Control System Design Of Elbow Winding Machine Based On Industrial Robot

The development of entire pipeline industry is limited all the time by theautomation production of the fiber composite material elbow. Realizing the elbowautomation winding is an important factor to develop this industry. Since theseventies of the last century from now, the development speed of elbow no mattertheoretical basis or practical application is very slow. The hand-paste method is themain type in the modern process of FRP pipe production. However, the productionefficiency is low and the elbow quality is poor produced by some teaching windingequipment. Thus, the development of the stable and reliable automation windingelbow equipment is the key issue.The winding principle and force condition of the doffing point are analyzed firstin this paper. Any stress point is analyzed on the surface and the necessary andsufficient condition how to arrange the yarn stable is obtained. The stable conditionand mathematic model are established. The discussed elbow is divided into cylinderand ring. The researched model is divided algebraic mode and geometrical mode.Then, the silk mouth trajectory is designed based on the machine coordinate systemand the expression formulas of each silk mouth coordinate and the corner on eachdirection are obtained. The appropriate distance is set aside by the parametersincluding mandrel size and curvature to avoid mechanical collision.The elbow winding machine control system is designed based on theMOTOMAN-HP6robot produced by the Japanese Yaskawa company. The silkmouth is fixed at the end of the robot and the silk mouth trajectory is controlled.Taking the frock axis extended by the robot as main axis driving the mandrel. Thepulses are set out to each joint motor and the synchronized motion between body andexpansion is controlled by NX100control cabinet to realize the stable winding. Theupper and lower computer structure system is applied in this control system. Theupper computer is programmed by VC++and it has the functions to transfer process parameters and show the data in real time. The lower computer controller (NX100) isprogrammed by the INFORM III, which is brought by the robot itself, to control themovement of robot. Finally, the liner is analyzed by applying OPENGL. Theexperiment results confirm the liner design and trajectory analysis mentioned in theprevious paper.