CN110359132B - Novel cotton grabbing process suitable for intelligent spinning - Google Patents
Novel cotton grabbing process suitable for intelligent spinning Download PDFInfo
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- CN110359132B CN110359132B CN201910626280.XA CN201910626280A CN110359132B CN 110359132 B CN110359132 B CN 110359132B CN 201910626280 A CN201910626280 A CN 201910626280A CN 110359132 B CN110359132 B CN 110359132B
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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
- D01G7/02—Breaking or opening fibre bales by means of beater arms
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
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- Preliminary Treatment Of Fibers (AREA)
Abstract
The invention provides a new cotton grabbing process suitable for intelligent spinning, which comprises the following steps: blowing by a cotton grabbing workbench: in the operation process of the cotton grabbing device for intelligent spinning, raw materials are put into a cotton grabbing workbench; sending a cotton-picking signal: the automatic cotton grabbing mode of the cotton grabbing machine is started, the thickness of a cotton layer is calculated through image recognition software, the descending distance and the descending speed of a cotton grabbing beater are calculated, and the cotton grabbing beater automatically reciprocates to grab a cotton program through a lifting moving device; feeding: the cotton grabbing beater conveys the raw materials through the feeding air pipe, the height of the cotton grabbing beater can be automatically adjusted in the cotton grabbing process through the process, the raw materials are conveniently grabbed by the cotton grabbing beater in the cotton grabbing device, and the phenomenon that the raw materials are grabbed repeatedly at two ends is avoided; meanwhile, the cotton grabbing platform avoids the phenomenon that raw materials fall outside the cotton grabbing platform under the action of the left guide rod and the right guide rod, the automation of cotton grabbing is realized, the production efficiency is high, and manpower and material resources are saved.
Description
Technical Field
The invention belongs to the technical field of textile equipment, and particularly relates to a novel cotton grabbing process suitable for intelligent spinning.
Background
The bale plucker is the first process of the opening and picking combination machine, and can fully mix raw cotton when the opening and picking quality is good and the raw cotton is mixed according to the technological requirements of opening and mixing cotton, so that the generation of impurities is reduced. The cotton grabbing machine has the working principle that the cotton grabbing trolley sweeps the surfaces of the parallel component raw materials, the component raw materials are sequentially grabbed in a thin-layer small block mode through the action of a beater rotating at a high speed and negative pressure air suction, the component raw materials are circularly and repeatedly sent into a cotton storage box of a front machine, and the thin-layer small blocks are circularly grabbed, so that the cotton blocks of the component raw materials are staggered and mixed.
The bale plucker is divided into a disc type bale plucker and a reciprocating type bale plucker; disc type bale plucker: the cotton bale is arranged in a sector shape in the disc and can not be distributed without gaps, the raw materials of all components cannot be distributed in the disc in an equal density due to the gaps of the cotton bale, when the raw materials are grabbed on the circulating surface layer of the trolley, the cotton grabbing machine of the disc type is easy to cause that the sizes of the internal and external grabbed cotton blocks are greatly different due to the fact that the linear speeds of the inner and the outer parts of the trolley are different, and then the phenomenon that the sizes of the cotton blocks are inconsistent is caused. Reciprocating type bale plucker: the compact raw material bales of each component are arranged side by side to realize gapless distribution, the reciprocating cotton grabbing machine can realize uniform grabbing of small bale bales, namely, the grabbed bales are light, small and uniform, and are beneficial to uniform mixing of fiber raw materials in the later period, but the cotton grabbing trolley grabs in a reciprocating mode, when the trolley returns to the top end, the problem of repeated grabbing of components at two ends exists, the uniform grabbing and mixing of the fiber raw materials of each component are not favorable, and cotton packages are easy to fall outside a cotton grabbing platform in the grabbing process of reciprocating grabbing, so that raw materials are wasted.
Chinese patent application No. CN201220211030.3, the name is automatic cotton grabbing device of purified cotton, this patent snatchs and tears the purified cotton through grabbing cotton fly sword, the automation of grabbing the cotton has been realized, rethread draught fan and material loading tuber pipe carry the refined cotton of tearing up to smashing in the rubbing crusher, this patent is though production efficiency is high, workman low in labor strength, but its weak point lies in adopting the disc type bale plucker, there is the clearance in the cotton bale range, the phenomenon that the cotton piece size is not uniform appears snatching when leading to snatching easily.
The Chinese patent application No. CN201310366144.4 discloses an automatic bale plucker, wherein a lifting device and a cotton storage bin are arranged at the bottom of an air suction cover, the cotton storage bin is fixed on a base, and a movable cotton storage bin is further arranged on the base.
In the prior art, the bale plucking machine is easy to have the phenomena of different bale plucking sizes, plucking dropping and manual plucking of cotton linters sometimes in the production and processing processes of cotton linters, so that an intelligent spinning cotton plucking process needs to be designed to solve the problem of cotton plucking in-process and improve the plucking efficiency.
Disclosure of Invention
Aiming at the problems that the height of a cotton grabbing beater can be continuously adjusted manually to grab raw materials and the raw materials easily fall outside a cotton grabbing platform in the grabbing process in the prior art, the invention provides a new cotton grabbing process suitable for intelligent spinning and a cotton grabbing device suitable for intelligent spinning, wherein an industrial camera is arranged on a cotton grabbing worktable, when the raw material induction sensor detects the raw material, the industrial camera shoots and collects the image of the cotton picking layer, the collected image is processed by using image processing software, data is extracted from the processed image and the thickness of the cotton picking layer is calculated, the descending distance and speed of the cotton grabbing beater are calculated according to the thickness of the cotton grabbing layer, the automatic adjustment of the height of the cotton grabbing beater in the cotton grabbing process can be realized through the process, the cotton grabbing beater in the cotton grabbing device is convenient to grab raw materials, and the phenomenon of repeated grabbing at two ends is avoided; meanwhile, the cotton grabbing platform avoids the phenomenon that raw materials fall outside the cotton grabbing platform under the action of the left guide rod and the right guide rod, the automation of cotton grabbing is realized, the production efficiency is high, and manpower and material resources are saved.
A new cotton grabbing process suitable for intelligent spinning comprises the following steps:
s1, discharging by a cotton grabbing workbench: in the operation process of the cotton grabbing device for intelligent spinning, raw materials are put into a cotton grabbing workbench;
s2, sending a cotton-picking signal: the automatic cotton grabbing mode of the cotton grabbing machine is started, the thickness of a cotton layer is calculated through image recognition software, the descending distance and the descending speed of a cotton grabbing beater are calculated, and the cotton grabbing beater automatically reciprocates to grab a cotton program through a lifting moving device;
s3, feeding: the cotton grabbing beater carries the raw materials through the feeding air pipe by grabbing the raw materials.
Further, in the step S2, in the process of grabbing cotton, the instantaneous speed direction of the lowest point of the grabbing cotton beater grabbing cotton is opposite to the running speed direction of the grabbing cotton machine, wherein the speed of the grabbing cotton beater is 900-.
Further, the cotton grabbing device comprises a workbench and a cotton grabbing mechanism, and a movable guide rail and a movable trolley are arranged on the workbench; the movable trolley is provided with a movable sliding chute matched with the movable guide rail, and the movable trolley horizontally moves on the workbench along the movable guide rail; the cotton grabbing mechanism comprises a cotton grabbing beater, a lifting moving device and a feeding air pipe; the lifting moving device comprises a lifting cavity, a moving block and a lead screw, the lower end of the lifting cavity is fixedly connected with the bottom of the moving trolley, the upper end of the lifting cavity is connected with a lifting motor, and the lifting moving device is fixed on the moving trolley.
Furthermore, the output end of the lifting motor in the lifting moving device is fixedly connected with the lead screw, the lead screw is positioned in the lifting cavity, an upper moving block and a lower moving block are arranged on the upper portion of the lead screw, the moving blocks are connected with the lead screw and are in sliding connection with the lifting cavity, and when the moving blocks on the lead screw receive lifting signals transmitted by the raw material induction sensor, the lifting motor drives the moving blocks to do lifting reciprocating motion in the lifting cavity along the lead screw.
Furthermore, the right side of a moving block in the lifting moving device is connected with a cotton grabbing mechanism, and the right side of the moving block is fixedly connected with a fixed rod at the upper part of a cotton grabbing beater in the cotton grabbing mechanism.
Further, the cotton grabbing mechanism comprises a cotton grabbing sucker, a cotton grabbing beater and a cotton grabbing workbench, the upper end of the cotton grabbing sucker is connected with a fixed rod through a telescopic rod, the fixed rod is fixedly connected with the mounting table, the fixed rod is connected with the lifting cavity through a movable block, and the movable block moves up and down in the lifting cavity through a lead screw under the condition that the lifting motor outputs signals; the cotton grabbing sucker is characterized in that the right side of the lower end of the cotton grabbing sucker is connected with a right partition plate, the right partition plate is fixedly connected with a cotton grabbing workbench through a right guide rod, and the left side of the lower end of the cotton grabbing sucker is connected with a left partition plate, and the left partition plate is fixedly connected with the cotton grabbing workbench through a left guide rod.
Furthermore, the feeding air pipe is connected with the cotton grabbing sucker and moves up and down through the telescopic pipe to feed materials to the upper end.
Furthermore, the upper part of the cotton grabbing sucker moves up and down along with the moving block through a telescopic rod, the right side of the lower part of the cotton grabbing sucker moves up and down along the right partition plate through a right guide rod, and the left side of the lower part of the cotton grabbing sucker moves up and down along the left partition plate through a left guide rod.
Furthermore, be provided with raw materials inductive sensor on grabbing cotton sucking disc lateral wall, be provided with the controller on the travelling car, raw materials inductive sensor is connected with controller, elevator motor and driving motor through the cable, and the controller is controlled through elevator motor and is grabbed cotton hired roughneck and reciprocate when receiving raw materials inductive sensor output signal, realizes the removal of horizontal direction through driving motor control travelling car.
Furthermore, an industrial camera is arranged on the cotton grabbing workbench, when the raw material induction sensor detects the raw material, the industrial camera shoots and collects images of the cotton grabbing layer, the collected images are processed by using image processing software, data are extracted from the processed images, the thickness of the cotton grabbing layer is calculated, and the descending distance and speed of the cotton grabbing beater are calculated according to the thickness of the cotton grabbing layer.
When the raw material induction sensor detects the raw material, the industrial camera shoots a complete picture of the raw material to carry out image preprocessing; detecting an image edge; and positioning the thickness of the cotton grabbing layer.
The edge processing method comprises the following steps:
a. and setting a filter, smoothing the image by using filtering, and removing noise influence, wherein the calculation formula of the filtering is as follows:
wherein b (x, y) is the pixel of the image after filtering, a (i, j) is the pixel of the collected image, Txy is the filtered template, and (i, j) is the pixel coordinate in the filtered template;
b. extracting edge features, wherein the expression of enhancing edges by adopting a first-order difference operator is as follows:
Gx(i,j)＝f(i-1,j+1)+f(i,j+1)+f(i+1,j+1)-f(i-1,j-1)-f(i,j-1)-f(i+1,j-1)
Gy(i,j)＝f(i+1,j-1)+f(i+1,j)+f(i+1,j+1)-f(i-1,j-1)-f(i-1,j)-f(i-1,j+1)
wherein G isx(i, j) and Gy(i, j) are the gradients of the point (i, j) in the X and Y directions, respectively, and f (i, j) is the gray value of the point with the gradient amplitude
c. Edge feature matching: the width of the cotton grabbing workbench is B, the height of the cotton grabbing workbench is H, and the cotton grabbing workbench model is created through edge characteristics and comprises a point set
And their gradients in the X and Y directions
Wherein x and y represent pixel point coordinates, x is more than or equal to 0 and less than or equal to B, and y is more than or equal to 0 and less than or equal to H; and removing a part of false edges by calculating whether the gray gradient amplitude of the point is the maximum value in the adjacent points along the gradient direction, if so, retaining the gradient amplitude, and otherwise, marking as 0.
And (3) positioning the thickness of the cotton catching layer after the edge characteristic treatment is finished: after the image contour of the cotton grabbing workbench before and after cotton grabbing is extracted, projection is carried out in the vertical direction, wherein the vertical distance of the processed image on the surface of the cotton grabbing workbench after cotton grabbing is recorded as H1The vertical distance H of the cotton layer on the surface of the cotton grabbing worktable before cotton grabbing2The thickness of the cotton-grabbing surface layer is recorded as H ═ H2-H1And at the moment, the descending distance and the descending speed of the cotton grabbing beater are calculated by the controller.
The working principle of the invention is as follows: the method comprises the steps that raw materials are put into a cotton grabbing workbench, when a raw material induction sensor in a cotton grabbing sucker detects the raw materials, images of a cotton grabbing layer are shot and collected through an industrial camera, the collected images are processed through image processing software, data are extracted from the processed images, the thickness of the cotton grabbing layer is calculated, the descending distance and the descending speed of a cotton grabbing beater are calculated according to the thickness of the cotton grabbing layer, signals are transmitted to a lifting motor and a driving motor through cables, a controller is started, the lifting motor transmits output end signals to a lead screw, the lead screw transmits lifting signals to a moving block, and the moving block moves up and down in a lifting cavity; the movable block drives a telescopic rod at the upper part of the cotton grabbing sucker to perform lifting motion, the upper part of the telescopic rod is fixedly connected with the mounting table through a fixed rod, and the telescopic rod drives the cotton grabbing sucker to perform lifting motion; when the cotton grabbing sucker moves up and down, the right partition plate at the right side of the lower end of the cotton grabbing sucker passes through the right guide rod, the left partition plate at the left side moves up and down with the cotton grabbing workbench through the left guide rod, and the descending speed and the descending distance of the cotton grabbing sucker are adjusted in time; the cotton grabbing sucker lifts and moves the grabbed raw materials under the action of the telescopic pipe through the feeding air pipe to convey the raw materials; after the driving motor receives the signal, the moving trolley is controlled to move forwards or backwards on the workbench along the moving guide rail in the horizontal direction, so that the cotton grabbing work is ensured to be carried out smoothly.
Advantageous effects
(1) According to the invention, the industrial camera is arranged on the cotton grabbing workbench, when the raw material induction sensor detects the raw material, the image of the cotton grabbing layer is shot and collected through the industrial camera, the collected image is processed by using image processing software, data is extracted from the processed image, the thickness of the cotton grabbing layer is calculated, and the descending distance and speed of the cotton grabbing beater are calculated according to the thickness of the cotton grabbing layer, so that the automatic adjustment of the height of the cotton grabbing beater during the cotton grabbing process can be realized, the raw material grabbing by the cotton grabbing beater in the cotton grabbing device is facilitated, and meanwhile, the phenomenon that the raw material falls on the outer side of the cotton grabbing platform is avoided under the action of the left guide rod and the right guide rod by the cotton grabbing platform, the automation of cotton grabbing is realized, the production efficiency is high, and the manpower and material resources are saved.
(2) The rotating speed of the cotton grabbing beater is 900-1400r/min, the beating and tearing of the blades of the cotton grabbing beater to cotton are smooth in the cotton grabbing process, the fibers cannot be damaged to a large extent, the short fiber rate is reduced, and meanwhile, the rotating speed is high in cotton grabbing yield in the cotton grabbing process.
(3) In the cotton grabbing process, the instantaneous speed direction of the lowest point of the cotton grabbing beater for grabbing cotton is opposite to the running speed direction of the cotton grabbing machine, so that the grabbing of raw materials is facilitated, the generation of short melt can be effectively reduced, the fiber damage is reduced, and the cotton grabbing quality is improved.
(4) The diameter of the cotton grabbing beater is 250-300mm, more blades can be arranged on the cotton grabbing beater, the longer the arc length is, the larger the working area is, the larger the grabbing yield in the cotton grabbing process is, and at the moment, the cotton grabbing frequency of the cotton grabbing beater in unit time is proper, so that the fiber damage is reduced, the short fiber rate is reduced, and the quality is better.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent spinning and cotton-grabbing device in the invention;
FIG. 2 is a flow chart of a cotton grabbing and beating speed algorithm in the intelligent spinning cotton grabbing device;
in the figure: 1. a work table; 2. a moving guide rail; 3. moving the trolley; 4. a lifting cavity; 5. a moving block; 6. a lead screw; 7. a lifting motor; 8. a telescopic pipe; 9. a feeding air pipe; 10. a cotton grabbing sucker; 11. a cotton grabbing beater; 12. a right baffle plate; 13. a right guide bar; 14. a cotton grabbing workbench; 15. a left guide bar; 16. a left baffle plate; 17. fixing the rod; 18. a telescopic rod; 19. an installation table; 20. a controller; 21. a raw material induction sensor; 22. the motor is driven.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
Example 1
A new cotton grabbing process suitable for intelligent spinning comprises the following steps:
s1, discharging by a cotton grabbing workbench: in the operation process of the cotton grabbing device for intelligent spinning, raw materials are put into a cotton grabbing workbench;
s2, sending a cotton-picking signal: the automatic cotton grabbing mode of the cotton grabbing machine is started, the thickness of a cotton layer is calculated through image recognition software, the descending distance and the descending speed of a cotton grabbing beater are calculated, and the cotton grabbing beater automatically reciprocates to grab a cotton program through a lifting moving device;
s3, feeding: the cotton grabbing beater carries the raw materials through the feeding air pipe by grabbing the raw materials.
Further, in the step S2, in the process of grabbing cotton, the instantaneous speed direction of the lowest point of the grabbing cotton beater grabbing cotton is opposite to the running speed direction of the grabbing cotton machine, wherein the speed of the grabbing cotton beater is 900-.
As shown in FIG. 1, FIG. 1 is a schematic structural diagram of an intelligent spinning and cotton-grabbing device of the invention.
Further, the cotton grabbing device comprises a workbench 1 and a cotton grabbing mechanism, wherein a movable guide rail 2 and a movable trolley 3 are arranged on the workbench 1; the moving trolley 3 is provided with a moving chute matched with the moving guide rail 2, and the moving trolley 3 horizontally moves on the workbench 1 along the moving guide rail 2; the cotton grabbing mechanism comprises a cotton grabbing beater 11, a lifting moving device and a feeding air pipe 9; the lifting moving device comprises a lifting cavity 4, a moving block 5 and a lead screw 6, the lower end of the lifting cavity 4 is fixedly connected with the bottom of the moving trolley, the upper end of the lifting cavity 4 is connected with a lifting motor 7, and the lifting moving device is fixed on the moving trolley 3.
Further, in the lifting and moving device, the output end of the lifting motor 7 is fixedly connected with the lead screw 6, the lead screw 6 is located inside the lifting cavity 4, the upper portion of the lead screw 6 is provided with an upper moving block 5 and a lower moving block 5, the moving blocks 5 are connected with the lead screw 6 and are in sliding connection with the lifting cavity 4, and when the moving blocks 5 on the lead screw 6 receive a lifting signal transmitted from the raw material induction sensor 21, the lifting motor 7 drives the moving blocks 5 to do lifting and reciprocating motion in the lifting cavity 4 along the lead screw.
Further, the right side of a moving block 5 in the lifting moving device is connected with a cotton grabbing mechanism, and the right side of the moving block 5 is fixedly connected with a fixed rod 17 at the upper part of a cotton grabbing beater in the cotton grabbing mechanism.
Further, the cotton grabbing mechanism comprises a cotton grabbing sucker 10, a cotton grabbing beater 11 and a cotton grabbing workbench 14, the upper end of the cotton grabbing sucker 10 is connected with a fixed rod 17 through a telescopic rod 18, the fixed rod 17 is fixedly connected with an installation table 19, the fixed rod 17 is connected with the lifting cavity 4 through a movable block 5, and the movable block 5 moves up and down in the lifting cavity 4 through a lead screw 6 under the condition that a lifting motor 7 outputs signals; the cotton grabbing sucker 10 is characterized in that the right side of the lower end of the cotton grabbing sucker 10 is connected with a right partition plate 12, the right partition plate 12 is fixedly connected with a cotton grabbing workbench 14 through a right guide rod 13, and the left side of the lower end of the cotton grabbing sucker 10 is connected with a left partition plate 16, and the left partition plate 16 is fixedly connected with the cotton grabbing workbench 14 through a left guide rod 15.
Furthermore, the feeding air pipe 9 is connected with a cotton grabbing sucker 10, and the feeding air pipe can lift and move to feed materials to the upper end through the telescopic pipe 8.
Further, the upper portion of the cotton picking suction disc 10 moves up and down along with the moving block 5 through the telescopic rod 18, the right side of the lower portion of the cotton picking suction disc 10 moves up and down along the right partition plate 12 through the right guide rod 13, and the left side of the lower portion of the cotton picking suction disc 10 moves up and down along the left partition plate 16 through the left guide rod 15.
Further, be provided with raw materials induction sensor 21 on the cotton sucking disc 10 lateral wall of grabbing, be provided with controller 20 on the travelling car 3, raw materials induction sensor 21 is connected with controller 20, elevator motor 7 and driving motor 22 through the cable, and the controller is controlled through elevator motor 7 and is grabbed cotton hired roughneck 11 and reciprocate when receiving raw materials induction sensor 21 output signal, realizes the removal of horizontal direction through driving motor 22 control travelling car.
Further, an industrial camera is arranged on the cotton grabbing workbench 14, when the raw material induction sensor detects the raw material, the industrial camera shoots and collects images of the cotton grabbing layer, the collected images are processed by using image processing software, data are extracted from the processed images, the thickness of the cotton grabbing layer is calculated, and the descending distance and speed of the cotton grabbing beater 11 are calculated according to the thickness of the cotton grabbing layer.
As shown in fig. 2, fig. 2 is a flow chart of a cotton grabbing beater speed algorithm in the intelligent spinning cotton grabbing device of the invention; when the raw material induction sensor detects the raw material, the industrial camera shoots a complete picture of the raw material to carry out image preprocessing; detecting an image edge; and positioning the thickness of the cotton grabbing layer.
The edge processing method comprises the following steps:
a. and setting a filter, smoothing the image by using filtering, and removing noise influence, wherein the calculation formula of the filtering is as follows:
where b (x, y) is the pixel of the image after filtering, a (i, j) is the pixel of the captured image, Txy is the filtered template, and (i, j) is in the filtered templatePixel coordinates;
b. extracting edge features, wherein the expression of enhancing edges by adopting a first-order difference operator is as follows:
Gx(i,j)＝f(i-1,j+1)+f(i,j+1)+f(i+1,j+1)-f(i-1,j-1)-f(i,j-1)-f(i+1,j-1)
Gy(i,j)＝f(i+1,j-1)+f(i+1,j)+f(i+1,j+1)-f(i-1,j-1)-f(i-1,j)-f(i-1,j+1)
wherein G isx(i, j) and Gy(i, j) are the gradients of the point (i, j) in the X and Y directions, respectively, and f (i, j) is the gray value of the point with the gradient amplitude
c. Edge feature matching: the width of the cotton grabbing workbench is B, the height of the cotton grabbing workbench is H, and the cotton grabbing workbench model is created through edge characteristics and comprises a point set
And their gradients in the X and Y directions
Wherein x and y represent pixel point coordinates, x is more than or equal to 0 and less than or equal to B, and y is more than or equal to 0 and less than or equal to H; and removing a part of false edges by calculating whether the gray gradient amplitude of the point is the maximum value in the adjacent points along the gradient direction, if so, retaining the gradient amplitude, and otherwise, marking as 0.
And (3) positioning the thickness of the cotton catching layer after the edge characteristic treatment is finished: after the image contour of the cotton grabbing workbench before and after cotton grabbing is extracted, projection is carried out in the vertical direction, wherein the vertical distance of the processed image on the surface of the cotton grabbing workbench after cotton grabbing is recorded as H1The vertical distance H of the cotton layer on the surface of the cotton grabbing worktable before cotton grabbing2The thickness of the cotton-grabbing surface layer is recorded as H ═ H2-H1And at the moment, the descending distance and the descending speed of the cotton grabbing beater are calculated by the controller.
The working principle of the invention is as follows: the method comprises the steps that raw materials are put into a cotton grabbing workbench, when a raw material induction sensor 21 in a cotton grabbing sucker detects the raw materials, images of a cotton grabbing layer are shot and collected through an industrial camera, the collected images are processed through image processing software, data are extracted from the processed images, the thickness of the cotton grabbing layer is calculated, the descending distance and the descending speed of a cotton grabbing beater are calculated according to the thickness of the cotton grabbing layer, the raw materials are put into a cotton grabbing workbench 14, the raw material induction sensor 21 in the cotton grabbing sucker 10 transmits signals to a lifting motor 7 and a driving motor 22 through cables, a controller 20 is started, the lifting motor 7 transmits output end signals to a lead screw 6, the lead screw 6 transmits lifting signals to a moving block 5, and the moving block 5 moves up and down in a lifting cavity 4; the movable block 5 drives an upper telescopic rod 18 of the cotton grabbing sucker to perform lifting motion, the upper part of the telescopic rod 18 is fixedly connected with an installation platform 19 through a fixed rod 17, and the telescopic rod 18 drives the cotton grabbing sucker 10 to perform lifting motion; when the cotton grabbing sucker 10 moves up and down, the right partition plate 12 on the right side of the lower end of the cotton grabbing sucker 10 moves up and down through the right guide rod 13, the left partition plate 16 on the left side moves up and down through the left guide rod 15 and the cotton grabbing workbench 14, and the descending speed and the descending distance of the cotton grabbing sucker are adjusted in time; the cotton grabbing sucker 10 lifts and moves the grabbed raw materials under the action of the telescopic pipe 8 through the feeding air pipe 9 to convey the raw materials; after the driving motor receives the signal, the driving motor controls the moving trolley 3 to move forwards or backwards along the moving guide rail 2 on the workbench 1 in the horizontal direction, so that the cotton grabbing work is ensured to be carried out smoothly.
Examples 2 to 5
Table 1:
it can be seen from table 2 that, as the speed of the cotton grabbing beater is increased, the short fiber rate tends to increase gradually, which is mainly because, as the speed of the cotton grabbing beater is increased, the striking and tearing of the cotton by the gear blade on the cotton grabbing beater is more severe, the damage degree to the fiber is increased, and the formation of short fiber amount in the cotton grabbing process is increased, when the speed of the cotton grabbing beater is too low, although the short fiber amount is lower, the cotton grabbing amount is lower, so in order to increase the yield of the cotton grabbing and reduce the formation of short fiber amount, when the speed of the cotton grabbing beater is 900-.
Examples 6 to 10
Examples 6 to 10 provide a new cotton plucking process suitable for intelligent spinning, which is different from example 1 in that the diameter of the cotton plucking beater is changed, and other operations are the same except for the above differences, and are not repeated here, and specific parameters are shown in table 2.
Table 2:
| examples | Cotton beater diameter (mm) | Short fiber rate |
| Example 6 | 200 | 10.5％ |
| Example 7 | 250 | 11.7％ |
| Example 8 | 275 | 13.9％ |
| Example 9 | 300 | 14.3％ |
| Example 10 | 350 | 19.6％ |
It can be seen from table 3 that, as the diameter of the grabbed cotton increases, more blades can be arranged on the grabber, the arc length is longer, the working area is larger, the grabbing yield in the grabbing process is larger, the tearing frequency of the grabber to the grabbed cotton in unit time is larger, the grabbed short fiber rate is increased, when the diameter of the grabbed cotton is too small, the corresponding arc length is shorter, the working area is correspondingly reduced, the grabbing yield in the grabbing process is smaller, the tearing frequency of the grabber to the grabbed cotton in unit time is smaller, the grabbed short fiber rate is reduced, so that the grabbing cotton diameter is increased to facilitate the increase of the grabbing yield while the grabbing quality is ensured, the grabbing diameter is within the range of 300mm and 250 mm, and the grabbing performance is better.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. A cotton grabbing process suitable for intelligent spinning is characterized by comprising the following steps:
s1, discharging by a cotton grabbing workbench: in the operation process of the cotton grabbing device for intelligent spinning, raw materials are put into a cotton grabbing workbench;
s2, sending a cotton-picking signal: the automatic cotton grabbing mode of the cotton grabbing machine is started, the thickness of a cotton layer is calculated through image recognition software, the descending distance and the descending speed of a cotton grabbing beater are calculated, and the cotton grabbing beater automatically reciprocates to grab a cotton program through a lifting moving device;
s3, feeding: the cotton grabbing beater conveys the raw materials through the material feeding air pipe;
the cotton grabbing device comprises a workbench (1) and a cotton grabbing mechanism, wherein a movable guide rail (2) and a movable trolley (3) are arranged on the workbench (1); the moving trolley (3) is provided with a moving chute matched with the moving guide rail (2), and the moving trolley (3) horizontally moves on the workbench (1) along the moving guide rail (2); the cotton grabbing mechanism comprises a cotton grabbing beater (11), a lifting moving device and a feeding air pipe (9); the lifting moving device comprises a lifting cavity (4), a moving block (5) and a lead screw (6), the lower end of the lifting cavity (4) is fixedly connected with the bottom of the moving trolley, the upper end of the lifting cavity (4) is connected with a lifting motor (7), and the lifting moving device is fixed on the moving trolley (3);
the cotton grabbing mechanism comprises a cotton grabbing sucker (10), a cotton grabbing beater (11) and a cotton grabbing workbench (14), the upper end of the cotton grabbing sucker (10) is connected with a fixed rod (17) through a telescopic rod (18), the fixed rod (17) is fixedly connected with an installation table (19), the fixed rod (17) is connected with a lifting cavity (4) through a movable block (5), and the movable block (5) moves in the lifting cavity (4) through a lead screw (6) under the condition that a lifting motor (7) outputs signals; the right side of the lower end of the cotton grabbing sucker (10) is connected with a right partition plate (12), the right partition plate (12) is fixedly connected with a cotton grabbing workbench (14) through a right guide rod (13), the left side of the lower end of the cotton grabbing sucker (10) is connected with a left partition plate (16), and the left partition plate (16) is fixedly connected with the cotton grabbing workbench (14) through a left guide rod (15);
the cotton grabbing device is characterized in that an industrial camera is arranged on the cotton grabbing workbench (14), when the raw material induction sensor (21) detects raw materials, images of the cotton grabbing layer are shot and collected through the industrial camera, the collected images are processed through image processing software, data are extracted from the processed images, the thickness of the cotton grabbing layer is calculated, and the descending distance and the descending speed of the cotton grabbing beater (11) are calculated according to the thickness of the cotton grabbing layer.
2. The cotton grabbing process suitable for intelligent spinning as claimed in claim 1, wherein in the step S2, the instantaneous speed direction of the lowest point of the cotton grabbing hand is opposite to the running speed direction of the cotton grabbing machine during the cotton grabbing process, wherein the speed of the cotton grabbing hand is 900-1200r/min, and the diameter of the cotton grabbing hand is 250-300 mm.
3. The cotton grabbing process suitable for intelligent spinning according to claim 1, wherein the output end of the lifting motor (7) in the lifting moving device is fixedly connected with a lead screw (6), the lead screw (6) is located inside the lifting cavity (4), an upper moving block (5) and a lower moving block (5) are arranged on the upper portion of the lead screw (6), and the moving blocks (5) are connected with the lead screw (6) and are in sliding connection with the lifting cavity (4).
4. The cotton grabbing process suitable for intelligent spinning according to claim 1, wherein the cotton grabbing process comprises the following steps: the right side of a moving block (5) in the lifting moving device is connected with a cotton grabbing mechanism, and the right side of the moving block (5) is fixedly connected with a fixed rod (17) at the upper part of a cotton grabbing beater in the cotton grabbing mechanism.
5. The cotton grabbing process suitable for intelligent spinning according to claim 1, wherein the cotton grabbing process comprises the following steps: the feeding air pipe (9) is connected with the cotton grabbing sucker (10) and moves up and down through the telescopic pipe (8) to feed materials to the upper end.
6. The cotton grabbing process suitable for intelligent spinning according to claim 1, wherein the cotton grabbing process comprises the following steps: the cotton picking sucker (10) is lifted and moved along with the moving block (5) through the telescopic rod (18), the right side of the lower portion of the cotton picking sucker (10) moves up and down along the right partition plate (12) through the right guide rod (13), and the left side of the lower portion of the cotton picking sucker (10) moves up and down along the left partition plate (16) through the left guide rod (15).
7. The cotton grabbing process suitable for intelligent spinning according to claim 1, wherein the cotton grabbing process comprises the following steps: grab and be provided with raw materials induction sensor (21) on cotton sucking disc (10) lateral wall, be provided with controller (20) on removal dolly (3), raw materials induction sensor (21) are connected through cable and controller (20), elevator motor (7) and driving motor (22), and the controller is through elevator motor (7) control grab cotton hired roughneck (11) and reciprocate when receiving raw materials induction sensor (21) output signal, realizes the removal of horizontal direction through driving motor (22) control removal dolly.
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| CN111624948B (en) * | 2020-01-20 | 2021-06-04 | 武汉裕大华纺织有限公司 | Intelligent cotton grabbing management system |
| CN113322585A (en) * | 2021-05-12 | 2021-08-31 | 武汉纺织大学 | Intelligent combined processing system suitable for yak wool felting |
| CN114875526B (en) * | 2022-06-22 | 2024-08-23 | 安徽富春纺织有限公司 | Automatic stopping alarm device for cleaning cotton and catching foreign matter during spinning |
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| JPH0525713A (en) * | 1991-05-17 | 1993-02-02 | Murata Mach Ltd | Foreign matter detector of opening and scutching process |
| EP0604875B1 (en) * | 1992-12-31 | 1999-04-21 | Zellweger Uster, Inc. | Continious two dimensional monitoring of thin webs of textile materials |
| IT1292445B1 (en) * | 1996-08-08 | 1999-02-08 | Truetzschler & Co | PROCEDURE AND DEVICE IN A PLANT FOR THE PREPARATION FOR SPINNING (DYEING) FOR THE RECOGNITION AND SEPARATION OF SUBSTANCES |
| CN104514043A (en) * | 2013-09-27 | 2015-04-15 | 江苏康源纺织有限公司 | Induction type automatic bale plucker |
| CN103806133B (en) * | 2014-02-26 | 2015-12-30 | 江苏斯利浦睡眠产业科技有限公司 | A kind of intelligent antistatic additive suction machine |
| CN104294411B (en) * | 2014-09-03 | 2016-10-19 | 江苏金汇自动化技术有限公司 | Automatic plucker |
| CN109234853A (en) * | 2018-12-06 | 2019-01-18 | 滁州霞客环保色纺有限公司 | A kind of high efficiency grabs cotton devices and methods therefor automatically |
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