Research On Automatic Doff And Transport Control System Of Chemical Fiber Filament

China is always the main fibre production consumption country of the world. And the chemical fiber fibre yields increase year by year. As the key equipment of the chemical fiber equipements, the number of the winders are also mounting steadily. Many domestic enterprises have used large winders’ production line.On the production line, the winder convolute the fiber on the fiber package. And there are about dozens winders work continuously. Thus, plenty of fiber packages need to be transported everyday. However, almost all the companies transport them by manpower and machine. It spends much manpower, resource and time. In this situation, enterprises are facing the tremendous trouble of the efficiency and cost.This paper designs the automatic doff and transport control system of chemical fiber filament to meet the demand of carpet manufacturing companies. Multi-robot technology is used in the system. Multi-robot system is consist of doffing robot, transfer robot, package-thrown robot and package shelf. Using IPC(Industrial Personal Computer) to collect status signals of all the winders and control robots to complete tasks. Doffing robot is responsible for fiber packages’ doffing. Transfer robot is responsible for transfering fiber packages from doffing robot.It has two positions for transmitting. Package-thrown robot is responsible for transfering fiber packages from transfer robot and throwing them to the package shelf. Multi-robot is controlled by the IPC to complete the doffing and transportation.The paper introduces the related research of multi-robot system and its applications in the industrial field. The paper designs the general system planning and integrates the winders’ production line, multi-robot system, IPC. According to the analysis of the on-site process, design the hardware of control system and use Lab VIEW as host computer developed software, Siemens ET200 S PLC and S120 drive system as lower computer. Using CAN bus to connect the winders and each nodes’ signals are transmitted to LabVIEW via serial communication.Robots are connected by PROFINET bus and use OPC technology to realize the communication between LabVIEW and S120 drive system.Besides, adopt the integrated control method between the host computer and lower computer. Plan and distribute system’s tasks, design the robots’ PLC subtasks program. And as the master unit, LabVIEW call the PLC subtasks. Focus on the calling method between system status and tasks based on LabVIEW. Finally,design the LabVIEW interface to real-time monitor the system.In the enterprise,the system get a good run and it can meet the needs. Achieve the automatic doff and transport of chemical fiber filament.