Design And Application Of Intelligent System For Grinding Needle Based On Six-axis Robot

With the "Made in China 2025" strategic plan,the intelligent manufacturing process is gradually promoted.The transformation and upgrading of manufacturing will promote the development of high-end manufacturing equipment in China.Chinese manufacturing industry will shift from an extensive development model that relies on cheap labor and destroys resources and the environment to a refined development model that relies on improving production efficiency and being environmentally friendly.In the process of Chinese manufacturing industry from "big" to "strong",intelligent equipment represented by industrial robots has received widespread attention.Knitting machine needles are necessary and consumables for knitting machine textile processing.Due to their small size and light weight,the production process is relatively fine.At present,the production equipment of knitting machine needles are all automated special-purpose equipment.Some simple and repetitive operations such as loading and unloading are mainly performed manually.The high labor intensity,poor production environment,and instability of manpower cause work efficiency and product quality cannot be guaranteed.Therefore,the intelligent system research of knitting machine needle production process has important application value.Aiming at the grinding process of the knitting machine needle manufacturing process,research and build a six-axis robot-based grinding needle intelligent system to realize the automation of the knitting machine needle grinding process,replacing the original manual loading and unloading operation mode,and improving processing efficiency and product quality.The specific research content is as follows:Firstly,analyze the kinematics of the six-axis robot.The D-H method is used to establish the NACHi MZ04 six-axis robot link coordinate system,and the homogeneous transformation matrix of each link is obtained to establish the forward kinematics equation of the six-axis robot.The inverse kinematics of the axis robot is solved by the analytical method to obtain a closed solution.The Robotics Toolbox is used to simulate the forward kinematics of the six-axis robot.The Monte Carlo method is used to analyze and determine the working space of the six-axis robot,provide a theoretical basis for the design and construction of the grinding needle intelligent system.Secondly,based on the analysis of the production status and production requirements of the knitting machine needle grinding process,introduce an industrial robot instead of the manual loading and unloading mode and propose a construction scheme for grinding needle intelligent system.Design the mechanical structure of the system in Solidworks.For the main components of the grinding needle intelligent system,such as the conveying needle system,robot fixture,and processing table,perform functional analysis and mechanical structure design analysis respectively.Carry out reasonable layout and assembly of each part,complete the overall structure design of the system,and obtain the system three-dimensional model of the system.On this basis,the system is assembled.Thirdly,an intelligent control system for grinding needles is constructed to realize the coordination of the various components of the system,including hardware,software,and human-computer interaction system.Hardware part: construct the overall system plan,plan the control circuit,and finally complete the electrical control cabinet layout and wiring installation.Software part: plan the main flow chart of the system,use GX Works2 to write the PLC control program,and construct a detection system to ensure the reliability of the grinding process,construct the robot control system to realize the communication between PLC and six-axis robot and the control of end effector,use NACHi offline teaching platform FD on Desk for offline simulation and programming of the six-axis robot.The human-computer interaction interface is designed to improve the operability of the system.Finally,the on-site installation and commissioning of the grinding needle intelligent system was completed,the unit processing time and product qualification rate were used as evaluation indicators to evaluate the grinding needle intelligent system.The experimental results show that the knitting machine needle processed by the grinding needle intelligent system has reached the production requirements and expectations.Compared with the manual processing scheme,the work efficiency has increased by 38%,and the qualified rate of the small-scale test product can reach 100%.Realized automatic picking and placing of workpieces and processing during the grinding process.