Research And Development Of The Circular Knitting Machine Automatic Pick Yarn Robot Control System

Since the 21st century,the world has continued to develop in the direction of informatization and intelligence.Robots and"Internet +" will be the theme of the new era.At present,the automation level of the knitting industry is relatively backward,and many links must rely on manual operations.It is of great significance to study the automation technology of circular weft knitting machine because it will improve the intelligence and automation level of circular weft knitting machine.After a large number of domestic and foreign literature analysis and knit equipment market research,it is concluded that the yarn breakage in the work of the circular weft machine is one of the main technical barriers that hinder the transformation and upgrading of the knitting circular weft machine,and the main reason for the yarn breakage is yarns come with a variety of yarn rovings(rovings,spun yarns,double yarns,neps,etc.).If the yan is too fine,the yarn is pulled off or the yarn is too thick to get stuck.If the yarn is broken,the machine will stop working.The machine can only wait for the driver to re-join the yarn to resume operation.The machine is highly dependent on labor,and the twist terminal is large after manual connection,which causes many flaws on the surface of the product,which not only affects efficiency and quality,but also increases the cost of subsequent cutting and processing.There has been no research results related to the automatic splicing of the knitting c:ircular knitting machine at home and abroad so far,which can not solve the problem of manual operation and splicing after the yarn entanglement of the circular weft machine.Aiming at this problem,this paper develops an automatic yarn joining robot for knitting circular weft,which realizes automatic yarn defect detection,automatic yarn clearing and intelligent cleaning dust removal,thus effectively removing the yarn defect and reducing the yarn breaking frequency,which will significantly improve the knitting circle.The production efficiency and product quality of the weft machine will improve the automation level of the knitting circular weft machine,and promote the transformation and upgrading of the knitting circular knitting machine equipment industry to intelligent technology,with good social and economic benefits.This article focuses on the following:(1)Design and development of automatic yarn joining robot control system,design and development of man-machine interface of circular weft control system;(2)Research and implementation of robot precise indexing algorithm,indexing positioning error analysis,robotic grabbing point and recovery line optimal path algorithm research and implementation;(3)Robot motion control research and program development,robotic interaction with the host computer data design and implementation.