Method for realizing picking and placing of sub-vehicle in parallel and rough connection system based on child-mother vehicle form

Abstract

The invention provides a method for realizing barrel picking and placing of a sub-vehicle in a parallel and rough connection system based on a sub-vehicle and main-vehicle form, photoelectric sensors are arranged in front of and behind the sub-vehicle, coordinate points of all barrel positions of a strip barrel in the system are marked, the number of barrels picked each time is judged through the photoelectric sensors of the sub-vehicle when the sub-vehicle picks the barrels, and when the sub-vehicle begins to pick the barrels, the photoelectric sensors of the sub-vehicle judge the number of the barrels picked each time. T0 is defined to indicate that the sub-vehicle starts to run, and T1 indicates that the sub-vehicle starts to make contact with the first cylinder; t2 represents that the first cylinder is installed, T2-T3 represents a gap between the two cylinders, and T3 represents that the child vehicle starts to make contact with the second cylinder; t4 represents that the second barrel is installed; and calculating respective time differences when empty cylinders or full cylinders are taken. The method has the following advantages that (1) the situation that the sub-vehicle occasionally fails to take and send the barrels, so that unnecessary fault shutdown is caused, and the continuity and stability of equipment are influenced is avoided; and (2) industrial pain points are solved, and the problem of inaccurate positioning caused by wheel wear is solved without the aid of high-cost hardware such as radar, map navigation or a gear rack and the like.

Description

Technical Field

[0001] This invention relates to the textile field, and in particular to an automatic material exchange method for empty and full bobbins between drawing frames and roving frames, especially to a method for loading and unloading bobbins in a drawing and roving system based on a mother-daughter carriage. Background Technology

[0002] like Figure 1 As shown, in a parallel roving frame system with a mother and daughter carriage configuration, empty and full bobbins are transported between the drawing frame and the roving frame via a mother carriage and daughter carriages. The track direction between the roving frame and the drawing frame is defined as the X-axis, and the direction of the channel opposite the track where empty and full bobbins are placed is defined as the Y-axis. The mother carriage is responsible for transporting the daughter carriages and bobbins along the X-axis, while the daughter carriages are responsible for transporting the empty and full bobbins along the Y-axis. This achieves an automated material exchange technology between the drawing frame and the roving frame, where the mother carriage and multiple daughter carriages work together.

[0003] The trolley transports two cans at a time. If empty cans are taken, the trolley pulls two empty cans from the empty can placement channel into the mother car. The mother car is responsible for aligning with the empty can conveyor belt of the drawing frame. The trolley then pulls the two empty cans from the mother car onto the empty can conveyor belt of the drawing frame. If full cans are taken, the trolley takes two full cans from the full can conveyor belt of the drawing frame and puts them onto the mother car. The mother car is responsible for aligning with the roving frame channel. The trolley then pulls the full cans onto the channel.

[0004] For ease of maintenance, no sensors are currently installed in the roving frame's passageway. The mother carriage runs on the track and is powered by a sliding contact line, using QR codes on the track for positioning. The daughter carriage is battery powered and positions itself using the absolute position of its own travel servo. For example, when picking up full bobbins from the drawing frame and delivering them to the full bobbin storage passage of the roving frame, the daughter carriage sorts them according to the absolute position of its travel servo. When transporting empty bobbins, it uses its position memory (i.e., the absolute position of the travel servo; after teaching the point, the daughter carriage automatically moves according to the taught point) to pick up the empty bobbins from the roving frame's empty bobbin passage and place them on the empty bobbin conveyor belt of the drawing frame. However, during automatic operation, bobbin picking and delivery failures frequently occur. For example, bobbin picking failures are due to the bobbins deviating from their position in the roving frame's passageway, while the absolute position of the daughter carriage's automatic movement is fixed, so it may fail to pick up the bobbins. The same problem exists on the drawing frame conveyor belt; if the bobbins tip over, they may jam the daughter carriage. This can lead to problems such as the cylinder tipping over or getting stuck due to tilting, affecting the continuity of the system's automatic operation.

[0005] Further, the reasons for inaccurate positioning also include: the child car walking servo positioning adopts a wheel walking mode, and the rolling friction between the wheel and the ground, so the pulses of the servo are lost, resulting in large positioning errors; the position of the bobbin in the channel of the roving frame may be moved by the misoperation of the blocking worker and not restored, resulting in absolute position drift of the bobbin; when the output full bobbin of the drawing frame, there may be a gap between two bobbins that is too large, and the length of the two bobbins exceeds the limit of the child car cover plate; due to the long-term operation of the wheel, the wheel will be worn to varying degrees, resulting in changes in the diameter of the wheel, resulting in inaccurate positioning. The above problems will cause the child car to take and deliver the bobbin abnormally or fail, resulting in a fault. SUMMARY

[0006] The application provides a child car taking and placing bobbin implementation method in a roving and drawing connection system based on a child-mother car form, which solves the problem that the position of the bobbin causes the child car to take and deliver the bobbin abnormally or fail, resulting in a fault.

[0007] A child car taking and placing bobbin implementation method in a roving and drawing connection system based on a child-mother car form, photoelectric sensors are arranged in front and back of the child car, and coordinate points of all bobbin positions in the system are marked. The child car takes bobbins by judging the number of bobbins taken each time through the photoelectric sensor of the child car. When the child car starts to take bobbins, T0 is defined to represent that the child car starts to run. At this time, the distance between the child car and the position of the first bobbin to be taken is a set distance d. The set distance d is the same or different for full bobbins or empty bobbins. T1 represents that the child car starts to contact the first bobbin. T2 represents that the first bobbin is loaded. T2-T3 represents the gap between two bobbins. T3 represents that the child car starts to contact the second bobbin. T4 represents that the second bobbin is loaded.

[0008] The time difference values of taking empty bobbins or full bobbins are calculated: T1-T0, T2-T1, T3-T2, T4-T3, T-T4. When each taking and placing is successful, the value is recorded as valid and is recorded. The average value is obtained by weighting multiple times. Whether the child car runs normally is judged according to the average value during operation, and an alarm is given to the system when it is abnormal.

[0009] Further, taking empty bobbins includes the following steps:

[0010] S1: The system sends a command to the mother car, and the mother car loads the child car to reach the empty bobbin channel of the roving frame.

[0011] S2: The child car enters the empty bobbin channel, and whether the photoelectric sensor of the child car is normal is judged. If the photoelectric sensor of the child car is blocked by the lint, the child car generates an error signal, which will cause T1-T0 to be equal to 0. The child car sends an alarm to the system that the photoelectric sensor is abnormal, and is restored after manual confirmation.

[0012] S3: The child car judges whether the number of empty barrels is correct. If the actual number of barrels is less than the system parameter number, T1-T0 is too large; if the sensor is damaged or blocked by foreign matter, T1-T0 is abnormal; in this case, the child car alarms the system that the number of barrels is incorrect, and after manual confirmation and correction, it is restored;

[0013] S4: Judge whether the gap between the two empty barrels is correct. If the gap between the two barrels is too large, T3-T2 will be too large. In this case, after the child car takes the first barrel, it will execute the operation of closely approaching the two barrels, that is, first lifting the first barrel and transporting it to the position closely approaching the next barrel. The relative displacement is calculated by T3-T2, and then the two barrels are rechecked and transported to the parent car after passing the check;

[0014] The relative displacement S is calculated as follows: let the speed of the child car be V, V (T3-T2) is equal to the distance S between the two barrels, that is, the child car first lifts the first barrel and approaches the next barrel by a distance S, and then rechecks. After passing the check, the two barrels are transported to the parent car;

[0015] S5: The child car detects the second barrel. If there is foreign matter on the ground, the child car will lose pulses during walking and fail to reach the barrel position, and T4 will not appear. The child car alarms the system that there is foreign matter on the ground causing the child car to lose pulses during walking. After manual inspection, it is reset;

[0016] S6: After the child car detects the two empty barrels, it is loaded one by one and then enters the parent car. The parent car sends the child car to the empty barrel conveying belt of the drawing frame, and the child car sends the empty barrel to the empty barrel conveying belt and returns to the parent car.

[0017] Further, in step S2, if there is foreign matter on the ground, it will also cause the child car to lose pulses during walking and fail to reach the first barrel position. T1-T0 is equal to 0, indicating that the child car has not reached the position and believes that it has contacted the first barrel. The child car sends an alarm to the system that the barrel is taken abnormally, and after manual confirmation, it is restored.

[0018] Further, taking full barrels includes the following steps:

[0019] S11: The system sends a command to the parent car to load the child car to the full barrel conveying belt of the drawing frame;

[0020] S12: The child car enters the full barrel conveying belt and judges whether the photoelectric sensor of the child car is normal. When taking full barrels, the barrel detection sensor may be blocked by the burr, causing a false signal. In this case, T1-T0 is equal to 0, indicating that the child car takes the full barrel sensor abnormally. After manual confirmation, it is restored;

[0021] S13: The child car judges whether the number of full barrels is correct. Since the full barrel signal is given after being detected by the sensor, there may be a sensor failure that causes a false signal, such as only one barrel or no barrel. When the child car takes the barrel, there will be no T3 or T4 time node, but it will cause T-T2 or T-T0 to be too large, and the system will report a sensor failure alarm, waiting for manual maintenance and recovery; T represents the timing time after the child car starts moving;

[0022] S14: Judge whether the gap between the two full barrels is correct. Since the two full barrels may be stuck when they are taken out, the gap between the two barrels may be too large, that is, T3-T2 is greater than the error allowed range of the recorded value, and the child car cannot take away the two full barrels. The child car will take the first barrel first, and then take away the two barrels after the second barrel is close to the first barrel;

[0023] S15: The child car starts to detect the second barrel. There may be foreign matter on the ground, causing the child car to lose pulses during walking and not reaching the second barrel position, so there is no T4. Therefore, the alarm is a sensor failure alarm or foreign matter on the ground causing the child car to lose pulses during walking. After manual inspection, reset;

[0024] S16: The child car loads two full barrels back to the mother car. The mother car moves to the full barrel passage of the roving frame, the child car enters the full barrel passage and lowers the two full barrels, and returns to the mother car.

[0025] Further, in step S2, if there is foreign matter on the ground, causing the child car to lose pulses during walking and not reaching the first barrel position, T1-T0 equals 0, then report a child car full barrel sensor abnormal alarm, and restore after manual confirmation.

[0026] Further, the child car will detect its running speed and moving distance when walking. The values of T1 to T4 vary with the speed parameter V of the child car and the diameter D of the barrel. The acceleration time of the child car walking is t, the acceleration is V / t, and the child car is set to stop at a distance of 2D from the first barrel each time. The photoelectric sensor in front of the child car is set as the first sensor, and the photoelectric sensor behind the child car is set as the second sensor. The distance from the first sensor to the first barrel is S1 (S1>2D), the path length of the first sensor passing through the barrel is S2=3D-2S1, and the gap distance of the first sensor passing through two barrels is S3=2S1-2D. According to the highest speed of the child car, T1-T0>t is calculated;

[0027] ①T1-T0 judgment:

[0028] The displacement of the child car should be in the interval S1±X: S1-X<1 / 2 V+V When (T1-T0-2000)<S1+X, the system is considered qualified, and an alarm is given if it exceeds the range; X is set according to the stability of the system;

[0029] ②T2-T1 judgment:

[0030] The displacement of the child car passing through the first cylinder should be within the interval S2±X: that is, S2-X<V When (T2-T1)<S2+X, the system is considered qualified, and an alarm is given if the range is exceeded;

[0031] ③T3-T2 judgment: The length of the child car jacking plate is L=2D+200mm. That is, the distance between the two cylinders is greater than 200mm, and the child car jacking plate cannot lift the two cylinders. To ensure safety, the cylinder distance is set to no more than 180mm as the qualified distance;

[0032] The displacement of the child car passing through the first cylinder should be within the interval S2±X: that is, S2-X<V When (T3-T2)<S3+180, the system is considered qualified, and an alarm is given if the range is exceeded;

[0033] ④T4-T3 judgment:

[0034] The displacement of the child car passing through the second cylinder should be within the interval S2±X: that is, S2-X<V When (T4-T3)<S2+X, the system is considered qualified, and an alarm is given if the range is exceeded.

[0035] Further, since each child car wears differently, the position of each child car will be corrected according to the full cylinder sensor time curve. Since the full cylinder has a sensor positioning, the actual distance of each T1-T0 is fixed, so according to the difference in time, the relative error distance is calculated, and the compensation value of all positions of the child car is calculated according to the relative error distance.

[0036] If the wheel wears seriously, it needs to be replaced, and the child car with a new wheel needs to record the time and then record all the time differences; after ten times, the system will automatically optimize.

[0037] The length of the child car jacking plate is 2.6D, and D represents the diameter of the cylinder.

[0038] The child car picking and placing cylinder implementation method in the parallel and rough connection system based on the child-mother car form has the following advantages:

[0039] (1) Avoid occasional failure of the child car to pick up and deliver the cylinder, causing unnecessary downtime and affecting the continuity and stability of the equipment.

[0040] (2) It can solve the industry pain point and overcome the positioning inaccuracy caused by wheel wear without the help of external radar or map navigation. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a structural schematic diagram of the child-mother car form parallel and rough connection system;

[0042] Figure 2 is the schematic diagram of the sub-car sensor position installation;

[0043] Figure 3 is the schematic diagram of the sensor signal curve when the sub-car takes the can;

[0044] Figure 4 is the improved sub-car taking can schematic diagram;

[0045] Figure 5 is the flowchart of the sub-car taking empty or full can;

[0046] Figure 6 is the schematic diagram of the sub-car moving distance. DETAILED DESCRIPTION

[0047] The application provides a method for taking and placing cans in a sub-car of a sub-mother car type combined system, and is used in a sub-mother car type combined system, which is responsible for carrying cans between a drawing frame and a roving frame, i.e. carrying full cans produced by the drawing frame to a channel on the side of the roving frame, when the sliver in the channel can is used up, the full can sliver is butt jointed with the used-up sliver to continue production, and the empty can of the used-up sliver is carried to the empty can conveying belt on the side of the drawing frame by the sub-car, which is the whole process of the combined system.

[0048] As shown in Figure 2 , the current sub-car is only provided with a photoelectric sensor at the middle position to detect the can, the method improves the sub-car, photoelectric sensors are arranged at the front and back of the sub-car, the positions of the photoelectric sensors are arranged at the head and tail of the sub-car, and are away from the middle position, so that the two cans cannot be too close to avoid that the gap between the two cans cannot be detected, the cans are all cylindrical, even if the two cans are very close, the gap is larger at the position far from the center line of the two cans, and the two cans can be detected.

[0049] Further, if the detection is not normal during the taking process, the sub-car will alarm in different cases, or the sub-car will automatically make the two cans close and then take the can again.

[0050] As shown in Figure 3 , the method needs to teach the sub-car, and position the sub-car in the combined system based on the sub-mother car type, all the coordinate points of the can positions, i.e. the points where the can is placed in the drawing frame and the roving frame, and the coordinate points are accurate to the position of the center of the can. When the sub-car runs each time, the following time points will be involved.

[0051] The sub-car takes two barrels each time, T0 represents the start of the sub-car operation, at this time the sub-car distance from the position of the first barrel to be taken is a set distance d, the set distance d can be set the same or different for full barrels or empty barrels, if set differently, such as when taking empty barrels, the set distance d can be set as the diameter of two barrels, and when taking full barrels, the set distance d can be set as the diameter of one barrel;

[0052] T1 represents the start of the sub-car contacting the first barrel; T2 represents the first barrel being loaded, T2-T3 represents the gap between the two barrels, T3 represents the start of the sub-car contacting the second barrel; and T4 represents the second barrel being loaded.

[0053] The sub-car automatically calculates the respective time difference values: T1-T0, T2-T1, T3-T2, T4-T3, T-T4, as long as each taking and placing is successful, the values are recorded as valid and are recorded, after recording 10 groups of valid data, the middle 8 groups of data are weighted and averaged, and during the subsequent operation of the combined system, the average values of the recorded time differences are used for judgment and the optimal sub-program is executed.

[0054] As shown in Figure 4 , the front and rear of the sub-car are each provided with a photoelectric sensor, and the photoelectric sensor has three application scenarios, taking the front photoelectric sensor as an example when the sub-car takes a barrel:

[0055] (1) taking an empty barrel from the roving track;

[0056] (2) taking a full barrel from the belt line of the drawing frame;

[0057] (3) automatically optimizing the coordinates of the sub-car through the calculation system according to the time of taking a full barrel.

[0058] This method divides the barrel taking into two cases of full barrels and empty barrels, and each case has multiple possibilities, and in addition, compensation can be made for the wear of the wheels.

[0059] When the sub-car takes a barrel, it walks on the side of the barrel loading track, and during the walking, the barrel is first detected by the photoelectric sensor, and the detection of the barrel needs to consider the T0-T4 time points; at the same time, the running speed and distance of the sub-car need to be considered; finally, when the wheels are worn after the sub-car runs for a period of time, recalibration is needed.

[0060] As shown in Figure 5 , the method for taking and placing barrels by the sub-car in the combined system based on the sub-mother car form, when taking an empty barrel, the empty barrel is detected, including the following steps:

[0061] S1: the system sends a command to the mother car, and the mother car loads the sub-car to reach the empty barrel passage of the roving frame;

[0062] S2: When the trolley enters the empty cylinder channel, it is determined whether the photoelectric sensor of the trolley is normal. If the photoelectric sensor of the trolley is blocked by the lint, causing the trolley to generate an erroneous signal, this situation will cause T1-T0 to equal 0, that is, the trolley has not actually moved forward, but is considered to have touched the first cylinder. The trolley will then send a photoelectric sensor abnormality alarm to the system, and will be restored after manual confirmation.

[0063] If there are foreign objects on the ground, it will also cause the trolley to lose pulses during its movement and fail to reach the first cylinder picking position, resulting in T1-T0 equaling 0. At this time, the trolley is considered to have touched the first cylinder before it has reached the position, and the trolley sends a photoelectric sensor abnormality alarm to the system. It will be restored after manual confirmation.

[0064] S3: The subcart checks if the number of empty cylinders is correct. If the actual number of cylinders is less than the system parameter, the cylinders in front have been removed, causing a discrepancy between the system data and the actual data. The subcart has not detected the cylinders in front, resulting in T1-T0 being too large. In this case, the subcart will alarm the system with a cylinder count error. After manual confirmation and correction, the system will be restored. If the sensor is damaged or blocked by a foreign object, T1-T0 will equal 0. In this case, the subcart will alarm the system with a foreign object blocking the subcart sensor. After manual confirmation, the system will be restored.

[0065] S4: After the subcarriage finishes inspecting the first can, it determines whether the gap between the two empty cans is acceptable. If the gap between the two cans is too large, it will cause T3-T2 to be too large. In this case, when the subcarriage loads the cans, it will perform the method of bringing the two cans close together. That is, it will first lift one can and transport it to the position close to the next can. The positioning is based on the relative displacement calculated by T3-T2. Then, it will take the two cans again to the drawing machine side.

[0066] The speed of the vehicle is V, V (T3-T2) equals the distance S between the two cylinders. That is, the subcar first lifts the first cylinder and moves forward a distance S, then gets close to the next cylinder, and then checks again. After the inspection is qualified, the two cylinders are transported onto the mother car.

[0067] S5: The trolley detects the second cylinder. If there is a foreign object on the ground, it will cause the trolley to lose pulses during its movement and fail to reach the cylinder picking position. No T4 will appear. The trolley will alarm the system that there is a foreign object on the ground causing the trolley to lose pulses during its movement. After manual inspection, it will be reset.

[0068] S6: After the slave carriage inspects the two empty drums, it loads the drums one by one and then enters the mother carriage. The mother carriage sends the slave carriage to the empty drum conveyor belt of the drawing frame. The slave carriage sends the empty drums into the empty drum conveyor belt and returns to the mother carriage.

[0069] Similarly, the method for implementing the loading and unloading of the canister in the parallel coarse connection system based on the mother-daughter vehicle configuration includes the following steps: When a canister is full, a full canister is detected.

[0070] S11: The system sends a command to the mother car, and the mother car loads the daughter car and arrives at the full conveyor belt of the drawing frame;

[0071] S12: When the trolley enters the full-drum conveyor belt, check whether the photoelectric sensor of the trolley is normal. When picking up a full drum, the drum detection sensor may be blocked by lint, resulting in a false signal. In this case, T1-T0 will equal 0, that is, the trolley has not actually moved forward, but it is considered to have touched the first drum. Then, an alarm will be triggered for the trolley full-drum sensor to be abnormal. It will be restored after manual confirmation.

[0072] If there are foreign objects on the ground, causing the trolley to lose pulses during its movement and fail to reach the first cylinder picking position, resulting in T1-T0 equaling 0, it is assumed that the trolley has touched the first cylinder before it has reached the correct position. In this case, an alarm will be triggered for the trolley full cylinder picking sensor, which will be restored after manual confirmation.

[0073] S13: The trolley determines whether the number of full drums is correct. Since the full drum signal is given by the sensor, there may be sensor failures that cause false signals. For example, if there is only one drum or no drum, the time node T3 or T4 will not appear when the trolley picks up the drum, but it will cause T-T2 or T-T0 to be too large. As a result, the system will report a sensor failure alarm and wait for manual inspection and recovery. T represents the timing time after the trolley starts moving.

[0074] S14: After the subcart detects the first full cylinder, it determines whether the gap between the two full cylinders is acceptable. Since the two full cylinders may get stuck when exiting, the gap between the two cylinders may be too large, i.e., T3-T2 is greater than the error allowable range of the recorded value. The subcart cannot take away the two full cylinders. When taking away the cylinders, the subcart will first take the first cylinder, and after it is close to the second cylinder, it will take away the two cylinders. See step S4 for the relative displacement of the movement.

[0075] S15: The trolley starts detecting the second cylinder. There may be foreign objects on the ground, causing the trolley to lose pulses during its movement and fail to reach the second cylinder picking position. There may be a situation where T4 does not appear. Therefore, the alarm is a sensor fault alarm or a foreign object on the ground causing the trolley to lose pulses during movement. After manual inspection, the system will be reset.

[0076] S16: The subcarriage checks the two full bobbins and loads them one by one, then returns to the mother car. The mother car moves to the full bobbin passage of the roving frame, the subcarriage enters the full bobbin passage, puts down the two full bobbins, and returns to the mother car.

[0077] like Figure 6As shown, the sub-vehicle detects the two cylinders to be transported, and it is also necessary to consider whether the running speed and moving distance of the sub-vehicle meet the requirements. In this solution, the values of T1 to T4 vary with the sum of the sub-vehicle speed parameter V and the diameter D of the cylinder. The total acceleration and deceleration time of the sub-vehicle walking is 2000 ms, and the acceleration is V / 2000. The sub-vehicle stops at a distance of 2D from the first cylinder each time. Since the photoelectric sensor is not in the center position, the photoelectric sensor in front of the sub-vehicle is set as the first sensor, and similarly, the photoelectric sensor behind is set as the second sensor. The distance from the first sensor to the first cylinder is S1 (S1 > 2D), the path length S2 of the first sensor passing over the cylinder is S2 = 3D - 2S1, and the gap distance S3 between the two cylinders passed by the first sensor is S3 = 2S1 - 2D.

[0078] It is calculated from the maximum speed of the sub-vehicle that T1 - T0 > 2000 ms.

[0079] ① Judgment of T1 - T0:

[0080] The displacement passed by the sub-vehicle should be in the interval of S1 ± X (X can be set according to the system stability): that is, S1 - X < 1 / 2 V + V When (T1 - T0 - 2000) < S1 + X, the system is regarded as qualified, and an alarm is given if it exceeds the range.

[0081] ② Judgment of T2 - T1:

[0082] The displacement passed by the sub-vehicle over the first cylinder should be in the interval of S2 ± X (X can be set according to the system stability): that is, S2 - X < V When (T2 - T1) < S2 + X, the system is regarded as qualified, and an alarm is given if it exceeds the range.

[0083] ③ Judgment of T3 - T2: The length of the lifting plate of the sub-vehicle is L = 2D + 200 mm. That is, when the distance between the two cylinders is greater than 200 mm, the lifting plate of the sub-vehicle cannot lift the two cylinders. To ensure safety, the qualified distance between the cylinders is set to not more than 180 mm.

[0084] The displacement passed by the sub-vehicle should be in the interval of S3 ± X (X can be set according to the system stability): that is, S3 - X < V When (T3 - T2) < S3 + 180, the system is regarded as qualified, and an alarm is given if it exceeds the range.

[0085] ④ Judgment of T4 - T3:

[0086] The displacement passed by the sub-vehicle over the second cylinder should be in the interval of S2 ± X (X can be set according to the system stability): that is, S2 - X < V When (T4 - T3) < S2 + X, the system is regarded as qualified, and an alarm is given if it exceeds the range.

[0087] Finally, compensation for the sub-carriage position coordinates needs to be considered. The sub-carriage positioning is based on the absolute position of the sub-carriage servo relative to the encoder at the origin. However, due to linear wear of the wheels over time, the sub-carriage may not reach its initial positioning position. To address this, the displacement S2 of the photoelectric sensor detecting the cylinder during daily sub-carriage operation is calculated using a low-pass filter formula. If this linear change exceeds a preset value, all coordinates are collectively compensated based on the linear change value. For example, if initially S2 = 2 / 3D, and after three months of sub-carriage operation, if the linear change is less than the preset value, no adjustment is needed. The daily change is changed to a two-day change, and the calculation continues. If, after five months, the calculated value shows a linear change relative to the initial value and exceeds the preset value y, each coordinate is collectively compensated by y, i.e., all original coordinates + y. This avoids problems such as inaccurate cylinder feeding position of the sub-carriage, leading to abnormal guide bar stretching, and also prevents failure of the sub-carriage to connect to the mother car. Because the mother car's position relative to the sub-carriage's origin is fixed, if the deviation is too large, the sub-carriage may fail to connect to the mother car after returning to the origin.

[0088] This invention addresses the problem of wheel wear in child vehicles:

[0089] (1) Since the wear condition of each subcart may be different, the position of each subcart will be corrected according to the full cylinder sensor time curve. Since the full cylinder is positioned by a sensor, the actual distance from T1 to T0 is fixed each time. Therefore, the relative error distance can be calculated according to the different time, and the compensation value of all positions of the subcart can be calculated according to the relative error distance.

[0090] (2) If the wheels are severely worn and need to be replaced, the time of the vehicle with the new wheels needs to be recorded again, and then all time differences need to be recorded. After ten times, the system will automatically optimize.

Claims

1. A method for implementing a sub-cartridge taking and placing device in a sub-cartridge based combining and spinning system, characterized in that: Photoelectric sensors are arranged on the front and rear of the sub-car, and coordinate points of all tube positions in the system are marked. The sub-car takes tubes, and the number of tubes taken each time is determined by the photoelectric sensor of the sub-car. When the sub-car starts to take tubes, T0 is defined to represent the start of the sub-car operation. At this time, the distance between the sub-car and the first tube to be taken is a set distance d. The set distance d is the same or different for full tubes or empty tubes. The time difference values of T1-T0, T2-T1, T3-T2, T4-T3, and T-T4 are calculated when the empty tubes or full tubes are taken. When each taking and placing is successful, the values are recorded as valid and are recorded. The average value is obtained by multiple weighting. The sub-car operation is judged according to the average value during operation, and an alarm is given to the system when an abnormality occurs.

2. The method according to claim 1, wherein the subcar in the combination system in the form of a mother-daughter car is implemented by a taking and placing drum. The empty tube taking includes the following steps: S1: The system sends a command to the mother car, and the mother car loads the sub-car to the empty tube passage of the roving frame; S2: The sub-car enters the empty tube passage, and it is determined whether the photoelectric sensor of the sub-car is normal. If the photoelectric sensor of the sub-car is blocked by the lint, an error signal of the sub-car is generated. In this case, T1-T0 is equal to 0, and the sub-car sends an alarm to the system that the photoelectric sensor is abnormal. After manual confirmation, the system is restored. S3: The sub-car determines whether the number of empty tubes is correct. If the actual number of tubes is less than the system parameter number, T1-T0 is too large. If the sensor is damaged or blocked by foreign matter, T1-T0 is abnormal. In this case, the sub-car sends an alarm to the system that the number of tubes is incorrect. After manual confirmation and correction, the system is restored. S4: It is determined whether the gap between the two empty tubes is correct. If the gap between the two tubes is too large, T3-T2 is too large. In this case, after the first tube is taken, the sub-car executes the operation of closely contacting the two tubes, i.e., the first tube is lifted and transported to the position closely contacting the next tube. The relative displacement is calculated according to T3-T2, and then the two tubes are taken to the drawing frame side. The relative displacement S is calculated as follows, assuming the sub-car speed is V, V (T3-T2) is equal to the distance S between the two barrels, i.e. the sub-car first lifts the first barrel and advances a distance S, and then abuts against the next barrel, and then re-inspects, and after the inspection is qualified, the two barrels are transported onto the mother car; S5: The sub-car detects the second tube. If there is foreign matter on the ground, the sub-car loses the pulse during walking and cannot walk to the tube position. T4 does not appear, and the sub-car sends an alarm to the system that the foreign matter on the ground causes the sub-car to lose the pulse during walking. After manual inspection, the system is reset. S6: After the two empty tubes are detected, the tubes are loaded one by one, and then the mother car is entered. The mother car sends the sub-car to the empty tube conveying belt of the drawing frame, and the sub-car sends the empty tube to the empty tube conveying belt and returns to the mother car.

3. The method according to claim 2, wherein the subcar in the combination system in the form of a mother-daughter car is implemented by a taking and placing drum. In step S2, if there is foreign matter on the ground, the sub-car loses the pulse during walking and cannot walk to the first tube position. T1-T0 is equal to 0, indicating that the sub-car has not walked to the position and believes that the first tube has been contacted. The sub-car sends an alarm to the system that the tube taking is abnormal. After manual confirmation, the system is restored.

4. The method according to claim 1, wherein the subcar in the combination system in the form of a mother-daughter car is implemented by a taking and placing drum. The full tube taking includes the following steps: S11: The system sends a command to the mother car, and the mother car loads the sub-car to the full tube conveying belt of the drawing frame; S12: The child car enters the full cylinder conveying belt, and it is judged whether the photoelectric sensor of the child car is normal. When taking the full cylinder, the cylinder detection sensor may be blocked by the lint, resulting in a false signal. This situation will cause T1-T0 to be equal to 0, and the child car will report a full cylinder sensor abnormal alarm. After manual confirmation, it is restored; S13: The child car judges whether the number of full cylinders is correct. Since the full cylinder signal is given after being detected by the sensor, there may be a false signal caused by sensor failure, such as only one cylinder or no cylinder. When the child car takes the cylinder, there will be no T3 or T4 time node, but it will cause T-T2 or T-T0 to be too large, and the system will report a sensor failure alarm, waiting for manual maintenance and recovery; T represents the timing time after the child car starts moving; S14: It is judged whether the gap between the two full cylinders meets the requirements. Since the two full cylinders may be stuck when they are taken out, the gap between the two cylinders may be too large, i.e. T3-T2 is greater than the error allowed range of the recorded value, and the child car cannot take away the two full cylinders. The child car will first take the first cylinder, and then take away the two cylinders after the second cylinder is close to the first cylinder; S15: The child car starts to detect the second cylinder. There may be foreign matter on the ground, causing the child car to lose pulses during walking and fail to reach the second cylinder position. Therefore, there is no T4, and the alarm is a sensor failure alarm or foreign matter on the ground causing the child car to lose pulses during walking. After manual inspection, reset; S16: The child car loads two full cylinders and returns to the mother car. The mother car moves to the full cylinder passage of the roving frame, and the child car enters the full cylinder passage to put down two full cylinders and returns to the mother car.

5. The method according to claim 4, wherein the subcarriage of the open-end spinning system in the form of a mother-daughter carriage system is characterized in that: In step S2, if there is foreign matter on the ground, causing the child car to lose pulses during walking and fail to reach the first cylinder position, T1-T0 is equal to 0, and the child car reports a full cylinder sensor abnormal alarm. After manual confirmation, it is restored.

6. The method according to any one of claims 2-5, wherein the subcar takes and releases the bobbin. When the child car is walking, its running speed and moving distance are detected. The values of T1 to T4 vary with the speed parameter V of the child car and the diameter D of the cylinder. The acceleration of the child car is V / t, and the child car stops at a distance of 2D from the first cylinder each time. The photoelectric sensor in front of the child car is set as the first sensor, and the photoelectric sensor behind the child car is set as the second sensor. The distance from the first sensor to the first cylinder is S1 (S1>2D), the path length of the first sensor passing through the cylinder is S2=3D-2S1, and the gap distance of the first sensor passing through the gap between two cylinders is S3=2S1-2D. According to the highest speed of the child car, T1-T0>t is calculated; ①T1-T0 judgment: The displacement of the sub-car should be in the interval of S1±X: i.e. S1-X<1 / 2 V+V The system is considered qualified when (T1-T0-2000)<S1+X, and an alarm is given if it exceeds the range; X is set according to the stability of the system. ②T2-T1 judgment: The displacement of the sub-car passing the first cylinder should be in the interval of S2±X: i.e. S2-X < V The system is considered qualified when (T2-T1) < S2+X, otherwise an alarm is raised. ③T3-T2 judgment: The length of the child car lifting plate is L=2D+200mm. That is, the distance between two cylinders is greater than 200mm, and the child car lifting plate cannot lift two cylinders. In order to ensure safety, the cylinder distance is set to not greater than 180mm as the qualified distance; The displacement of the child car should be in the interval of S3±X: i.e. S3-X < V When (T3-T2) < S3+180, the system is considered qualified, and an alarm is given if it exceeds the range. ④T4-T3 judgment: The displacement of the sub-car passing the second barrel position should be in the interval S2±X: i.e. S2-X < V The system is considered qualified when (T4-T3) < S2+X, otherwise an alarm is raised.

7. The method according to claim 1, wherein the subcarriage takes and releases the bobbin in the form of a mother-daughter carriage-based combining system. Because each sub-car wear different, so each sub-car position will be corrected according to the full cylinder sensor time curve, because full cylinder has sensor positioning, so each T1-T0 actual distance is fixed, so according to the time difference, calculate the relative error distance, according to the relative error distance to calculate the compensation value of all positions of the sub-car.

8. The method according to claim 1, wherein the subcarriage takes and releases the bobbin in the form of a mother-daughter carriage-based combining system. If the wheel wear is serious, it needs to be replaced, and the sub-car with new wheels needs to be recorded again. Then record all the time difference; after ten times, the system will automatically optimize.

9. The method according to claim 1, wherein the subcarriage takes and releases the bobbin in the form of a mother-daughter carriage-based combining system. The length of the sub-car lifting plate is 2.6D, and D represents the diameter of the cylinder.

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