CN110241486B - Automatic bale detecting and flattening system of reciprocating bale plucker and control method - Google Patents
Automatic bale detecting and flattening system of reciprocating bale plucker and control method Download PDFInfo
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- CN110241486B CN110241486B CN201910483459.4A CN201910483459A CN110241486B CN 110241486 B CN110241486 B CN 110241486B CN 201910483459 A CN201910483459 A CN 201910483459A CN 110241486 B CN110241486 B CN 110241486B
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01G—PRELIMINARY TREATMENT OF FIBRES, e.g. FOR SPINNING
- D01G7/00—Breaking or opening fibre bales
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01G—PRELIMINARY TREATMENT OF FIBRES, e.g. FOR SPINNING
- D01G7/00—Breaking or opening fibre bales
- D01G7/06—Details of apparatus or machines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Textile Engineering (AREA)
- Preliminary Treatment Of Fibers (AREA)
Abstract
The invention provides an automatic bale detecting and flattening system of a reciprocating bale plucker and a control method, comprising the following steps: electric control cabinet, body of a tower, tower seat, arm, grab cotton roller and grab cotton roller blade group, track, inhale cotton groove, retaining wall, its characteristics are: two pairs of automatic detection light controllers are respectively arranged along the front and rear length directions of two sides of the gripping arm, two pairs of automatic detection light controllers are arranged on the same low level plane, the other two pairs of light controllers are arranged on the same high level plane, and output signals of the four pairs of light controllers are connected to an electric control console. When the grabbing arm goes up and down along the tower body, four pairs of light controllers are blocked by the cotton bale at different height positions, the controller judges fluctuation of the cotton bale according to the change of output signals of the light controllers and the height of the grabbing arm, the initial grabbing cotton descending height and the reciprocating grabbing cotton descending depth of the grabbing arm are obtained through calculation, balance of grabbing quantity is controlled, equipment damage and potential safety hazards caused by uneven cotton supply are eliminated, and the sliver production quality of the rear-stage carding machine is improved.
Description
Technical Field
The invention belongs to the technical field of textile machinery manufacturing, and particularly relates to an automatic bale detecting and flattening system of a reciprocating bale plucker and a control method.
Background
Reciprocating bale pluckers are generally composed of: the electric control desk comprises an electric control desk 1, a tower body 2, a tower seat 3, a grabbing arm 4, a track 5, a cotton suction groove 6, a retaining wall 7 and the like, and is shown in fig. 1. The track 5 is arranged on the ground, and the tower base 3 can horizontally reciprocate along the track 5; the column type tower body 2 is arranged on the tower seat 3 and can rotate around the center of the tower seat 3; the gripping arm 4 is vertically arranged with the tower body 2 and can move up and down along the tower body 2; a pair of grabbing rollers 4.1 are arranged at the left and right sides of the cotton bale inlet of the grabbing arm 4, and a plurality of groups of grabbing roller blades 4.2 are arranged on the grabbing rollers 4.1 along the front-back direction of the grabbing arm 4, as shown in fig. 2. The cotton bale is arranged on two sides of the track 5, the length of the cotton bale is slightly smaller than that of the track, the initial height of the cotton bale is smaller than that of the cotton grabbing arm 4 when the cotton grabbing arm is lifted to the highest position, the width of the cotton bale is equal to the front-back length of the cotton grabbing arm 4, and a protective wall 7 is arranged on one side, far away from the track, of the cotton bale to prevent workers from entering a cotton grabbing area by mistake.
When the reciprocating bale plucker works, the grabbing arm 4 horizontally reciprocates along with the tower seat 3, rotates around the center of the tower seat 3 and moves up and down along the tower body 2, and the three movements ensure that the grabbing arm 4 grabs the bales on the two sides of the track 5, the grabbing roller 4.1 grabs cotton from the bales, small cotton bundles are integrated, and the cotton bundles are sent to the next procedure along the vertical cotton suction channel 6 arranged in the tower body 2 and the transverse cotton suction groove 6 arranged between the two tracks.
Since the bale itself is uneven and there is often a back of the non-gripping cotton onto the bale, the bale surface is uneven and fluffy. Currently, in an electrical control system of a reciprocating bale plucker, the bale height and the descending depth are required to be set manually and visually in each bale plucking area, the bale plucker body moves to the set bale plucking area, descends to the set height to start horizontally reciprocating along a track to grab the cotton, and the descending distance of each stroke grab arm is determined according to the set descending depth. The bale plucker is high when the initial bale plucking often appears that operating personnel's visual measurement is high excessively, and the continuous walking snatchs a plurality of strokes or snatchs not enough cotton, if the decline degree of depth is too big, the bale is even thick and solid after a plurality of strokes, forgets in time to modify the decline degree of depth and will make the decline too dark, and the bale plucker is excessive, causes the bale plucker to beat the hand load too big, snatchs the cotton piece too big, probably causes damage or excessive friction to post-stage bale plucker fan impeller etc. and arouses the condition of a fire. If the height of the bale is too low, the bale plucker runs to the bale area, the grabbing arm descends to grab the bale, the bale height control device is directly triggered, and a stop alarm is caused. Or the excessive amount of the cotton grabbing leads to the damage caused by excessive load of the beater and the later-stage equipment. Sometimes, the cotton bale height test driving is required to be repeatedly input for a plurality of times, and the initial cotton grabbing amount of the driving is different from the cotton grabbing amount in a normal running state, so that uniform grabbing cannot be performed, and the sliver quality of the rear-stage carding machine is affected.
Disclosure of Invention
The invention provides an automatic bale detecting and leveling system of a reciprocating bale plucker and a control method thereof, which aim to solve the problems and the disadvantages of the prior art, and the bale plucker is provided with a gripping arm for automatically detecting the bale height without manually setting the bale height and the descending depth of the gripping arm, thereby avoiding visual inspection errors, reducing damage to later-stage equipment caused by alarming and stopping and uneven gripping, controlling the balance of gripping quantity and improving the sliver quality of the later-stage carding machine.
The invention aims at realizing the following technical scheme:
an automatic bale detection Ping Bao system for a reciprocating bale plucker, comprising: the automatic detection system is characterized in that two pairs of automatic detection light controllers are respectively arranged on the left side and the right side of the grabbing arm along the front and the rear length directions of the grabbing arm, and are respectively as follows: the light control system comprises a left lower light controller K1, a right lower light controller K2, a left upper light controller K3 and a right upper light controller K4, wherein the left lower light controller K1 and the right lower light controller K2 are arranged on the same low level plane, the left upper light controller K3 and the right upper light controller K4 are arranged on the same high level plane, and output signals of the four pairs of automatic detection light controllers are connected to the electric control console.
The improvement of the technical scheme is as follows: the distance between the lower left light controller K1 and the upper left light controller K3 is 80-120mm, and the distance between the lower right light controller K2 and the upper right light controller K4 is 80-120mm.
Further improvement of the technical scheme is as follows: the left lower light controller K1, the right lower light controller K2, the left upper light controller K3 and the right upper light controller K4 are all opposite-emission type infrared photoelectric switches.
Further improvement of the technical scheme is as follows: the front bracket and the rear bracket are fixedly arranged on the shell body of the grabbing arm, and the left lower light controller K1, the right lower light controller K2, the left upper light controller K3 and the right upper light controller K4 are respectively arranged on the front bracket and the rear bracket.
The control method of the automatic bale detecting and leveling system of the reciprocating bale plucker comprises the control of horizontal reciprocating motion of a tower seat and the control of rotary motion of a tower body around the tower seat, and is characterized in that output signals of a left lower light controller K1, a right lower light controller K2, a left upper light controller K3 and a right upper light controller K4 are introduced into a control program of vertical lifting motion of a grabbing arm along the tower body as feedback signals, and the control method comprises the following steps:
(1) after cotton bales on two sides of the bale plucker track are arranged, pressing an in-situ key, and returning the tower body with the grabbing arms to an initial position close to the electric control console, wherein the grabbing arms are at the highest position; when the electric control console presses a driving button, the tower body and the grabbing arms walk forwards to stop at the arrangement position of the cotton bales, the grabbing arms descend to the position where the light controller K1 or K2 is shielded by the cotton bales, the heights are recorded, the grabbing rollers rotate to start grabbing cotton, and the grabbing cotton continues to descend and walk to grab cotton while counting once per second; when the left upper light controller K3 or the right upper light controller K4 is shielded by the cotton bale, the grab arm is lifted to the position when the left lower light controller K1 or the right lower light controller K2 is not shielded by the cotton bale, the grab arm height is recorded at the positions of the left lower light controller K1 and the right lower light controller K2 all the time until the grab arm is moved to the end position of arranging the cotton bale, and the average value of the cotton bale heights is calculated as the cotton bale height of the next stroke;
(2) the gripping arm grips cotton at the calculated bale height, and multiplies the descent depth of each stroke by the descent coefficient set by the man-machine interface of the electric control console 1 to be used as the descent depth of the first stroke; the gripping arms are lowered at the two ends of the cotton bale, the gripping arms are not lowered in the middle of the whole travel, and the cotton bale is horizontally gripped; the cotton bale is moved back and forth from the cotton bale arrangement starting position to the cotton bale arrangement ending position along the length of the guide rail; a stroke from the cotton bale arrangement start position to the cotton bale arrangement end position or from the cotton bale arrangement end position to the cotton bale arrangement start position; the tower body, the tower seat and the grabbing arms move along the direction of the guide rail at the same time; according to a calculation formula, along with the increase of the number of strokes, the descending depth gradually decreases, at least twenty strokes are passed, and the descending depth is equal to the descending depth set by the human-computer interface of the electric control console 1 until the cotton on the side is completely grasped; if the calculated descent depth is less than or equal to the descent depth set by the human-machine interface of the electrical console before at least twenty strokes are reached, the descent depth set by the electrical console is descended.
(3) After the cotton of one side cotton bale is grabbed, the tower body of the bale plucker returns to the original position close to the electric control console, the tower body rotates to the other side of the arranged cotton bale along the tower seat, and the steps (1) and (2) are repeated.
The improvement of the technical scheme is as follows: the horizontal movement step length of the tower seat is the same as the arrangement length of the cotton bales.
Compared with the prior art, the invention has the advantages and positive effects that:
the invention adds a plurality of groups of cotton bale height automatic detection light controllers on the grabbing arm, and a plurality of cotton bale height detection points are arranged in the length direction of the cotton bale. By adopting an averaging method, a reasonable initial grabbing height of the grabbing arm and a cyclic descending depth value of the grabbing arm are calculated, the balance of grabbing quantity is controlled, the purpose of automatic flat packing is achieved, visual inspection errors are avoided, equipment damage and potential safety hazards caused by uneven cotton feeding are eliminated, and the sliver quality of the rear-stage carding machine is improved.
Drawings
FIG. 1 is a schematic diagram of an automatic bale detecting and leveling system of a reciprocating bale plucker of the present invention;
FIG. 2 is a schematic top view of an automatic bale detecting flat bale system of a reciprocating bale plucker according to the present invention;
FIG. 3 is a schematic diagram of a front view of a gripper arm of the automatic bale detecting flat bale system of the reciprocating bale plucker of the present invention;
FIG. 4 is a schematic side view of a gripper arm of the automatic bale detecting flat bale system of the reciprocating bale plucker of the present invention;
FIG. 5 is a schematic diagram of the operation of a light controller of the automatic bale detecting flat bale system of the reciprocating bale plucker of the present invention;
FIGS. 6-1 and 6-2 are flowcharts of a control program of an automatic bale detecting and leveling system of a reciprocating bale plucker.
The reference numerals in the figures are: 1-control desk, 2-tower body, 3-tower seat, 4-arm, 4.1-griping roller, 4.2-griping roller blade group, 4.3-motor, 5-track, 6-cotton suction channel, 6.1-export, 7-retaining wall, 8-cotton bale, 9-front support, 10-back support.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures:
referring to fig. 1-5, an embodiment of an automatic bale detecting and leveling system for a reciprocating bale plucker of the present invention includes: the electric control desk 1, the tower body 2, the tower seat 3, the grabbing arm 4, the grabbing roller 4.1, the grabbing roller blade set 4.2, the track 5, the cotton suction groove 6 and the retaining wall 7. Two pairs of automatic detection light controllers are respectively arranged on the left side and the right side of the grabbing arm 4 along the front-back length direction of the grabbing arm 4, and are respectively: the lower left light controller K1, the lower right light controller K2, the upper left light controller K3 and the upper right light controller K4, the lower left light controller K1 and the lower right light controller K2 are arranged on the same low level plane, and the upper left light controller K3 and the upper right light controller K4 are arranged on the same high level plane, as shown in fig. 3 and 4. The output signals of the four pairs of automatic detection light controllers are connected to the electric console 1 as shown in fig. 5.
Preferably, the distance between the lower left light controller K1 and the upper left light controller K3 is about 80-120mm, and the distance between the lower right light controller K2 and the upper right light controller K4 is about 80-120mm.
Further, the lower left light controller K1, the lower right light controller K2, the upper left light controller K3 and the upper right light controller K4 are all correlation type infrared photoelectric switches.
Still further, a front bracket 9 and a rear bracket 10 are fixedly mounted on the outer casing of the gripping arm 4, and the lower left light controller K1, the lower right light controller K2, the upper left light controller K3 and the upper right light controller K4 are respectively mounted on the front bracket 9 and the rear bracket 10.
When the grabbing arm 4 is lifted up and down along the tower body 2, the left lower light controller K1, the right lower light controller K2, the left upper light controller K3 and the right upper light controller K4 are blocked by cotton bales at different height positions, output signals of the light controllers change, the controller judges fluctuation of the cotton bales according to the change of the output signals of the light controllers and the height of the grabbing arm 4, and the initial cotton grabbing descending height and the reciprocating cotton grabbing descending depth of the grabbing arm 4 are obtained through calculation, so that the balance of grabbing quantity is controlled.
Referring to fig. 6-1 and 6-2 (fig. 6-1 a and fig. 6-2 a are in butt joint to form a complete flow chart), an embodiment of a control method of an automatic bale detecting flat bale system of a reciprocating bale plucker according to the present invention includes a horizontal reciprocating motion control of a tower base 3, a rotational motion control of the tower body 2 around the tower base 3, and a control program of a gripper arm 4 for moving up and down along the tower body 2 to introduce output signals of a left lower light controller K1, a right lower light controller K2, a left upper light controller K3 and a right upper light controller K4 as feedback signals, wherein the control method includes the following steps:
(1) after cotton bales on two sides of the bale plucker track are arranged, an original key is pressed, the tower body 2 is provided with a grabbing arm 4 to return to an initial position close to the electric control console 1, and the grabbing arm 4 is positioned at the highest position; when the electric control console 1 presses a driving button, the tower body 2 and the grabbing arm 4 move forwards to the arrangement position of the cotton bags to stop, the grabbing arm 4 descends to the position where the light controller K1 or K2 is shielded by the cotton bags, the height is recorded, the grabbing roller rotates to begin grabbing cotton, and the grabbing cotton continues to descend and move along while grabbing cotton, and counts once per second; when the left upper light controller K3 or the right upper light controller K4 is shielded by the cotton bale, the grabbing arm 4 is lifted, and is lifted to the position when the left lower light controller K1 or the right lower light controller K2 is not shielded by the cotton bale, and then the grabbing arm height is recorded by the positions of the left lower light controller K1 and the right lower light controller K2 all the time until the cotton bale is walked to the end position of the cotton bale arrangement, and the average value of the cotton bale heights is calculated as the cotton bale height of the next stroke;
(2) the gripping arm 4 grips cotton at the calculated bale height, and multiplies the descent depth of each stroke by the descent coefficient set by the man-machine interface of the electric console 1 to be used as the descent depth of the first stroke; the gripping arms 4 descend at the two ends of the cotton bale, the whole stroke does not descend any more, and the cotton bale is horizontally gripped; the cotton bale is moved back and forth from the cotton bale arrangement starting position to the cotton bale arrangement ending position along the length of the guide rail; a stroke from the cotton bale arrangement start position to the cotton bale arrangement end position or from the cotton bale arrangement end position to the cotton bale arrangement start position; the tower body 2, the tower seat 3 and the grabbing arm 4 move along the direction of the guide rail at the same time; according to a calculation formula, along with the increase of the number of strokes, the descending depth gradually decreases, at least twenty strokes are passed, and the descending depth is equal to the descending depth set by the human-computer interface of the electric control console 1 until the cotton on the side is completely grasped; if the calculated descent depth is less than or equal to the descent depth set by the human-machine interface of the electric control console 1 before at least twenty strokes are reached, the descent depth set by the electric control console 1 is descended.
(3) After the cotton of one side cotton bale is grabbed, the tower body of the bale plucker returns to the original position close to the electric control console 1, the tower body rotates to the other side of the arranged cotton bale along the tower seat, and the steps (1) and (2) are repeated.
Preferably, the horizontal moving step length of the tower seat is the same as the arrangement length of the cotton bale. The continuous cotton grabbing time T of the grabbing arm 4 at the same horizontal position is determined according to the set horizontal moving speed and the cotton bale length, and the continuous cotton grabbing time T can be manually set on the console 1 according to the on-site cotton bale condition.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that various changes, modifications, additions and substitutions can be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (6)
1. The control method of the automatic bale detecting and leveling system of the reciprocating bale plucker comprises an electric control console, a tower body, a tower seat, a grabbing arm, a bale plucking roller blade group, a track, a bale plucking groove and a retaining wall, and is characterized in that two pairs of automatic detection light controllers are respectively arranged at the left side and the right side of the grabbing arm along the front and the rear length directions of the grabbing arm, and are respectively as follows: the left lower light controller K1, the right lower light controller K2, the left upper light controller K3 and the right upper light controller K4, wherein the left lower light controller K1 and the right lower light controller K2 are arranged on the same low level plane, the left upper light controller K3 and the right upper light controller K4 are arranged on the same high level plane, and the output signals of the four pairs of automatic detection light controllers are connected to the electric control console; the control method comprises the steps of horizontal reciprocating motion control of the tower seat and rotary motion control of the tower body around the tower seat, wherein output signals of a left lower light controller K1, a right lower light controller K2, a left upper light controller K3 and a right upper light controller K4 are introduced into a control program of the gripping arm for lifting up and down along the tower body as feedback signals, and the control method comprises the following steps:
(1) after cotton bales on two sides of the bale plucker track are arranged, pressing an in-situ key, and returning the tower body with the grabbing arms to an initial position close to the electric control console, wherein the grabbing arms are at the highest position; when the electric control console presses a driving button, the tower body and the grabbing arms walk forwards to stop at the arrangement position of the cotton bales, the grabbing arms descend to the position where the light controller K1 or K2 is shielded by the cotton bales, the heights are recorded, the grabbing rollers rotate to start grabbing cotton, and the grabbing cotton continues to descend and walk to grab cotton while counting once per second; when the left upper light controller K3 or the right upper light controller K4 is shielded by the cotton bale, the grab arm is lifted to the position when the left lower light controller K1 or the right lower light controller K2 is not shielded by the cotton bale, the grab arm height is recorded at the positions of the left lower light controller K1 and the right lower light controller K2 all the time until the grab arm is moved to the end position of arranging the cotton bale, and the average value of the cotton bale heights is calculated as the cotton bale height of the next stroke;
(2) the gripping arm grips cotton at the calculated bale height, and multiplies the descent depth of each stroke by the descent coefficient set by the human-computer interface of the electric control console to be used as the descent depth of the first stroke; the gripping arms are lowered at the two ends of the cotton bale, the gripping arms are not lowered in the middle of the whole travel, and the cotton bale is horizontally gripped; the cotton bale is moved back and forth from the cotton bale arrangement starting position to the cotton bale arrangement ending position along the length of the guide rail; a stroke from the cotton bale arrangement start position to the cotton bale arrangement end position or from the cotton bale arrangement end position to the cotton bale arrangement start position; the tower body, the tower seat and the grabbing arms move along the direction of the guide rail at the same time; according to a calculation formula, along with the increase of the number of strokes, the descending depth gradually decreases, at least twenty strokes are passed, and the descending depth is equal to the descending depth set by a human-computer interface of the electric control console until the cotton on the side is completely grasped; if the calculated descent depth is less than or equal to the descent depth set by the human-computer interface of the electrical console before at least twenty strokes are reached, descending with the descent depth set by the electrical console;
(3) after the cotton of one side cotton bale is grabbed, the tower body of the bale plucker returns to the original position close to the electric control console, the tower body rotates to the other side of the arranged cotton bale along the tower seat, and the steps (1) and (2) are repeated.
2. The method for controlling an automatic bale detecting and leveling system of a reciprocating bale plucker as recited in claim 1, wherein the horizontal movement step length of the tower is the same as the bale arrangement length.
3. The control method of an automatic bale detecting and leveling system of a reciprocating bale plucker according to claim 1 or 2, wherein the distance between the lower left light controller K1 and the upper left light controller K3 is 80-120mm, and the distance between the lower right light controller K2 and the upper right light controller K4 is 80-120mm.
4. The method for controlling an automatic bale detecting and leveling system of a reciprocating bale plucker as claimed in claim 3, wherein the lower left light controller K1, the lower right light controller K2, the upper left light controller K3 and the upper right light controller K4 are all opposite-emitting infrared photoelectric switches.
5. The control method of the automatic bale detecting and leveling system of the reciprocating bale plucker according to claim 1 or 2, wherein a front bracket and a rear bracket are fixedly arranged on an outer shell of the gripper arm, and the left lower light controller K1, the right lower light controller K2, the left upper light controller K3 and the right upper light controller K4 are respectively arranged on the front bracket and the rear bracket.
6. The method for controlling an automatic bale detecting flat bag system of a reciprocating bale plucker according to claim 4, wherein a front bracket and a rear bracket are fixedly arranged on an outer shell of the grab arm, and the left lower light controller K1, the right lower light controller K2, the left upper light controller K3 and the right upper light controller K4 are respectively arranged on the front bracket and the rear bracket.
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| CN110685042A (en) * | 2019-10-08 | 2020-01-14 | 阜阳恒泰纺织有限公司 | Bale plucker that can quantitatively snatch |
| CN111942834A (en) * | 2020-08-03 | 2020-11-17 | 东华大学 | Bale handling and discharging device and method for straight-row bale plucker |
| CN114249116A (en) * | 2020-09-21 | 2022-03-29 | 安徽日发纺织机械有限公司 | Reciprocating bale plucker grabbing arm rotating device |
| CN112251911B (en) * | 2020-10-20 | 2021-10-15 | 四川安浪家纺有限责任公司 | Multi-layer cotton batting production process and system |
| CN112267180B (en) * | 2020-10-20 | 2021-10-15 | 四川安浪家纺有限责任公司 | Cotton fiber processing device |
| CN113174659A (en) * | 2021-04-06 | 2021-07-27 | 湖北雪飞化工有限公司 | Cotton opening device in nitrocotton production |
| CN113602889A (en) * | 2021-08-03 | 2021-11-05 | 辽宁鑫硕智能机械有限公司 | Automatic tracking cotton sticking method for feeding of heat-preservation cotton sliver |
| CN114016164A (en) * | 2021-11-30 | 2022-02-08 | 广州市琳恬服饰有限公司 | Reciprocating type automatic bale plucker convenient to adjust |
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