Development Of Control System For Flocking Robot On Hand-made Carpets

With the improvement of people's living standards,people's desire to beautify the home environment is also increasing.Hand-made carpet is an upscale floor covering material,and high-end venues such as exhibition halls,hotels,and clubs,as well as homes remain high demand for hand-made carpets.At present,China has become a major producer and consumer of hand-made carpets,and there is still much room for development in the hand-made carpet market.Aiming at the shortcomings of long production cycle,high cost,high labor intensity,and the process is not conducive to environmental protection in traditional handmade carpet production methods,many companies applied automatic gun pricking flocking machine to produce handmade carpets.However,most automated flocking machines retrofitted traditional thorn guns.In the processing process,there is a problem that the needle and the base fabric interfere with each other to cause poor product quality.In order to solve these problems,the topic has developed a new type of handmade carpet flocking robot,and the main contents of article and achievements of the scientific research include:(1)The essay analyzed the deficiencies in the processing of common automated hand-carpet flocking machines,and designed a new type of "knitting needle-hook-knife separation" flocking robot's electromechanical system architecture.The paper adopted IPC + motion control card to carry out four-axis linkage control of the robot to achieve cut cashmere production.(2)The thesis analyzes the characteristics of the DST format design pattern,and uses unequal sampling method to achieve the analysis of the DST file and generate flocking machine motion control instruction code.Using this method reduces the error of the processing trajectory and design pattern.The cubic spline curve was used to optimize the control of the multi-axis interpolation motion speed,which mitigated the mechanical shock caused by the abrupt acceleration in the traditional trapezoidal velocity curve.(3)After analyzing the movement relations of each axis of the robot,the paper proposed a four-axis cooperative control method based on deviation coupling strategy.The paper realized the electronic gear relationship between knitting needles and XY linear interpolation to ensure the constant stitch length.The paper analyzed the relationship between the movement mode of the hook knife and the cutting force,and developed the electronic cam movement function with the main movement of the knitting needle and the auxiliary movement of the hook knife movement,and realized the coordinated action of the knitting needle and the hook knife.The prototype has been verified in the enterprise.Experiments show that the robot's performance has reached the expected design goals.Compared to traditional flocking robots,the surface quality of carpet produced by the robot has been significantly improved.The stitch length and line spacing are relatively constant,and the running stability is also improved,laying the foundation for application and promotion of robot.