| The characteristics of high rigidity in the axial direction of the rope and flexibility in the radial direction bring great convenience to many application scenarios.The rope is indispensable in hoisting,bundling,and pulling up.It is used in outdoor exploration,agricultural production,and extreme Sports,military,aquaculture,and engineering construction are all very important.Because the unpackaged rope has the problems of entanglement and knotting and inconvenient storage,it is very necessary to pack the rope products.At present,the simplest and most effective solution for long rope packaging is rope roller packaging,which only needs to apply a certain tension to the rope and wind it on the rope roller through the guide of the wire arranging device.The rope roller is used as the packaging unit for storage,transportation and Sales.Rope products in the form of rope roll packaging are usually sold to hardware retailers,factories and other customers with high demand,Ordinary consumers usually need small-diameter short ropes with a length of less than 15 m and a diameter of 5-20 mm in their daily lives.Small-diameter short ropes are not suitable for packaging with rope rollers,because this will increase the packaging cost on the one hand,and on the other hand the ropes that are too short Cannot be wound into a tight and firm loop on the rope roller.Therefore,other packaging methods are needed for the sales of short ropes for ordinary consumers.The current packaging methods for short ropes include: double-fold strapping method,double-fold bagging method,and eight-character rope binding method.Among them,the eight-character rope binding method does not require strapping and packaging.The bag is beautiful in appearance,not easy to loose,but relies on manual bundling,which leads to disadvantages such as low packaging efficiency,inaccurate packaging length,and high labor cost.In this paper,an automatic tying machine for small diameter short ropes is designed to realize automatic binding of small diameter short ropes.（1）Study the working principle of tying machinery such as transformer coil winding machine,motor stator winding machine,zongzi bundling machine,etc,and accumulate a lot of lessons for the design of small diameter short rope automatic strapping machine and the design of the mechanical structure.,Studied the drive and control methods of stepper motors,learned about the current different drive control methods of stepper motors for different purposes,and provided a reference for the selection of drive control methods for each part of the stepper motor in the smalldiameter short rope automatic strapping machine.（2）Analyze the eight-character rope structure and the principle of eightcharacter bundling,and design the eight-character rope bundling process.According to the bundling process,6 design requirements are put forward for the mechanical structure of the small-diameter short rope automatic bundling machine.The key structure proposes a solution.（3）On the basis of the solution to the key structure of the strapping machine in Chapter 2,the small diameter short rope automatic strapping machine was designed with Solid Works combined with the MISUMI design library,including four parts:pneumatic stringing manipulator,winding arm,strapping part,and tension detection device The strapping machine is elaborated,and the strapping process is designed according to the eight-character rope strapping process.（4）Analyzed the precision requirements of the two stepping motors of the wire arranging motor and the tying motor used in the strapping machine,and designed an improved acceleration and deceleration algorithm for the arranging motor with low precision requirements to give full play to the stepping motor.As the advantages of the open-loop motor with low cost and simple control and drive,experiments show that the improved acceleration and deceleration algorithm has higher accuracy,faster response and more stable operation than the traditional acceleration and deceleration algorithm;On the basis of PID algorithm and genetic algorithm PID,the guiding effect of evolution algebra on adaptive crossover rate and adaptive mutation rate is introduced,and a PID controller based on improved adaptive genetic algorithm is designed to weaken the degradation phenomenon of excellent parameters in the evolution process.MATLAB simulation shows that the improved adaptive genetic PID speeds up the convergence accuracy and speed of the algorithm compared with the classic genetic PID.Experiments show that compared with the classical adaptive genetic algorithm PID,this algorithm has higher control accuracy,faster response speed,and more obvious effect of suppressing noise and vibration.（5）In order to improve the baling quality and ensure the uniformity of the rope bundle,a tension control system is designed to adjust the speed of the bundling motor according to the rope tension to achieve constant tension control. |
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