链条导轨型自动落布小车设计与实践

Design and Practice of Chain Track Automatic Cropping Trolley

针对关节型自动落布小车结构复杂且不能多载等问题,设计开发一种由AGV车体和链条导轨组成的自动多载落布小车。链条导轨由三段相切的圆弧组成,根据织机型号和车间工况对其进行参数化设计。采用D-H法推导了轨道曲线参数化方程,基于参数的几何关系确定了设计变量,建立了多约束条件的单目标优化模型,采用遗传算法得到导轨参数的优化解,开发了交互界面用于输入已知参数和输出导轨曲线。并对驱动单元进行了零部件计算选型,制作工程样机并完成功能测试。结果表明:落布过程耗时约20 s,运输过程中小车行走的平均速度为15 m/s,与熟练落布工的用时基本一致。认为:链条导轨型自动落布小车能够实现多载功能,达到降低劳动强度、减员增效的目的。

Aiming at problems of complex structure and no overload of articulated automatic cloth cropping trolley,an automatic multi load cloth cropping trolley composed of AGV and chain track was designed and developed.The chain track was composed of three tangent arcs,parametric design was carried out according to the loom type and workshop working conditions.Parametric equation of track curve was derived by D-H method,design variables were determined based on the geometric relationship of parameters,the single objective optimization model with multiple constraints was established,the optimization solution of track parameters was obtained by genetic algorithm,interactive interface was developed for inputting known parameters and outputting track curve.Parts of the driving unit were calculated and selected,the engineering prototype was made and the function test was completed.The results showed that the time consuming of cloth cropping process was about 20 s,and the average speed of the trolley during transportation was 15 m/s,the time consuming was basically same to the skilled cloth cropping worker.It is considered that multi load function can be realized by adopting chain track automatic cloth cropping trolley,the purpose of reducing labor intensity,reducing staff and increasing efficiency can be achieved.