle. If so, the spindle is regarded as a non-tilted spindle; otherwise, the spindle is regarded as a tilted spindle.

8. The automatic control method of an automatic doffer according to claim 2, characterized in that: The moving of the pipe grabber base along the position adjustment path is to move the pipe grabbing representative point on the pipe grabber base along the position adjustment path.

9. An automatic control device for an automatic doffer, characterized in that: The device includes a processor, and when the processor is executed, the steps of the automatic control method of the automatic doffer according to any one of claims 1 to 8 are implemented.

10. An automatic control system for an automatic doffer, characterized in that: The system includes: A data acquisition module is used to obtain the top image of the spindle on each spindle seat of the automatic doffer; The pipe grabber adjustment module is used to obtain a position adjustment path for the pipe grabber base based on the offset of the top area of ​​the spindle in the top image of the spindles on all spindle seats relative to the corresponding position of the spindle seat in the top image; the pipe grabber base is moved along the position adjustment path to obtain an optimized gripping position when the pipe grabber base grips the spindle; a required pressure determination module, configured to obtain the required pressure of each clamping rod of the clamping claw for gripping the spindle according to the distance from each clamping rod of the clamping claw for gripping the spindle to the spindle and the inclination of the spindle; The clamping rod control module is used to obtain the valve opening rate of each clamping rod of the clamping claw that grabs the spindle based on the difference between the inclination degree of the spindle and the offset degree of the pipe grabber base, and the required pressure of each clamping rod of the clamping claw; open the clamping rod valve of the clamping rod of the clamping claw that grabs the spindle at the valve opening rate, obtain the pressure of the clamping rod at each moment in the gripping process, and close the clamping rod valve of the clamping rod until the pressure of the clamping rod reaches the required pressure.

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