Yarn production abnormity real-time inspection device

Abstract

The utility model relates to the technical field of textile industry detection equipment, and discloses a yarn production abnormity real-time inspection device which comprises a movement mechanism, a collection mechanism, an obstacle avoidance mechanism and a yarn winding prevention mechanism. The movement mechanism is provided with a damping suspension mechanism and is used for realizing movement of the inspection device, the acquisition mechanism realizes multi-angle image acquisition through a two-dimensional holder, the obstacle avoidance mechanism realizes obstacle detection and tracking advancing detection through a plurality of sensors, and the anti-winding mechanism prevents invasion of large and small fiber foreign matters through a brush baffle and a blowing barrier. The yarn production abnormity collecting device effectively solves the problems that a traditional yarn production abnormity collecting device is prone to jolt in the moving process, is greatly influenced by light rays, is weak in obstacle avoiding capacity and is prone to causing faults due to yarn winding, and is suitable for being deployed in the yarn production environment.

Description

Technical Field

[0001] This utility model belongs to the technical field of textile industry testing equipment, specifically relating to a real-time inspection device for yarn production anomalies. Background Technology

[0002] Yarn production is a crucial part of the textile industry. Abnormal conditions that occur during yarn weaving are significant factors that disrupt the normal operation of equipment, directly affecting yarn quality and, in severe cases, even causing machinery to stop operating. Therefore, achieving efficient detection of abnormal conditions in yarn production has become an important aspect of intelligent and information-based manufacturing in the textile industry.

[0003] Currently, most industrial sites still rely on manual inspection, which is costly and heavily influenced by subjective factors. A few companies use sensors and computer vision for inspection, but these devices are bulky, difficult to move, and their operation is limited by environmental factors, including:

[0004] (a) The production site of chemical fiber industrial plants is mostly cement floor, which is uneven and pitted. When the inspection equipment is moved, it is easy to generate violent vibration, which affects the stability of image acquisition and may also damage other functions of the equipment.

[0005] (b) Inspection routes are often interfered with by temporary obstacles, and mobile equipment is prone to collision accidents during inspection, posing safety hazards.

[0006] (c) During the yarn production process, the color of the yarn is similar to the surrounding environment, and the light intensity in the factory is uneven, resulting in inconsistent image acquisition quality.

[0007] (d) The environment of the yarn production plant is complex, with lint and fine yarn near the ground, which can easily cause problems such as blockage of the heat dissipation holes of the inspection equipment or mechanical failures caused by yarn entanglement.

[0008] Due to the combined effects of the above four factors, current inspection equipment is difficult to deploy effectively in actual production processes. Utility Model Content

[0009] The technical problem to be solved by this utility model is to provide a real-time inspection device for yarn production anomalies that is simple in structure and easy to use.

[0010] To solve the above-mentioned technical problems, this utility model provides a real-time inspection device for yarn production anomalies, including a chassis, a gimbal column in the middle of the chassis, the lower end of the gimbal column being fixedly connected to the chassis, and the upper end being connected to a two-dimensional electric gimbal.

[0011] A brush baffle is provided at the front and rear of the chassis, and the brush baffle is connected to the chassis through a brush bracket;

[0012] At each of the four corners of the chassis, inside the brush baffle, there is a U-shaped motor support and a rubber wheel. The U-shaped motor support is located above the chassis. A damping suspension mechanism is symmetrically located on the front and rear sides of the U-shaped motor support. The U-shaped motor support is connected to the chassis through the damping suspension mechanism. A brushless motor is installed in the U-shaped groove of the U-shaped motor support. The brushless motor is fixedly connected to the U-shaped motor support. The rubber wheel is located on the outside of the base and is connected to the brushless motor for transmission.

[0013] A photoelectric sensor is installed at each of the four corners of the chassis and on the outside of the brush baffle. The photoelectric sensor is fixedly connected to the chassis through a photoelectric bracket.

[0014] A grayscale sensor is installed directly below the front and rear sides of the chassis, and the grayscale sensor is fixedly connected to the chassis.

[0015] An air pump motor is located in the middle of the chassis, and an air blowing pipe is located on both the front and rear sides of each rubber wheel. The air blowing pipe is connected to the air pump motor through a hose.

[0016] As an improvement to the real-time inspection device for yarn production anomalies of this utility model:

[0017] The damping suspension mechanism includes a motor support fixing plate, a suspension plate, and a damper. The damper is located on the same side of the motor support fixing plate and the suspension plate. The upper end of the damper is fixedly connected to the upper part of the motor support fixing plate, and the lower end of the damper is fixedly connected to the lower part of the suspension plate. A suspension arm spring is sleeved on the outside of the damper. The suspension plate is fixedly connected to the chassis.

[0018] As a further improvement to the real-time inspection device for yarn production anomalies of this utility model:

[0019] The two-dimensional electric gimbal includes an X-shaped metal support plate, which is fixedly connected to the top of the gimbal column; a stepper motor is provided below the X-shaped metal support plate, and a stepper motor and a U-shaped bracket are provided above it. The motor shaft of the stepper motor is connected to the stepper motor through the U-shaped bracket to drive the stepper motor to rotate on the horizontal plane.

[0020] The motor shaft of stepper motor two is set horizontally. The motor shaft of stepper motor two is connected to the T-shaped metal bracket through a swing arm to drive the T-shaped metal bracket to rotate around stepper motor two.

[0021] As a further improvement to the real-time inspection device for yarn production anomalies of this utility model:

[0022] The motor shaft of the first stepper motor is vertically arranged and passes upward through the X-shaped metal support plate before being fixedly connected to the U-shaped bracket; the second stepper motor is located in the U-shaped groove of the U-shaped bracket and is fixedly connected to the U-shaped bracket; the UVC camera and the strip light source are both fixedly connected to the T-shaped metal bracket.

[0023] As a further improvement to the real-time inspection device for yarn production anomalies of this utility model:

[0024] The two brush baffles at the front and rear completely surround the chassis and rubber wheels, and the brush baffles and brush brackets are detachably connected.

[0025] As a further improvement to the real-time inspection device for yarn production anomalies of this utility model:

[0026] An absolute encoder is installed at the tail of the second stepper motor. The absolute encoder is fixedly connected to the second stepper motor and is signal-connected to the second stepper motor to detect the rotation angle of the second stepper motor.

[0027] As a further improvement to the real-time inspection device for yarn production anomalies of this utility model:

[0028] The motor support fixing plate and the suspension plate are arranged vertically and parallel to each other. Each of their facing sides is equipped with a guide strip and a guide groove to guide the relative sliding of the motor support fixing plate and the suspension plate.

[0029] As a further improvement to the real-time inspection device for yarn production anomalies of this utility model:

[0030] The chassis is equipped with a main control board, a battery module and a voltage regulator module. The main control board is connected to the photoelectric sensor, grayscale sensor, brushless motor, air pump motor, stepper motor one, stepper motor two, UVC camera and bar light source for signal transmission.

[0031] The battery module is electrically connected to the main control board, UVC camera, bar light source, photoelectric sensor, grayscale sensor, brushless motor, air pump motor, stepper motor one, and stepper motor two via a voltage regulator module. The beneficial effects of this utility model are mainly reflected in:

[0032] This invention employs four independent motors and a damping suspension mechanism to achieve forward movement and obstacle avoidance, maintaining stability and adaptability to various road conditions. A two-dimensional electric pan-tilt unit controls the UVC camera and a strip light source for multi-angle image acquisition, ensuring uniform illumination of the shooting surface while adapting to image acquisition in various production scenarios. The air pipe and brush baffle effectively reduce the possibility of yarn entanglement in the drive wheel assembly. Through these combined measures, this invention improves the stability of yarn production anomaly image acquisition and the anti-interference capability of the acquisition device, effectively solving the problems of traditional yarn production anomaly acquisition devices being prone to bumping during movement, highly susceptible to light influences, having weak obstacle avoidance capabilities, and easily malfunctioning due to yarn entanglement. Attached Figure Description

[0033] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0034] Figure 1 This is a schematic diagram of the real-time inspection device for yarn production anomalies according to this utility model.

[0035] Figure 2 This is a schematic diagram of the damping suspension mechanism of this utility model.

[0036] Figure 3 This is a schematic diagram of the structure of the two-dimensional electric gimbal of this utility model. Detailed Implementation

[0037] The present invention will be further described below with reference to specific embodiments, but the scope of protection of the present invention is not limited thereto:

[0038] Example 1: A real-time inspection device for yarn production anomalies, such as... Figure 1-3 As shown, it includes a motion mechanism, a data acquisition mechanism, an obstacle avoidance mechanism, an anti-tangling mechanism, and a main control board. The motion mechanism enables the movement of the inspection device and terrain adaptation. The data acquisition mechanism achieves stable multi-angle image acquisition through a two-dimensional pan-tilt unit. The obstacle avoidance mechanism achieves 360° obstacle detection and tracking detection through multiple sensors. The anti-tangling mechanism prevents the intrusion of foreign fibers through mechanical barriers.

[0039] The motion mechanism includes a chassis 1, with a traveling unit located at each of the four corners of the chassis 1. Each traveling unit includes two damping suspension mechanisms, a brushless motor 2, a rubber wheel 3, and a U-shaped motor support 8. Figure 2As shown. The brushless motor 2 is located in the U-shaped groove of the U-shaped motor support 8 and is fixedly connected to the U-shaped motor support 8. A damping suspension mechanism is symmetrically provided on both the front and rear sides of the U-shaped motor support 8 to absorb the vibration transmitted from the brushless motor 2. The damping suspension mechanism includes a motor support fixing plate 4, a suspension arm spring 5, a suspension plate 6, and a damper 7. The motor support fixing plate 4 and the suspension plate 6 are arranged vertically parallel, and each facing side is equipped with a guide strip and a guide groove. Through the guide strip and guide groove, the motor support fixing plate 4 and the suspension plate 6 can only slide up and down relative to each other. The motor support fixing plate 4 is fixedly connected to the U-shaped motor support 8. The damper 7 is located on the same side of the motor support fixing plate 4 and the suspension plate 6. The upper end of the damper 7 is fixedly connected to the upper part of the motor support fixing plate 4 by bolts, and the lower end of the damper 7 is fixedly connected to the lower part of the suspension plate 6 by a flange. A suspension arm spring 5 is sleeved on the outside of the damper 7. The suspension plate 6 is fixed to the chassis 1 using a double nut anti-loosening structure.

[0040] The rubber wheel 3 is connected to the brushless motor 2 via a coupling. During travel, the bumps and vibrations experienced by the rubber wheel 3 are transmitted to the damper 7 through the rigid connection of the brushless motor 2, the U-shaped motor support 8, and the motor support fixing plate 4. The damper 7 and the suspension arm spring 5 absorb the vibrations, thus improving the adaptability to obstacles and bumpy road surfaces during travel.

[0041] The brushless motor 2 is connected to the main control board. By controlling the speed of the four brushless motors 2 independently, the speed difference of the four rubber wheels 3 is adjusted to realize the movement and steering of the entire rotating device, which improves stability, handling and ability to get out of trouble.

[0042] The acquisition mechanism includes four gimbal supports 11 and a two-dimensional motorized gimbal. The four gimbal supports 11 are symmetrically positioned in the center of the base 1, forming a rectangle. The lower ends of the gimbal supports 11 are fixedly connected to the base 1, and the upper ends are connected to the two-dimensional motorized gimbal. The two-dimensional motorized gimbal includes an X-shaped metal support plate 12, a first stepper motor 13, a U-shaped bracket 14, a swing arm 15, a T-shaped metal bracket 16, a second stepper motor 18, and an absolute encoder 19. Figure 3 As shown. The X-shaped metal support plate 12 is fixedly connected to the top of the gimbal column 11. The stepper motor 13 is located below the X-shaped metal support plate 12 and is fixedly connected to it. A through hole is provided in the center of the X-shaped metal support plate 12. The motor shaft of the stepper motor 13 is vertically arranged and passes through the through hole of the X-shaped metal support plate 12 upwards. The motor shaft and the X-shaped metal support plate 12 maintain relative movement.

[0043] A U-shaped bracket 14 is provided above the X-shaped metal support plate 12. The bottom of the groove of the U-shaped bracket 14 is fixedly connected to the motor shaft of stepper motor 13, so that stepper motor 13 can drive the U-shaped bracket 14 to rotate on the horizontal plane. A second stepper motor 18 and an absolute encoder 19 are provided in the U-shaped groove of the U-shaped bracket 14. The absolute encoder 19 is installed at the tail end of stepper motor 18 by countersunk screws and is connected to stepper motor 18 for signal detection of the rotation angle of stepper motor 18. Stepper motor 18 is fixedly connected to the U-shaped bracket 14. The motor shaft of stepper motor 18 is arranged horizontally and passes outward through the side wall of U-shaped bracket 14. A swing arm 15 is provided on the outer side of U-shaped bracket 14. One end of the swing arm 15 is fixedly connected to the motor shaft of stepper motor 18, and the other end is fixedly connected to T-shaped metal bracket 16. The UVC camera 17 and the bar light source 20 are both fixedly connected to the T-shaped metal bracket 16. The stepper motor 18 drives the UVC camera 17 and the bar light source 20 to rotate around the stepper motor 18 together through the swing arm 15 and the T-shaped metal bracket 16.

[0044] The anti-tangling mechanism includes brush baffles 38 and an air pump motor 37. A brush baffle 38 is located at both the front and rear of the chassis 1, and the brush baffles 38 are connected to the chassis 1 via brush brackets 31. The brush baffles 38 are divided into three foldable sections: left, middle, and right. The left and right sections form a rearward angle with the middle section, and their extension distance to both sides is greater than that of the rubber wheels 3. This allows the two brush baffles 38 to completely surround and protect the entire chassis 1 and the motion mechanism (brushless motor 2, rubber wheels 3, and suspension damping mechanism), preventing large-volume yarns from entering the inspection device during movement. The brush brackets 31 are fixed to the chassis 1 with screws, and the brush baffles 38 are installed in slots on the brush brackets 31 for easy replacement and cleaning.

[0045] An air pump motor bracket 39 is installed on the base 1 between the gimbal columns 11. The air pump motor bracket 39 is fixedly connected to the base 1 by two sets of screws. An air pump motor 37 is fixedly installed on the U-shaped motor bracket 39. An air blowing pipe is provided on the front and rear sides of each rubber wheel 3. The air blowing pipe is fixed on the motor support mounting plate 4 and faces the front and rear sides of the rubber wheel 3. The air blowing pipe is connected to the air outlet of the air pump motor 37 through a hose to blow air into the space on the front and rear sides of the rubber wheel 3 to prevent fluff from getting tangled in the rubber wheel 3.

[0046] The obstacle avoidance mechanism includes four photoelectric sensors 33 and two grayscale sensors 35. A photoelectric sensor 33 is located at each of the four corners of the chassis 1, and is positioned outside the brush baffle 38. The photoelectric sensors 33 are fixedly connected to the chassis 1 via photoelectric brackets 32. The photoelectric sensors 33 are vertically mounted on the photoelectric brackets 32 using fastening nuts. The photoelectric brackets 32 are fixed to the edges of the four corners of the chassis 1 using four sets of screws. When the device is moving, it can detect obstacles approaching the device in real time through photoelectric signal sensing. The grayscale sensors 35 are located directly below the front and rear sides of the chassis 1 and are fixedly connected to the chassis 1.

[0047] The main control board includes an STM32 microcontroller and a wireless network module. The STM32 microcontroller connects to the host computer via the wireless network module for data and signal transmission. The UVC camera 17 and the bar light source 20 are both connected to the main control board and controlled to turn on and off by the STM32 microcontroller. The photoelectric sensor 33 and the grayscale sensor 35 are also connected to the main control board to transmit the sensed signals to the STM32 microcontroller. The main control board is also connected to the brushless motor 2, the air pump motor 37, the first stepper motor 13, and the second stepper motor 18, with the STM32 microcontroller controlling the operating status of each motor. The control of motors by microcontrollers is an existing technology, such as "Sang Yong, Li Fengtao, Dai Yuebang, Duan Fuhai, Wang Yajie. Design of STM32 microcontroller control system for servo motors [J]. Mechanical and Electrical Engineering Technology, 2015, 44(11):65-72" and "Su Chao, Wu Hongde, Chen Qingwu, Shao Liwei, Huang Dehuang. Design of PMSM servo system based on STM32 microcontroller [J]. Mechanical and Electrical Engineering Technology, 2021, 50(06):165-168."

[0048] The front grayscale sensor 35 is used for the inspection device to move forward along the track, while the rear grayscale sensor 35 is used for the inspection device to move backward along the track. The four corner photoelectric sensors 33 are used for real-time obstacle detection; all of these are existing technologies. The grayscale sensor 35 is a set of analog sensors, including a light-emitting diode (LED) and a photosensitive receiver. The tracking principle is that the LED continuously illuminates the ground, providing a stable lighting environment. Different colored backgrounds reflect light differently, and the photosensitive receiver receives light reflected from different detection surfaces, resulting in different resistance values. The STM32 microcontroller receives the signals returned by the grayscale sensor 35 and the photoelectric sensor 33, generates corresponding PWM control signals through a PID control algorithm, and transmits them to drive the brushless motors 2.

[0049] A battery module and a voltage regulator module are also installed on the chassis 1. The battery module is electrically connected to the main control board, UVC camera 17, bar light source 20, photoelectric sensor 33, grayscale sensor 35, brushless motor 2, air pump motor 37, stepper motor 13 and stepper motor 2 18 through the voltage regulator module, and outputs a regulated DC voltage to power each device.

[0050] The real-time inspection process for yarn production anomalies in this utility model:

[0051] The inspection device moves forward by following the track using the grayscale sensor 35 on the front side. The brushless motor 2 provides forward power. The damper 7 and the suspension arm spring 5 reduce the bumps when the inspection device encounters potholes. The photoelectric sensor 33 detects obstacles in real time. When approaching an obstacle, the STM32 microcontroller drives each brushless motor 2 to achieve differential obstacle avoidance.

[0052] During the movement, the front and rear brush baffles 38 prevent large-volume yarns from entering the inspection device, while the air pump motor 37 blows air into the space on both sides of the rubber wheel 3 through the air blowing pipe to prevent the floating fluff from getting tangled in the rubber wheel 3.

[0053] The grayscale sensor detects ground markings, indicating that the inspection device has reached the designated inspection location (this is standard technology in the industry, therefore it will not be described in detail here). The bar light source 20 is activated for supplementary lighting, and stepper motors 13 and 18 drive the UVC camera 17 to acquire images from multiple angles. The acquired images are sent to the host computer for image recognition processing. Image recognition is not within the processing scope of this device, therefore it will not be described in detail here.

[0054] Finally, it should be noted that the above examples are merely a few specific embodiments of this utility model. Obviously, this utility model is not limited to the above embodiments and many variations are possible. All variations that can be directly derived or conceived by those skilled in the art from the disclosure of this utility model should be considered within the protection scope of this utility model.

Claims

1. A real-time inspection device for yarn production anomalies, characterized in that: Includes a chassis (1), with a gimbal column (11) in the middle of the chassis (1), the lower end of the gimbal column (11) being fixedly connected to the chassis (1), and the upper end being connected to a two-dimensional electric gimbal; A brush baffle (38) is provided at the front and rear of the chassis (1), and the brush baffle (38) is connected to the chassis (1) through a brush bracket (31); At each of the four corners of the chassis (1) and inside the brush baffle (38), there is a U-shaped motor support (8) and a rubber wheel (3). The U-shaped motor support (8) is located above the chassis (1). A damping suspension mechanism is symmetrically provided on the front and rear sides of the U-shaped motor support (8). The U-shaped motor support (8) is connected to the chassis (1) through the damping suspension mechanism. A brushless motor (2) is provided in the U-shaped groove of the U-shaped motor support (8). The brushless motor (2) is fixedly connected to the U-shaped motor support (8). The rubber wheel (3) is located on the outside of the base (1) and is connected to the brushless motor (2) in a transmission. A photoelectric sensor (33) is provided at each of the four corners of the chassis (1) and on the outside of the brush baffle (38). The photoelectric sensor (33) is fixedly connected to the chassis (1) through the photoelectric bracket (32). A grayscale sensor (35) is provided on the lower front and rear sides of the chassis (1), and the grayscale sensor (35) is fixedly connected to the chassis (1); An air pump motor (37) is provided in the middle of the chassis (1), and an air blowing pipe is provided on the front and rear sides of each rubber wheel (3). The air blowing pipe is connected to the air pump motor (37) through a hose.

2. The real-time inspection device for yarn production anomalies according to claim 1, characterized in that: The damping suspension mechanism includes a motor support fixing plate (4), a suspension plate (6), and a damper (7). The damper (7) is located on the same side of the motor support fixing plate (4) and the suspension plate (6). The upper end of the damper (7) is fixedly connected to the upper part of the motor support fixing plate (4), and the lower end of the damper (7) is fixedly connected to the lower part of the suspension plate (6). A suspension arm spring (5) is sleeved on the outside of the damper (7). The suspension plate (6) is fixedly connected to the chassis (1).

3. The real-time inspection device for yarn production anomalies according to claim 2, characterized in that: The two-dimensional electric gimbal includes an X-shaped metal support plate (12), which is fixedly connected to the top of the gimbal column (11); a stepper motor (13) is provided below the X-shaped metal support plate (12), and a stepper motor (18) and a U-shaped bracket (14) are provided above it. The motor shaft of the stepper motor (13) is connected to the stepper motor (18) through the U-shaped bracket (14) to drive the stepper motor (18) to rotate on the horizontal plane. The motor shaft of stepper motor 2 (18) is set horizontally. The motor shaft of stepper motor 2 (18) is connected to T-shaped metal bracket (16) through swing arm (15) to drive T-shaped metal bracket (16) to rotate around stepper motor 2 (18).

4. The real-time inspection device for yarn production anomalies according to claim 3, characterized in that: The motor shaft of the first stepper motor (13) is vertically arranged and passes through the X-shaped metal support plate (12) upward and is fixedly connected to the U-shaped bracket (14); the second stepper motor (18) is located in the U-shaped groove of the U-shaped bracket (14) and is fixedly connected to the U-shaped bracket (14); the UVC camera (17) and the strip light source (20) are both fixedly connected to the T-shaped metal bracket (16).

5. The real-time inspection device for yarn production anomalies according to claim 4, characterized in that: The two brush baffles (38) at the front and rear surround the entire chassis (1) and rubber wheel (3), and the brush baffles (38) and brush bracket (31) are detachably connected.

6. The real-time inspection device for yarn production anomalies according to claim 5, characterized in that: An absolute encoder (19) is installed at the tail of the second stepper motor (18). The absolute encoder (19) is fixedly connected to the second stepper motor (18) and is signal-connected to the second stepper motor (18) to detect the rotation angle of the second stepper motor (18).

7. The real-time inspection device for yarn production anomalies according to claim 6, characterized in that: The motor support fixing plate (4) and the suspension plate (6) are arranged vertically and parallel to each other. Each of the sides facing each other is equipped with a guide strip and a guide groove for guiding the relative sliding of the motor support fixing plate (4) and the suspension plate (6).

8. The real-time inspection device for yarn production anomalies according to claim 7, characterized in that: The chassis (1) is equipped with a main control board, a battery module and a voltage regulator module. The main control board is connected to the photoelectric sensor (33), grayscale sensor (35), brushless motor (2), air pump motor (37), stepper motor one (13), stepper motor two (18), UVC camera (17) and bar light source (20) for signal transmission. The battery module is electrically connected to the main control board, UVC camera (17), bar light source (20), photoelectric sensor (33), grayscale sensor (35), brushless motor (2), air pump motor (37), stepper motor one (13) and stepper motor two (18) respectively through the voltage regulator module.

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