Brocade Weaving Robot Control System

The paper takes the research background of realizing the automation production of brocade.Through the study of brocade production process and its production by use of loom,we propose to use robots to realize the automation of brocade.The brocade weaving robot consists of weft jacquard device and manipulator,which is used to realize jacquard brocade in the production process of the opening process.Weft insertion manipulators realize the special weft insertion process "weft through weft".Based on the structure of weaving robot system,we use two controllers to control the two device of brocade weaving in robot.The brocade weft insertion process with dual SCARA robot collaboration,the twostage control method using the IPC and motion control card is proposed to realize the control of the double SCARA robot in the weft insertion system.Based on the research of the selected motion control card and servo driver,the whole control structure of the weft insertion robot and the robot control cabinet are constructed.At the same time,that warp brocade weaving robot lifting and opening the jacquard device is of self design.According to the analysis of this device,this article selects the control scheme of PC+ microcontroller.The MCU control board is designed by independent hardware circuit,and the underlying driver of the control board is designed according to the control requirements.In addition,the control system software design proposal was proposed based on the control requirements of brocade weaving robot system.The design of control software is mainly composed of weft insertion of manipulator control module and jacquard shedding control module.Among them,the control module of the weft insertion manipulator mainly includes the parameters setting of each joint of the manipulator and the trajectory movement of the manipulator.And the jacquard opening device control module mainly includes a serial port initialization and a data sending and receiving module.