Robot-based Multi-station Winding Machine Automatic Loading And Unloading Path Research And Planning

The traditional yarn winding machine has a low degree of automation,mostly in the production state of a single station,which requires a lot of manual loading and unloading of the yarn barrel.In order to improve the production efficiency of the winding machine,this paper proposes a robot-based multi-station winding machine system.According to the characteristics of the winding machine,through the selection of the robot arm and basic kinematics research,the layout optimization of the winding machine system,the robot arm for loading and unloading path planning and optimization,the production of efficient multi-station winding machine system,the specific research content is as follows:(1)Conduct research on the selection and kinematics of robot arms.In view of the characteristics of the multi-station winding machine system proposed in this paper,a robot arm is introduced instead of manual loading and unloading of the yarn barrel,and a suitable model of robot arm is selected.Perform positive kinematics and inverse kinematics analysis of robot arms,and verify the rationality of kinematics using MATLAB software;(2)Optimize the station layout of the winding machine working system equipment.According to the three conditions of robot arm movement time,robot arm flexibility and equipment non-interference in production,a reasonable optimization objective function is constructed.According to the characteristics of layout optimization,the traditional particle swarm algorithm is reasonably improved to improve the accuracy of equipment layout optimization;(3)Carry out robot arm path planning and optimization.Comparing the cubic polynomial interpolation method,the five-time polynomial interpolation method and the "3-5-3" hybrid polynomial interpolation method,a reasonable algorithm was selected to plan the trajectory of the robot arm loading and unloading process.The improved particle swarm algorithm is used to optimize the robot arm loading and unloading process with the shortest time,and enough buffer time is set aside for unfavorable factors such as equipment failure to ensure that the yarn winding process is stable and orderly;(4)Formulate and simulate the working strategy of the winding machine.Consider the situation of large yarn barrel lack and yarn breakage,formulate a reasonable work strategy of the winding machine,and draw the corresponding work beat diagram.Process simulation software is used to simulate the robot arm loading and unloading process,check whether the equipment is dry and involve the accessibility of the robot arm movement,and verify the rationality of the work beat.