Primary Research On Coiling Robot Of Ultra-Rigidty Thread Rotor

Integrated electromotor is a new patent product that combined engine with electric generator. The product improves the starting quality of motorcycle and has a wide application prospect The rotor of electromotor is circled with lacquer-covered thread whose diameter is larger than 0.6mm,and whose rigidity is high. So traditional coiling machine cannot normally coil this type of thread up round the rotor. The dissertation designs a new type of coiling robot system through the analysis and research on the manually coiling method, which realized coiling of super rigidity thread and achieved better economic benefit.Through the analysis on the geometric structure of rotor, the thread shape of the winding is deduced, and then the flexing and bending coiling theory is proposed.Based on the theory, the movement needed in coiling is detailed researched. A function-technology matrix and a economy-technology matrix are formed and a reasonable and flexible coiling plan is put forward. With the structure character of coiling robot, the transformed equations of robot movement is established by using equal-power coordinate transformation. The path scheduling method of robot is deeply researched and then imitates the robot's movement path by using B-splint function on the disperse point gotten by scheduling on robot's coiling movement path to ensure the robot's movement track to be a clean and continuous line. Then the track is optimized by dynamic scheduling method.The dissertation proposed a new control method according to the control requirement of the coiling robot. And integrated the strong data processing capability with the high reliability of PLC control to form a 2-level control system. Meanwhile the manipulate interface is designed and communication method between PC and PLC is analyzed, related software is developed. To meet system requirements, the I/O of PLC is extended and the PLC program is designed.