The Control Systema Of Robot Used Forinstalling, Uninstalling And Transporting Thewarp Beam Of Warping Machine

The weaving process mainly includes winding,warping,sizing,reeding,weaving andfinishing process.Thewarping beam is a link connecting the warping,sizing,weaving and other processes.According to the process demand,The empty warping beam is transported to the intelligent warp beam library after the beam is filled with yarn.When the sizing machine or weaving machine need beams filled with yarn,the warp beam is transferred to the corresponding use position fromthe warp beam library.so the warp beam is carried a large distance in a production cycle,But the transportation process is currently all dependent on labor.In this paper,An intelligent robot to install,uninstall and transport the warp beam is introduced,it has built the intelligent bridge between the GZH62-200 warping machine and the intelligent warp beam library and realized the intelligent movement and transportation of the warp beam,the connection between working procedures were strengthened.This paper firstly analyzes the operation mode of the manual installing,uninstalling and transporting the warp beam,and the function requirements of the installing,uninstalling and transportation system are proposed.Then,according to the requirements of the production process and the special structure and specifications of the warp beams,the main body schemeof intelligent robot used for installing,uninstalling and transporting the warp beam is designed,which can be divided into two main parts: the part of installing and uninstalling beams and the part of Automatic Guided Vehicle(AGV),which are composed of four major systems: theinstalling and uninstalling system of empty beams,the installing and uninstalling system of fullbeams,the navigation system of the robot and the robotic control system.Then,according to the structure scheme of the control system on installing and uninstalling beams of the robot,for the electrical control part,this paper selects the lifting mechanism drive motor of the robot and the air shaft bracket electric cylinder as an example,and makes a detailed selection and verification calculation to ensure the rationality of the running of the load mechanism in the process of installing and uninstalling warp beams.Besides,the hardware configuration of the selected PLC controller,touch screen,proximity switch and reset button is briefly introduced.The flow chart of the installing and uninstalling system after the docking of the intelligent robot to the warping machine is given,according to the control flow chart,the ladder diagramis drawn by the STEP 7 Micro WIN programming software,The programming of the PLC system and the upper computer system is made.Finally,according to the widely used navigation scheme and docking accuracy(less than 8mm)requirements of the robot,combined with its working environment and cost requirements,magnetic navigation is considered as a walking navigation method,and it is switched to a higher precision laser navigation mode before docking with the warping machine.Then the motion state of magnetic navigation and laser navigation is analyzed and the kinematic model is established respectively.The designed robot strives to replace the manual installing,uninstalling and transporting the warp beam and improvethe efficiency of the textile enterprises,and promotes the intelligentization of the textile industry in China.