Structural Optimization And Operation Stability Analysis Of Weaving Shaft Loading And Unloading Robot

In weaving production,the handling of weaving shafts and the loading and falling in weaving equipment are indispensable process links,and the traditional way is operated manually,which is labor-intensive and inefficient,which greatly increases production costs.Therefore,the realization of automation of weaving shaft handling,intelligent up and down is an inevitable trend.Based on the analysis of the weaving shaft transfer and loading and unloading workflow between the warping machine,the sizing machine and the twisting production line,the weaving shaft loading and unloading robot(a forklift AGV)is introduced to realize the automatic handling and replacement of the weaving shaft,and the optimization of the forklift structure of the large-load weaving shaft,the anti-tipping stability of the whole machine during load and sharp turning of the AGV and the positioning accuracy of the robot are studied.First of all,according to the actual working environment of the robot in the warping workshop,the existing forklift AGV is optimized to make it safer and more efficient to carry out the loading,unloading and transportation of the weaving shaft.Design optimized components and model the whole machine in 3D.Secondly,ANSYS software was selected to perform static analysis of the optimized parts of the robot to ensure that the structural stability of the optimized components met the needs.Fully consider several working conditions of the robot in the working process,and conduct static analysis of the whole machine.The analysis shows that the displacement of the front end of the robot fork ruler reaches the maximum when the full shaft is high,which provides suggestions for the position of the fork ruler when the robot is loaded and transported.And from the perspective of the natural frequency of the robot,the modal analysis of the whole robot is carried out,and the first sixth-order vibration frequency and mode shape of the whole machine are obtained.It can be concluded that the robot will not resonate with the road surface,but it is also necessary to avoid the robot from being disturbed by other vibration sources and causing resonance.Subsequently,the center of gravity method was selected to study the anti-tipping stability of the robot.The robot will have the possibility of lateral and longitudinal overturning when working,so when analyzing the anti-tipping stability of the robot,it is necessary to analyze the longitudinal static,dynamic stability and transverse static and dynamic stability of the robot separately,and the data show that the anti-tipping stability of the robot meets the requirements of stability.Finally,based on the principle of extended Kalman filter(EKF)algorithm,the odometer state observation model and lidar prediction model are established,and then the sensor data is filtered and fused to obtain the optimal estimate of the positioning pose state.The conclusion shows that compared with a single sensor,the EKF fusion positioning method significantly improves the positioning accuracy during robot operation.