CN111924660B - 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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- CN111924660B CN111924660B CN202010649704.7A CN202010649704A CN111924660B CN 111924660 B CN111924660 B CN 111924660B CN 202010649704 A CN202010649704 A CN 202010649704A CN 111924660 B CN111924660 B CN 111924660B
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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], 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], 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]
Abstract
The invention provides a chemical fiber filament doffing method, which comprises the following steps: acquiring attribute parameters of a winding production line to construct a digital twin 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 twin model and the winding production line; acquiring a prediction parameter of the winding production line at a future moment through the digital twin model, and generating a roll-off scheme through the digital twin model according to the prediction parameter; when the future time is reached, the winding production line is controlled by the equivalent map to perform the doffing operation according to the doffing scheme. The invention also provides a chemical fiber filament doffing system 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.
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: CN 102431849A) 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 bobbin explosion time (the time from sending a full-winding signal to the occurrence of bobbin explosion conditions) 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 a 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 bobbin explosion time and the like cannot be comprehensively considered, manual participation treatment is often required, and even the condition of bobbin explosion waste silk cannot be met by the existing control scheduling mode.
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, which comprises the following steps: acquiring attribute parameters of a winding production line to construct a digital twin model of the winding production line; acquiring real-time parameters of the winding production line to construct an equivalent mapping of the digital twin model and the winding production line; acquiring a prediction parameter of the winding production line at a future moment through the digital twin model, and generating a roll-off scheme through the digital twin model according to the prediction parameter; when the future time is reached, the winding production line is controlled to perform the doffing operation according to the doffing scheme through the equivalent mapping.
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 carries out doffing operation on the package wound by the winding machines according to the doffing scheme and then conveys the taken-off package to the temporary storage device.
Further, the doffing scheme includes that the doffing robot performs doffing operation on the winding machine and conveys the taken-off package to an actual doffing path of the temporary storage device.
Further, 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 equipment; the real-time parameters include: the current position and loading condition of the doffing robot, the current package type, winding start time, the number of packages to be finished and a full package signal sent out when the package is full of each winder, and the current temporary storage amount of the temporary storage equipment; the prediction parameters include: at the future time, the predicted position of the doffing robot, the predicted loading condition, the predicted time of the full roll signal that has been issued by each of the winders, and the predicted temporary storage amount of the temporary storage facility.
The invention also provides a chemical fiber filament doffing system, which comprises: the model building module is used for obtaining the attribute parameters of the winding production line so as to build a digital twin model of the winding production line; the equivalent mapping module is used for acquiring real-time parameters of the winding production line so as to construct equivalent mapping between the digital twin model and 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 a roll-falling scheme through the digital twin model 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 doffing scheme by the equivalent map 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 carries out doffing operation on the package wound by the winding machines according to the doffing scheme and then conveys the taken-off package to the temporary storage device.
Further, the doffing scheme includes that the doffing robot performs doffing operation on the winding machine and conveys the taken-off package to an actual doffing path of the temporary storage device.
Further, 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 equipment; the real-time parameters include: the current position and loading condition of the doffing robot, the current package type of the winding machine, the winding starting time, the number of packages to be finished and a full package signal sent out when the package is full, and the current temporary storage amount of the temporary storage equipment; the prediction parameters include: at the future time, the predicted position of the doffing robot, the predicted loading condition, the predicted time of the full roll signal that has been issued by each of the winders, and the predicted temporary storage amount of the temporary storage facility.
The invention also provides a computer readable storage medium, which stores executable instructions, and the executable instructions are executed by a processor to realize the chemical fiber filament doffing method.
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 as described above.
Drawings
FIG. 1 is a flow chart of the chemical fiber filament doffing method of the present invention.
FIG. 2 is a schematic diagram of the digital twin model generation of the present invention.
FIG. 3 is a schematic structural diagram of the chemical fiber filament doffing system of the present invention.
Fig. 4A and 4B 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 the chemical fiber filament doffing method of the present invention. As shown in fig. 1, the present invention provides a chemical fiber filament doffing method based on digital twinning, which specifically comprises:
step S1, acquiring attribute parameters of the winding production line to construct a digital twin model of 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 number of doffable reels of the doffing robot, the actual position of temporary storage equipment, the normal temporary storage quantity, the maximum available temporary storage quantity and other equipment attribute parameters, and constructing a digital twin model of a winding production line;
s2, acquiring real-time parameters of the current chemical fiber filament production of the winding production line to construct equivalent mapping of a digital twin model and 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 S3, obtaining the forecast parameter of the winding production line at a future moment through the digital twin model, and generating a doffing scheme through the digital twin model according to the forecast parameter;
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 the moment of + delta T, the position and loading condition of the doffing robot in the doffing production line, the time of a full-roll signal sent by each winder, the temporary storage quantity of temporary storage equipment and other prediction parameters, so that the digital twin model can generate T according to the prediction parameters0The doffing scheme which can be executed by the doffing robot at the moment + delta t can generate an optimized (with the highest doffing efficiency) doffing scheme or generate a plurality of doffing schemes for preferential selection through calculation for enough time because the time difference of delta t can be at most between the moment when the prediction parameters are obtained and the moment when the doffing scheme is executed; at the same time, can also be at T0A corresponding doffing scheme is obtained before the moment of + delta T, when the working condition that the doffing robot cannot cope with occurs, a warning can be sent out in advance to remind an operator to intervene in the doffing operation so as to avoid or reduce possible loss, or delta T is shortened, so that the generated T is enabled to be0The doffing scheme at the moment of + delta T can be used for the winding production line at T0Operating state at + Δ t;
step S4, when T is reached0At time + Δ t, the winding line is controlled by the equivalent mappingPerforming doffing operation according to the generated doffing scheme;
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. 3 is a schematic structural diagram of the chemical fiber filament doffing system of the present invention. As shown in fig. 3, the present invention further provides a chemical fiber filament doffing system, comprising: the system comprises a model building module, an equivalent mapping module, a scheme generating module and an operation control module; the model building module is used for building a digital twin model corresponding to the winding production line according to the attribute parameters of the winding production line; the equivalent mapping module is used for acquiring real-time parameters of the winding production line so as to construct equivalent mapping between the digital twin model and 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 a roll-falling scheme through the digital twin model according to the prediction parameter; and the operation control module is used for controlling the doffing robot to execute the doffing scheme to perform the doffing operation by the equivalent mapping when the future moment is reached. 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 equipment, 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 and the winding start of the winding machineTime, the number of packages to be finished and full-package signals sent out when the packages are full, current temporary storage quantity and other real-time parameters of temporary storage equipment, and the real-time parameters of the winding production line are acquired by the 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, a mirror image of the digital twin model and the winding production line is established, so that the mirror image is obtained when the T is the value0At the moment, the digital twin model carries out digital simulation on the winding production line and obtains T0After the predicted parameter at the time of + delta T, the doffing robot is generated at T0The doffing scheme to be executed at time T at0And controlling the doffing robot to execute the doffing operation at the moment of + delta t by the operation control module through equivalent mapping.
Fig. 4A and 4B are schematic views of the automatic doffing apparatus of the present invention. As shown in fig. 4A and 4B, 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. 4A, and bus communication connection in a public communication trunk 5, as shown in fig. 4B. 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:
acquiring attribute parameters of a winding production line to construct a digital twin model of the winding production line;
acquiring real-time parameters of the winding production line to construct an equivalent mapping of the digital twin model and the winding production line;
acquiring a prediction parameter of the winding production line at a future moment through the digital twin model, and generating a roll-off scheme through the digital twin model according to the prediction parameter;
when the future time is reached, the winding production line is controlled to perform the doffing operation according to the doffing scheme through the equivalent mapping.
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 at least one 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, wherein the doffing plan comprises an actual doffing path when the doffing robot performs the doffing operation.
4. A chemical fiber filament doffing method according to claim 2, wherein said attribute parameters comprise: 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 equipment;
the real-time parameters include: the current position and loading condition of the doffing robot, the current package type, winding start time, the number of packages to be finished and a full package signal sent out when the package is full of each winder, and the current temporary storage amount of the temporary storage equipment;
the prediction parameters include: at the future time, the predicted position of the doffing robot, the predicted loading condition, the predicted time of the full roll signal that has been issued by each of the winders, and the predicted temporary storage amount of the temporary storage facility.
5. A chemical fiber filament doffing system based on a twin model is characterized by comprising:
the model building module is used for obtaining the attribute parameters of the winding production line so as to build a digital twin model of the winding production line;
the equivalent mapping module is used for acquiring real-time parameters of the winding production line so as to construct equivalent mapping between the digital twin model and 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 a roll-falling scheme through the digital twin model 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 doffing scheme by the equivalent map 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 on the wound package of the winding machine according to the doffing scheme, and then conveys the removed package to the temporary storage device.
7. The chemical fiber filament doffing system of claim 6, wherein the doffing plan comprises the doffing robot performing doffing operation on the winding machine and delivering the removed package to the actual doffing path of the temporary storage device.
8. The chemical fiber filament doffing system of claim 6, wherein the attribute parameters comprise: 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 equipment;
the real-time parameters include: the current position and loading condition of the doffing robot, the current package type of the winding machine, the winding starting time, the number of packages to be finished and a full package signal sent out when the package is full, and the current temporary storage amount of the temporary storage equipment;
the prediction parameters include: at the future time, the predicted position of the doffing robot, the predicted loading condition, the predicted time of the full roll signal that has been issued by each of the winders, and the predicted temporary storage amount of the temporary storage facility.
9. A computer readable storage medium storing executable instructions which, when executed by a processor, implement the chemical fiber filament doffing method according to any one of claims 1 to 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 according to any one of claims 1 to 4.
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