The Design Of Thetransit System Of The Intelligent Creel Robot

In recent years, with the change of market demand of carpet, the order of textile company is tend to bemore changes in color and smaller quantity. For traditional textile company, when the order needs to be changed, the company needs spend1～2days to change the yarns. And in these days, the Loom must be stopped. Sometimes, if the color is complexity, the days of changing yarn may be much more. To improve the efficiency, the company must pay more manual labor. And the cost of the carpet will be higher. Also in the process of weaving, much yarn is wasted when changing the yarn. So under this kind of circumstances, company faces the contradiction between efficiency and cost.The transitsystemoftheintelligentcreelrobot is designed to fulfilthe demand. By using the robot, the efficiency of company will be improved,and it also can reduce the cost of manual labor as well as raise the reliability of change yarn. So that it will solve the contradiction that the company faces.The intelligent creel robot system adopts the distributed control system based on CAN bus. The system uses the upper computer to coordinate mission and use lower computer to control the devices.In the paper, CAN bus is used as system communication by comparing with the mainstream fieldbus on the market. According to the general structure of distributed control system based on CAN bus, the control structure in this system is given. The control layer of the system is composed of PLC and motion control card.By analysis the space of company and system function requirement, the mechanical design scheme of each part of the system is given,and the mechanical designof the transitsystemoftheintelligentcreelrobotis given in detail.In the paper, the synchronization board and the converter boardof CAN bus are designed.The hardware wiring of the system is also given. And according to the demand of the hardware and function, the tasks of the transitsystemare decomposed in order to make the lower machine program easy.Finally,the path planning of the transit system based on the standard of the shortest distance is proposed. In order to solve the problem, the optimal solution is analyzed using MATLAB based on genetic algorithms.