层绕机自动装盘机器人系统设计及应用

Design and application of automatic disc loading robot system for layer winding machine

文中设计了一种基于机器人的层绕机自动装盘应用系统,旨在提高焊丝生产线的自动化水平和生产效率。该系统主体由供盘系统和机器人系统构成,通过MD-H法建立坐标系,对机器人进行运动学分析,确保末端执行器的位置和姿态满足工作空间要求。同时,通过动力学仿真分析评估机器人的运动和力学性能,为机器人的控制和路径规划提供支持。控制系统设计实现了自动上下盘系统的自动化作业,并通过仿真程序编写和电路图测试验证了系统的稳定性和可靠性。该系统的应用显著提升焊丝生产线的装卸精度和生产效率,降低人工成本,提高生产质量,具有广阔的应用前景。

The article designed a robot based automatic disc loading application system for layer winding machines,aiming to improve the automation level and production efficiency of welding wire production lines.The main system consisted of a supply disk system and a robot system.A coordinate system was established using the MD-H method to perform kinematic analysis on the robot,ensuring that the position and posture of the end effector meet the requirements of the workspace.At the same time,dynamic simulation analysis was used to evaluate the motion and mechanical performance of the robot,providing support for robot control and path planning.The control system design has achieved the automation of the automatic loading and unloading system,and the stability and reliability of the system have been verified through simulation program writing and circuit diagram testing.The application of this system significantly improved the loading and unloading accuracy and production efficiency of welding wire production lines,reduced labor costs,improved production quality,and has broad application prospects.