基于机器人的整经机筒子架自动换筒系统研发

针对纺织车间整经流程中筒子架换筒工序与运纱工序自动化程度低、劳动强度大的现状,提出了一种由换筒机器人与运纱机器人两个子系统组成的自动换筒系统。首先,阐述了自动换筒系统在整个纺织车间的工作流程。然后,以大"V"形循环式筒子架为例,利用数学建模的方法对机器人的行走路径进行分析,并对换筒系统的工位分布、工作流程及行走路径作出具体规划。同时,将大"V"形筒子架内侧均分为若干个换筒小区域,并为对应的换筒区域设置箱子存放区,便于换筒机器人与运纱机器人相互配合,实现筒子架自动换筒与纱筒自动搬运功能。最后,详细介绍了换筒机器人与运纱机器人的系统组成。换筒机器人由行走、换筒、换箱、检测4大部分组成,可完成自动换筒与换箱动作;运纱机器人子系统主要由行走、执行、检测3大部分组成,可实现自动搬运纱筒功能。该换筒系统有利于企业节约用人成本,提高生产效益。

Research and development of automatic tube changing system of warping machine creel based on robot

Aiming to change the situation in the textile workshop that low automation and high labor intensity turn out in the yam transporting and tubes replacing process when waring,an auto tube changing system is proposed,which consists of two subsystems,a tube-replacing robot and a yam-transporting robot.Firstly,the work process of auto tube changing system is introduced.Then,taking the V-shape cycle tube shelf as an example,the path robots walking along is analyzed by mathematical modeling and specific plans and the paths of the system are made for the station distribution.Meanwhile,the inner side of the shelf is separated to several areas for tube replacing,along with corresponding space for box storage,which could help the cooperation between two robots and the automation of tube replacing and yam transporting.Finally,the composition of the system of the two robots is illustrated in detail.The tube-replacing robot is composed of four parts such as walking part,tube-replacing part,box-replacing part and detection part,which is able to replace tubes and boxes automatically,while the yam-transporting one,consisting of walking,running and detection parts,could carry and transport tubes automatically.This system can contribute to lower employment cost and higher production efficiency in the enterprises.