Research On The Problems Related To The Development Of The Warping Machine Warp Beam Installing And Uninstalling Robot

The warping process is one of the key processes of cotton yarn from yarn to cloth.With heavy workload,high labor intensity,and high safety risk in this process,the program researches on process of warping installation,uninstall and transportation.The process of shaft transportation was studied,and a robot was designed according to its process characteristics and production practice.As the medium between the warping machine and the warp beam library,the robot is responsible for the series warping machine and the warp beam library.It can independently realize the warp beam up-and-down of the warping machine and the warp beam library and the warp beam transportation between the two.The robot is divided into the walking part and the mechanical action part.The walking part uses the AGV automatic navigation device to take the robot to walk in the workshop.The mechanical action part is installed on the AGV,which is responsible for docking with the warping machine and the warp beam library and carrying the warp beam.The mechanical action part of the robot consists of the lifting mechanism,the full-axle transport vehicle,the air-spindle temporary storage mechanism,and the chassis mechanism through-axis shuttle mechanism.The paper organizes and designs the component composition and specific action flow of each mechanism.In the mechanical action part,the lifting mechanism will realize the up-and-down scheduling of the warp beam inside the robot,which is the key mechanism for the robot to carry on and off.The lifting mechanism adopts the screw nut transmission mode,and analyzes the buckling problem caused by the screw shaft for the slender shaft.According to the analysis result,the nut mechanism is strengthened,and the screw nut mechanism is suspended by using the tapered roller bearing.The hoist is installed inside the square steel,and a deep groove ball bearing is added as a guide wheel on the nut,and the inner wall of the square steel is used as a rail to support the nut,thereby effectively improving the force of the lead screw.At the same time,the design and calibration of the chuck that carries the warp beam lifting in the lifting mechanism are carried out,and the synchronous control scheme of the motor to ensure the synchronization of the motors on both sides is proposed.According to the design and analysis,the robot prototype was prototyped,and the typical welding procedure of square steel welds in the trial production was designed.In the debugging process of the prototype,the problem of motor out-synchronization caused by the two single-pulse ports of the PLC was dragged,and the motor synchronous coded pulse distributor was used to solve the pulse signal in the case of one drag and two.The problem of current decay.Finally,the robot prototype was debugged under normal working conditions,which verified the correctness of the prototype technical idea and paved the way for the modification and promotion of the next robot.