圆纬机纱架自动换筒技术

针对传统人工换筒的圆纬机存在生产自动化程度低、劳动强度大、人力成本高等问题，提出一种基于桁架机器人和换筒机械手的自动换筒方案。根据人工更换纱筒仿生工艺，结合圆纬机生产车间布局、纱架结构、纱筒类型以及换筒周期等因素，设计了桁架机器人和换筒机械手的机械结构，以及自动换筒的工艺流程和电气原理图等，并研制了实验室测试机构。最后研究了基于AS320T模块和伺服电动机的纱筒更换控制算法，实现了利用触摸屏作为人机交互界面的自动换筒功能。测试结果表明，采用此控制技术满足了圆纬机纱架自动换筒的准度、稳定性以及重复性要求，实现了以“机器换筒、人工接头”的方式为圆纬机续线，对解决传统人工换筒存在的问题具有重要意义。

Automatic bobbin changing technology for circular weft knitting machines

Facing the problems such as low automation, high labor intensity and high labor cost associated with traditional manual cylinder changing, a new automatic cylinder changing scheme based on truss robot and bobbin changing manipulator was proposed. According to the bionic technology of manual changing the bobbin, the mechanical structure of the truss robot and the bobbin changing manipulator was designed and a laboratory testing machine was developed, taking in to considerations of the factors such as the layout of the production workshop, the structure of the bobbin, the type of the bobbin and the changing period, the process flow and the electrical principle diagram of the automatic bobbin changing. The control algorithm of bobbin change based on AS320T module and servo motor was established, and the function of automatic bobbin change was achieved by using a touch-screen as man-machine interface. The research results show that the control technology can meet the requirements on precision, stability and repeatability of the automatic bobbin changing of the circular weft knitting machine, and realize the function of "automatic bobbin changing with manual thread joining" for the circular weft knitting machine, which is significant in solving the problems in traditional manual bobbin changing.