智能纱架多机械手换纱系统设计

摘要

The replacing yarn system of the intelligent creel Multi⁃robot is integrated in unity of winding, transporting, transiting and supplying robots. The distributed control system of Multi⁃robot for intelligent creel based on CAN bus was designed that adopted the idea of centralized management and distributed control. Interactive interface and the operating were achieved by using LabVIEW soft⁃ware. The path planning of the supplying robot which was the core part in the system based on the standard of the shortest distance was proposed aimed at the time of replacing yarn may be ever shorter. Automatic replacing yarn in the Axminster carpet loom can be done, which saved the labor and time costs, and improved the efficiency of weaving carpets also.%智能纱架多机械手换纱系统集绕纱、搬运、中转、续纱机械手为一体，采用集中管理、分布控制的思想，设计了基于CAN总线的多机械手分布式控制系统，通过LabVIEW软件实现了人机界面的交互完成对换纱系统的操作，并对系统中的核心部分续纱机械手进行合理的路径规划，使其行走路径尽可能短，进一步节省换纱时间，该系统实现了阿克明斯特地毯织机的换纱自动化，节约了人工和时间成本，提高了地毯织造的效率。