CN111924659A - Chemical fiber filament doffing method and system based on twin model and automatic doffing equipment - Google Patents
Chemical fiber filament doffing method and system based on twin model and automatic doffing equipment Download PDFInfo
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- 239000000835 fiber Substances 0.000 title claims abstract description 39
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- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
- B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
- B65H67/0411—Arrangements for removing completed take-up packages or for loading an empty core for removing completed take-up packages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32339—Object oriented modeling, design, analysis, implementation, simulation language
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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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- 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
- Y02P90/80—Management or planning
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
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- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Abstract
The invention provides a chemical fiber filament doffing method based on a twin model, which comprises the following steps: constructing a digital twin model of the winding production line; acquiring a prediction parameter of the winding production line at a future moment through the digital twin model; obtaining an optimized roll-falling path through a path generation algorithm according to the prediction parameters, and generating a roll-falling scheme; when the future time is reached, the winding production line is controlled to perform the doffing operation according to the doffing scheme. The invention also provides a chemical fiber filament doffing system based on the twin model and automatic doffing equipment.
Description
Technical Field
The invention relates to the technical field of chemical fiber production, in particular to a chemical fiber filament doffing system and a chemical fiber filament doffing method based on a twin model.
Background
The chemical fiber filament package doffing operation is a typical labor-intensive operation scene, the labor intensity of personnel is high, the operation environment is harsh, the production is continuous for 24 hours, and the original manual operation mode is difficult to meet the requirements of enterprise development. Many faucet enterprises are beginning to adopt automated equipment to replace manual work to complete the operation.
At present, most chemical fiber production faucet enterprises in China adopt a full-automatic doffing system to replace the traditional manual operation mode.
The invention discloses an automatic spindle conveying system and an automatic spindle conveying method (application number: CN102431849A) in Chinese invention patent, which designs a method for chemical fiber filament doffing and conveying, and is widely applied in enterprises at present. The configuration of the full-automatic doffing system comprises a doffing robot, a temporary storage device, a loading rotating platform and a related information display and management system. The doffing robot is a core device in a full-automatic doffing system and is used for replacing manual operation to complete doffing operation. At present, in the production line of chemical fiber filament winding machines of enterprises, winding machine tables are arranged in a row from 32 to 96, and each winding machine can complete the forming operation of 12 packages (one shaft) at a time. One winder production line is provided with one to two doffing robots, and each doffing robot can doff 1-3 shafts at a time (different according to the robot configuration). When one winder is full, a full-roll call is sent, the doffing robot automatically moves to a corresponding position according to a call instruction to complete doffing operation, the multi-shaft doffing robot completes a signal call sequence according to the winder, receives the multi-shaft silk roll once, and automatically places the silk roll on a special transfer silk box for later-stage packaging production. The working sequence of the doffing machine is limited by a PLC system and is completely determined according to the calling sequence of the winding machine.
At present, chemical fiber filament yarn package forming, a winding machine on one production line can simultaneously produce various products of different types and different specifications, the full winding time (the time from the beginning of doffing to the completion of doffing) and the tube bursting time (the time from the completion of doffing to the next beginning of doffing) of the winding machine are different, the control scheduling of the doffing operation in the chemical fiber industry at present adopts PLC program control and adopts queuing theory and priority calling principle, namely calling is firstly carried out for first treatment, a doffing robot can only carry out doffing according to the calling in sequence, the multiple factors of the position of doffing, the tube bursting time and the like can not be comprehensively considered, manual participation treatment is often required, even the waste silk of tube bursting occurs, and the existing control scheduling mode can not meet the requirement of high-quality production.
The digital twin is a simulation process integrating multidisciplinary, multi-physical quantity, multi-scale and multi-probability by fully utilizing data such as a physical model, sensor updating, operation history and the like, and mapping is completed in a virtual space, so that the full life cycle process of corresponding entity equipment is reflected. Digital twinning is an beyond-realistic concept that can be viewed as a digital mapping system of one or more important, interdependent equipment systems. The digital twinning technology is applied to the coiling and forming production of the chemical fiber filaments, and has the following advantages:
1. the real-time visual monitoring of the field production condition is realized;
2. the running state of the equipment and the execution condition of a work plan are mastered in real time, and the equipment maintenance and scheduling arrangement are well guided;
3. the method can simulate real production in the model, judge the subsequent production condition, pre-judge possible problems in advance, intervene in advance and reduce loss. The method can also be previewed in the model when the production conditions are changed, so that the method is favorable for finding possible problems;
4. the doffing capability of the doffing robot can be accurately mastered through model simulation, and the selection and matching of equipment during new line construction are facilitated;
5. the optimized dispatching under the conditions of one vehicle, multiple axles and multiple vehicles on the same line can greatly improve the production efficiency.
Disclosure of Invention
In order to solve the problems, the invention discloses a chemical fiber filament doffing method based on a twin model, which comprises the following steps: constructing a digital twin model of the winding production line; acquiring a prediction parameter of the winding production line at a future moment through the digital twin model; obtaining an optimized roll-falling path through a path generation algorithm according to the prediction parameters, and generating a roll-falling scheme; when the future time is reached, the winding production line is controlled to perform the doffing operation according to the doffing scheme.
Further, the winding production line comprises a plurality of winding machines, at least one doffing robot and a temporary storage device, wherein the doffing robot executes a doffing operation, the doffing operation comprises the steps of doffing the package wound by the winding machines and conveying the taken-off package to the temporary storage device.
Further, the digital twin model is built through the attribute parameters of the winding production line, and the equivalent mapping between the digital twin model and the winding production line is built through the real-time parameters of the winding production line; the attribute parameters include: the number of the winding machines, the actual position of each winding machine, the type of the package wound by the winding machine, the corresponding full winding time and tube bursting time, the normal moving speed, the maximum allowable moving speed and the maximum available acceleration of the doffing robot when the doffing robot is unloaded, half loaded and fully loaded, the number of the doffable reels of the doffing robot, the actual position, the normal temporary storage amount and the maximum available temporary storage amount of the temporary storage device; the real-time parameters include: the current position and loading condition of the doffing robot, the current package type of each winder, the winding start time, the number of packages to be finished and a full package signal sent when the winding is full, and the current temporary storage amount of the temporary storage equipment.
Preferably, the prediction parameters include: within the time length of delta t, the number N of the winding machines sending out full-winding signals, the position of each winding machine sending out a full-winding signal and the sending-out time of each full-winding signal; the path generation algorithm includes: fully arranging the doffing sequences of N winders which send full-winding signals to obtain K doffing paths; selecting K' doffing paths without tube explosion from the K doffing paths; if K 'is more than 0, selecting the path with the shortest execution time in the K' doffing paths to generate the optimized doffing scheme; if K 'is 0, shortening the time length of delta t to enable the number N' of the winding machines which send out full-winding signals in the time length of delta t to be N-1, and executing the path generation method again; wherein N, K is a positive integer, K 'is a natural number, and K is greater than or equal to K'. .
The invention also provides a chemical fiber filament doffing system based on the twin model, which comprises: the model building module is used for building a digital twin model of the winding production line; the scheme generation module is used for acquiring a prediction parameter of the winding production line at a future moment through the digital twin model and generating an optimized doffing scheme through a path generation algorithm according to the prediction parameter; and the operation control module is used for controlling the winding production line to perform the doffing operation according to the optimized doffing scheme when the future moment is reached.
Further, the winding production line comprises a plurality of winding machines, at least one doffing robot and a temporary storage device, wherein the doffing robot executes a doffing operation, the doffing operation comprises the steps of doffing the package wound by the winding machines and conveying the taken-off package to the temporary storage device.
Furthermore, in the model building module, the digital twin model is built through the attribute parameters of the winding production line, and the equivalent mapping between the digital twin model and the winding production line is built through the real-time parameters of the winding production line; the attribute parameters include: the number of the winding machines, the actual position of each winding machine, the type of the package wound by the winding machine, the corresponding full winding time and tube bursting time, the normal moving speed, the maximum allowable moving speed and the maximum available acceleration of the doffing robot when the doffing robot is unloaded, half loaded and fully loaded, the number of the doffable reels of the doffing robot, the actual position, the normal temporary storage amount and the maximum available temporary storage amount of the temporary storage device; the real-time parameters include: the current position and loading condition of the doffing robot, the current package type of each winder, the winding start time, the number of packages to be finished and a full package signal sent when the winding is full, and the current temporary storage amount of the temporary storage equipment.
Preferably, the prediction parameters include: within the time length of delta t, the number N of the winding machines sending out full-winding signals, the position of each winding machine sending out a full-winding signal and the sending-out time of each full-winding signal; n is a positive integer; the path generation algorithm includes: fully arranging the doffing sequences of N winders which send full-winding signals to obtain K doffing paths; selecting K' doffing paths without tube explosion from the K doffing paths; if K 'is more than 0, selecting the path with the shortest execution time in the K' doffing paths to generate the optimized doffing scheme; if K 'is 0, shortening the time length of delta t to enable the number N' of the winding machines which send out full-winding signals in the time length of delta t to be N-1, and executing the path generation method again; wherein N, K is a positive integer, K 'is a natural number, and K is greater than or equal to K'.
The invention also provides a computer readable storage medium storing executable instructions, which when executed by a processor, implement the chemical fiber filament doffing method based on the twinning model.
The invention also provides an automatic doffing device, comprising: the winding production line comprises a plurality of winding machines, at least one doffing robot and temporary storage equipment, wherein the winding machines, the doffing robot and the temporary storage equipment are all provided with sensors for acquiring real-time parameters; the central control device is in communication connection with the winding machine, the doffing robot and the temporary storage equipment and comprises a processor and a computer readable storage medium; the processor, when retrieving and executing the executable instructions in the computer readable storage medium, implements the chemical fiber filament doffing method based on the twinning model as described above.
Drawings
FIG. 1 is a flow chart of a chemical fiber filament doffing method based on a twin model.
FIG. 2 is a schematic diagram of the digital twin model generation of the present invention.
FIG. 3 is a flow chart of the path generation algorithm of the present invention.
FIG. 4 is a schematic structural diagram of a chemical fiber filament doffing system based on a twin model.
Fig. 5A and 5B are schematic views of the automatic doffing apparatus of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings, which illustrate only one embodiment of the invention and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
The technology disclosed by the invention is applied to a spinning workshop before chemical fiber filament production, and mainly aims to solve the problem of optimizing the automatic doffing operation efficiency of a chemical fiber filament package. The automatic doffing system provided by the invention replaces the traditional PLC control optimization mode by an optimization calculation mode in a twin system, so that the working efficiency is improved, hardware modeling related to a whole set of front spinning doffing system taking a doffing robot as a core device is carried out, the hardware modeling comprises the relative positions of the doffing robot, a winding machine and a temporary storage device (or a loading platform), a digital twin model is constructed according to the actual condition of a real workshop, and the equivalent mapping of the digital twin model and hardware equipment is established; and then inputting real-time parameter parameters including the speed and the acceleration of the doffing robot, the full-winding time and the pipe explosion time of the winder, the storage quantity of temporary storage equipment, the loading package requirement and the like, thereby truly simulating a whole set of production flow.
After the digital twin model is built, real-time parameters of field equipment need to be collected and transmitted to the digital twin model, the running state of each device in the digital twin model is driven by data, the position of a wire dropping machine can be displayed in real time, and the wire dropping machine is clearly in a wire receiving, wire dropping or idle state; secondly, it is clear which winding machines have sent full-roll signals, and the position of the upcoming full roll is deduced from the input doffing time. And finally, issuing the working path to a control system of the real roll-falling robot, so that the efficiency of the roll-falling robot reaches the highest efficiency.
FIG. 1 is a flow chart of a chemical fiber filament doffing method based on a twin model. As shown in fig. 1, the present invention provides a chemical fiber filament doffing method based on digital twinning, which specifically comprises:
s1, acquiring attribute parameters of the winding production line to construct a digital twinning model of the winding production line, acquiring real-time parameters of the current chemical fiber filament production of the winding production line to construct equivalent mapping of the digital twinning model and the winding production line;
the winding production line comprises winding machines, a doffing robot and a temporary storage device (or a loading platform), and generally, one winding production line comprises 32-96 winding machines which are arranged in a row, and each winding machine can complete the winding (forming) operation of 12 packages (one shaft) at a time; one winding production line is provided with one to two doffing robots, and each doffing robot can doff 1-3 shafts at one time; acquiring the number of the winding machines, the actual position of each winding machine, the winding type of the winding machine, the corresponding full-winding time and pipe explosion time, the normal moving speed, the maximum allowable moving speed and the maximum available acceleration of the doffing robot during no-load, half-load and full-load, the actual position of the temporary storage device, the normal temporary storage amount, the maximum available temporary storage amount and other equipment attribute parameters, and constructing a digital twin model of the winding production line;
working state sensors are arranged on the winding machine, the doffing robot and the temporary storage equipment to acquire real-time working states of the winding machine, the doffing robot and the temporary storage equipment, such as the current position and the loading condition of the doffing robot, the current package type, the winding starting time, the number of packages to be finished and a full-package signal sent out when the packages are full of the winding machine, and real-time parameters of the current temporary storage quantity of the temporary storage equipment; by means of the real-time parameters, the equivalent mapping between the digital twin model and the winding production line can be constructed, if the digital twin model is regarded as a virtual winding production line, after the equivalent mapping is formed, the winding production line and the corresponding digital twin model are mutually mirror images, for example, the operation on the digital twin model can generate a real-time effect on the winding production line, and on the contrary, the change of the working state of the winding production line can reflect in the digital twin model in real time; that is, after the equivalence mapping is constructed, the real-time working state of the winding production line can be sensed through the digital twin model, and the winding production line can be controlled through the control of the digital twin model, as shown in fig. 2.
Step S2, obtaining a prediction parameter of the winding production line at a future moment through a digital twin model, obtaining an optimized doffing path according to the prediction parameter through a path generation algorithm, and generating a doffing scheme through the optimized doffing path;
because the winding production line is provided with a plurality of winding machines, the real-time parameters of each winding machine, the doffing robot and the temporary storage equipment at different moments can be different, so that the winding production line at each moment can have a specific production state. For example, at time T', there is a winder m1(winding type A Package), m2(winding type B packages) full packages are sequentially delivered in a period from T '-Deltat' to TThe signal is not yet doffed, and the winding line has p production states, so the doffing plan is required to be generated at the moment T ' according to the doffing route in p production states, and the optimized doffing route p ' corresponding to the highest doffing efficiency is required to be generated at the moment T ', and the doffing robot is required to perform the operation on the winding machine m according to the optimized doffing route p1、m2Performing a doffing operation; at time T' there is a winder m3(winding type C package), m4(winding type A Package), m5The (winding type A packages) send out full package signals in sequence from T ' -delta T ' to T ' and do not fall off, the winding production line has q production state, so the T ' moment needs to generate optimized falling package path q ' of falling package scheme in q production state, the falling package robot needs to perform the operation to the winding machine m according to the optimized falling package path q3、m4、m5And (5) performing a doffing operation, wherein | -T '| > or less than Δ T'. As illustrated above, when the winding line has different production states, there are different optimized doffing schemes, so that the doffing robot can achieve the highest doffing efficiency when performing the doffing operation.
The doffing scheme comprises the steps that a doffing robot performs doffing operation on one or more winding machines and conveys a taken-down package to an actual doffing path of the whole process of the temporary storage equipment, the doffing robot performs doffing on the package wound by the winding machines according to the doffing path in the doffing scheme, and then conveys the taken-down package to the temporary storage equipment; after the plurality of winding machines reach the full-winding time, the doffing robot needs to perform doffing operation on the winding machines in sequence according to the actual doffing path;
based on the characteristics of the digital simulation provided by the digital twin model, in an embodiment of the invention, it is possible to predict the operating conditions of the winding line, for example, at the current moment (T)0Time) to a future time (T) after Δ T time0Moment + delta T) of the production line to obtain T0At time + Δ t, the position and loading condition of the doffing robot in the doffing line, the number N of winders sending full lap signals, the position and time of each winder sending full lap signals, and the prediction parameters such as the temporary storage of the temporary storage equipment, so that the digital twin is realizedThe generative model can calculate according to the prediction parameters, obtain an optimized doffing path and generate a doffing scheme as T0And if the calculated time difference is not enough, adjusting the time length of the delta t to obtain the doffing scheme meeting the doffing requirement, or sending out a warning in advance to remind an operator to intervene in the doffing operation to avoid or reduce possible loss.
To simplify the calculation, T can be considered as T in the normal case0At time + Δ T, the doffing robot has completed a doffing cycle, at which time the doffing robot is empty and is loaded to its initial position (e.g. docking position with the buffer, or end of the winder train, etc.), the buffer has completed transferring and there is sufficient space to receive the package, and therefore T0At the moment of + Δ t, only the number N and the position of the winding machines sending the full-winding signals, the sending time (sequence) of the full-winding signals and the pipe bursting time S of the winding machines sending the full-winding signals need to be considered, so that the path generation algorithm can be simplified and the problem of how to select the optimized path from the winding-off paths of the N winding machines can be solved, and fig. 3 is a flow chart of the path generation algorithm of the present invention. As shown in fig. 3, the path generation algorithm in this case includes:
step 21, fully arranging the doffing sequences of the N winding machines which send out full-winding signals to obtain K doffing paths, wherein K is PN(ii) a For example, if N-4 winding machines send full-winding signals within a time period Δ t, K-P occursN4! 24 doffing paths;
step 22, selecting K' doffing paths without pipe explosion from all the K doffing paths; in other words, in the K' paths, the condition of tube explosion of the existing winding machine can not occur in any path;
step 23, if K' is 0, shortening the Δ t duration to make the number of the winding machines sending out the full-lap signals within the Δ t duration N-1, and returning to step 21 to restart the path generation flow;
step 24, if K' > 0Selecting the path with the highest doffing efficiency (such as the shortest execution time) from the K' doffing paths to generate T0The doffing robot needs to execute an optimized doffing scheme at the moment of + delta t;
wherein N, K is a positive integer, K 'is a natural number, K is equal to or greater than K', N is greater than 1, and N is 3 or 4 on a three-axis for balancing improvement of the doffing efficiency and reduction of the tube bursting rate.
In the chemical fiber filament doffing method, the path generating algorithm can also sequentially carry out the paths of the doffing robots during the doffing operation on the N winders according to the time sequence of sending full-lap signals, if the bobbin burst situation occurs during the doffing operation according to the paths, the time length of delta T is shortened to ensure that the number N of the winders sending the full-lap signals in the time length of delta T is equal to N-1, the paths are generated again according to the time sequence of sending the full-lap signals until the generated paths do not have the bobbin burst situation, and T is generated according to the paths at the moment0The doffing robot needs to execute an optimized doffing scheme at the moment of + delta t;
in the chemical fiber filament doffing method, the path generating algorithm can also generate the path of the doffing robot during the doffing operation according to the relative distances between the N winders and the doffing robot respectively, such as generating the path from far to near according to the relative distance or generating the path from near to far; if tube burst happens when the doffing operation is carried out according to the path, the time length of delta T is shortened to reduce the number of winding machines which send full-winding signals in the time length of delta T by one (N is N-1), the path is generated according to the relative distance again until the generated path does not have tube burst, and T is generated according to the path at the moment0The doffing robot needs to execute an optimized doffing scheme at the moment of + delta t;
step S3, when T is reached0At the moment of + delta t, controlling the doffing robot to execute a doffing scheme through equivalent mapping;
when the doffing scheme is executed, the operation may be a closed-loop operation without manual intervention, or an open-loop operation with manual intervention, that is, the operator may partially or completely modify the doffing scheme, and the present invention is not limited thereto.
FIG. 4 is a schematic structural diagram of a chemical fiber filament doffing system based on a twin model.As shown in fig. 4, the present invention further provides a chemical fiber filament doffing system, comprising: the system comprises a model building module, a scheme generating module and an operation control module; the model building module is used for obtaining attribute parameters of the winding production line so as to build a digital twin model of the winding production line and obtaining real-time parameters of the winding production line so as to build equivalent mapping of the digital twin model and the winding production line; a scheme generation module for generating a scheme at T0Time of day, T is obtained by digital twinning model0Winding the predicted parameters of the production line at the moment of + delta t, and generating an optimized doffing scheme by the predicted parameters through a path generation algorithm; operation control module for when T is reached0And at the moment of + delta t, controlling the winding production line to perform the doffing operation according to the current doffing scheme through the equivalent mapping. Relative to a winding machine, a doffing robot and a temporary storage device of a winding production line, the modules are arranged on a central control device.
The number of the winding machines, the actual position of each winding machine, the type of the package wound by the winding machine, the corresponding full-winding time and the pipe explosion time, the normal moving speed, the maximum allowable moving speed and the maximum available acceleration of the doffing robot when the doffing robot is unloaded, half-loaded and fully loaded, the number of the doffable reels of the doffing robot, the actual position of the temporary storage device, the normal temporary storage quantity, the maximum available temporary storage quantity and other attribute parameters belong to the reflection of the inherent attribute of the winding production line, and the attribute parameters of the winding production line are acquired by the model construction module and are constructed into a digital twin model of the winding production line; working state sensors on a winding machine, a doffing robot and a temporary storage device of a winding production line are used for acquiring real-time working states of the winding machine, the doffing robot and the temporary storage device, such as the current position and the loading condition of the doffing robot, the current package type, the winding starting time, the number of packages to be finished and a full package signal sent out when the packages are full, the current temporary storage amount and other real-time parameters of the temporary storage device, and the real-time parameters of the winding production line are acquired by an equivalent mapping module and then constructed into equivalent mapping of a digital twin model and the winding production line; when a digital twin model corresponding to the winding production line is generated and the equivalent mapping of the digital twin model and the winding production line is established, the digital twin model and the winding production line are establishedMirror image of the winding line, so that when at T0At the moment, the digital twin model carries out digital simulation on the winding production line and obtains T0After the prediction parameter at the moment of + delta T, the scheme generation module generates the doffing robot at T according to the prediction parameter0At time + Δ T a doffing scheme is to be executed, the operation control module operates at T0And controlling the doffing robot to execute the doffing operation through the equivalent mapping at the moment of + delta t.
Fig. 5A and 5B are schematic views of the automatic doffing apparatus of the present invention. As shown in fig. 5A and 5B, an embodiment of the present invention further provides an automatic doffing apparatus, including a winding production line and a central control device, where the winding production line includes a winding machine 1, a doffing robot 2, and a temporary storage apparatus 3, the winding machine 1 has M stations, usually M is between 32 and 96, the doffing robot 2 has 1 to 2 stations, and sensors for acquiring real-time parameters are disposed on the winding machine 1, the doffing robot 2, and the temporary storage apparatus 3; the central control device 4 includes a computer readable storage medium and a processor, the processor retrieves and executes executable instructions in the computer readable storage medium to implement the digital twinning-based chemical fiber filament doffing method, and the central control device 4 is in communication connection with the winding machine 1, the doffing robot 2 and the temporary storage device 3, for example, direct communication connection in a wired or wireless manner, as shown in fig. 5A, and bus communication connection in a public communication trunk 5, as shown in fig. 5B. It will be understood by those skilled in the art that all or part of the steps of the above method may be implemented by instructing relevant hardware (e.g., processor, FPGA, ASIC, etc.) through a program, and the program may be stored in a readable storage medium, such as a read-only memory, a magnetic or optical disk, etc. All or some of the steps of the above embodiments may also be implemented using one or more integrated circuits. Accordingly, the modules in the above embodiments may be implemented in hardware, for example, by an integrated circuit, or in software, for example, by a processor executing programs/instructions stored in a memory. Embodiments of the invention are not limited to any specific form of hardware or software combination.
The chemical fiber filament doffing method based on digital twinning can obtain the following technical effects:
(1) in the case of a plurality of winder calls, the doffing robot completes the doffing operation task in the least time;
(2) when the doffing task of the package exceeds the maximum processing capacity of the doffing robot, manual doffing operation is prompted; the method has the advantages that the method is selectively assisted by manpower to take away the rolls of some machine positions, so that heavy conditions are completed most efficiently, and normal production rhythm is recovered most quickly;
(3) and simulating the basic working capacity of the roll-off robot.
The description and application of the present invention are illustrative, and are not intended to limit the scope of the invention to the embodiments described above. Variations and modifications of the embodiments disclosed herein are possible, and alternative and equivalent various components of the embodiments will be apparent to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A chemical fiber filament doffing method based on a twin model is characterized by comprising the following steps:
constructing a digital twin model of the winding production line;
acquiring a prediction parameter of the winding production line at a future moment through the digital twin model; obtaining an optimized roll-falling path through a path generation algorithm according to the prediction parameters, and generating a roll-falling scheme;
when the future time is reached, the winding production line is controlled to perform the doffing operation according to the doffing scheme.
2. The chemical fiber filament doffing method according to claim 1, wherein the winding line comprises a plurality of winding machines, at least one doffing robot and a temporary storage device, the doffing robot performs a doffing operation, the doffing operation comprises doffing a wound package of the winding machines and conveying the removed package to the temporary storage device.
3. The chemical fiber filament doffing method according to claim 2, characterized in that the digital twin model is constructed by the attribute parameters of the winding production line, and the equivalent mapping between the digital twin model and the winding production line is constructed by the real-time parameters of the winding production line;
the attribute parameters include: the number of the winding machines, the actual position of each winding machine, the type of the package wound by the winding machine, the corresponding full winding time and tube bursting time, the normal moving speed, the maximum allowable moving speed and the maximum available acceleration of the doffing robot when the doffing robot is unloaded, half loaded and fully loaded, the number of the doffable reels of the doffing robot, the actual position, the normal temporary storage amount and the maximum available temporary storage amount of the temporary storage device;
the real-time parameters include: the current position and loading condition of the doffing robot, the current package type of each winder, the winding start time, the number of packages to be finished and a full package signal sent when the winding is full, and the current temporary storage amount of the temporary storage equipment.
4. A chemical fiber filament doffing method according to claim 3, characterized in that T is0Time of day acquisition T0A prediction parameter at time + Δ t, the prediction parameter comprising: within the time length of delta t, the number N of the winding machines sending out full-winding signals, the position of each winding machine sending out a full-winding signal and the sending-out time of each full-winding signal;
the path generation algorithm includes:
fully arranging the doffing sequences of N winders which send full-winding signals to obtain K doffing paths; selecting K' doffing paths without tube explosion from the K doffing paths;
if K 'is more than 0, selecting the path with the shortest execution time in the K' doffing paths to generate the optimized doffing scheme; if K' is 0, shortening the time length of delta t to enable the number of the winding machines which send out full-winding signals in the time length of delta t to be N-1, and executing the path generation method again;
wherein N, K is a positive integer, K 'is a natural number, K is more than or equal to K', and N is more than 1.
5. A chemical fiber filament doffing system based on a twin model is characterized by comprising:
the model building module is used for building a digital twin model of the winding production line;
the scheme generation module is used for acquiring a prediction parameter of the winding production line at a future moment through the digital twin model and generating an optimized doffing scheme through a path generation algorithm according to the prediction parameter;
and the operation control module is used for controlling the winding production line to perform the doffing operation according to the optimized doffing scheme when the future moment is reached.
6. The chemical fiber filament doffing system according to claim 5, wherein the winding line comprises a plurality of winding machines, at least one doffing robot and a temporary storage device, the doffing robot performs a doffing operation, the doffing operation comprises doffing a wound package from the winding machines and delivering the removed package to the temporary storage device.
7. The chemical fiber filament doffing system of claim 6, wherein in the model constructing module, the digital twin model is constructed according to the attribute parameters of the winding production line, and the equivalent mapping between the digital twin model and the winding production line is constructed according to the real-time parameters of the winding production line;
the attribute parameters include: the number of the winding machines, the actual position of each winding machine, the type of the package wound by the winding machine, the corresponding full winding time and tube bursting time, the normal moving speed, the maximum allowable moving speed and the maximum available acceleration of the doffing robot when the doffing robot is unloaded, half loaded and fully loaded, the number of the doffable reels of the doffing robot, the actual position, the normal temporary storage amount and the maximum available temporary storage amount of the temporary storage device;
the real-time parameters include: the current position and loading condition of the doffing robot, the current package type of each winder, the winding start time, the number of packages to be finished and a full package signal sent when the winding is full, and the current temporary storage amount of the temporary storage equipment.
8. The chemical fiber filament doffing system of claim 6, wherein T is0Time of day acquisition T0A prediction parameter at time + Δ t, the prediction parameter comprising: within the time length of delta t, the number N of the winding machines sending out full-winding signals, the position of each winding machine sending out a full-winding signal and the sending-out time of each full-winding signal; n is a positive integer;
the path generation algorithm includes:
fully arranging the doffing sequences of N winders which send full-winding signals to obtain K doffing paths; selecting K' doffing paths without tube explosion from the K doffing paths;
if K 'is more than 0, selecting the path with the shortest execution time in the K' doffing paths to generate the optimized doffing scheme; if K' is 0, shortening the time length of delta t to enable the number of the winding machines which send out full-winding signals in the time length of delta t to be N-1, and executing the path generation method again;
wherein N, K is a positive integer, K 'is a natural number, K is more than or equal to K', and N is more than 1.
9. A computer readable storage medium storing executable instructions which, when executed by a processor, implement the twinning model based chemical fiber filament doffing method of any one of claims 1-4.
10. An automatic doffing apparatus, comprising:
the winding production line comprises a plurality of winding machines, at least one doffing robot and temporary storage equipment, wherein the winding machines, the doffing robot and the temporary storage equipment are all provided with sensors for acquiring real-time parameters;
the central control device is in communication connection with the winding machine, the doffing robot and the temporary storage equipment and comprises a processor and a computer readable storage medium; the processor, when retrieving and executing the executable instructions in the computer readable storage medium, implements the chemical fiber filament doffing method based on the twinning model according to any one of claims 1 to 4.
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