Research And Development Of Picking And Spreading Manipulator For High-speed Printed Fabrics

The textile industry is a labor-intensive industry.The printed fabrics workshop adopts the traditional manual operation method to pick and spread the printed fabric.That means the poor working condition,high-labor intensity and lower productive.This paper designed a picking and spreading manipulator for high-speed printed fabrics,which can implement the automatic picking and spreading of the high-speed printed fabrics,liberate the labor force and improve the economic efficiency of enterprises.The process of printing fabric is analyzed,the general designation of the manipulator is completed,and the solidworks software is used to create three dimensional model of the manipulator.Aiming at the characteristics of printing fabric such as flexible,diversified specifications and adhering to the table.The gripper mechanism is designed as pneumatic finger form.The pneumatic system of the gripper mechanism is completed.The linear module and motor of the manipulator are selected by calculating.The ansys software is used to finite element analysis of the manipulator,in order to verify the stiffness and strength of manipulator meet the requirements.The solidworks software is used to kinematics simulation of the manipulator,and the trajectory of manipulator is planned reasonably.The hardware selection of the electronic control system is completed,including the motor drives,controller and touch-screen.According to the process of picking and spreading printed fabric,the plc control program and the man-machine interface of the manipulator are completed.And the experiment results show that the designed control scheme is effective.The experimental research on manipulator helps to test the reliability of picking and spreading printed fabric of the gripper mechanism,analyse the material of the clamping elements and verify the function of the rubbing block.It is verified that the manipulator meets the production rhythm by testing the action rhythm of the manipulator.The gripper mechanism of the manipulator is designed innovatively,which solves the problem that the sticky printed fabric is difficult to pick.The success rate of picking printed fabric is 99.9 percent.The trajectory of manipulator is planned reasonably,the spreading printed fabric is realized smoothly,and the action rhythm is shortened from 7.2s to 6.1s.The operation effectiveness is enhanced.The manipulator has been successfully used in many domestic enterprises,resulting in good social and economic benefits.