Journal of Textile Research ›› 2019, Vol. 40 ›› Issue (07): 151-157.doi: 10.13475/j.fzxb.20180707807

• Machinery & Accessories • Previous Articles     Next Articles

Simulation platform for chemical filament automatic doff system

REN Huiying1, ZOU Kun1,2(), HU Xiaorong1   

  1. 1. College of Mechanical Engineering, Donghua University, Shanghai 201620, China
    2. Engineering Research Center of Advanced Textile Machinery, Ministry of Education, Donghua University, Shanghai 201620, China
  • Received:2018-07-26 Revised:2018-11-02 Online:2019-07-15 Published:2019-07-25
  • Contact: ZOU Kun E-mail:kouz@dhu.edu.cn

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Abstract: Aim

ing at the problem that the chemical filament automatic doff system has many process parameters and is difficult to be systematically studied by theoretical methods, a virtual reality simulation platform based on Unity3D was developed to select process parameters. The platform adopted the method of separating the beat control and the execution in the system operation. The software hierarchy was clear by encapsulating each functional module. Then, in order to verify the effectiveness of the simulation results, the production line conditions were simplified and modeled in the MatLab environment. Then the three robot avoidance strategies were contrasted based on the simulation platform, and the running speed of the doff robot was set under the conditions of mixed production of multi-species chemical filaments. The conclusions are as follows. The simulation result of the simulation platform is effective, and the avoidance strategy of doff priority is more suitable for the automatic doff production line of chemical filament. When the speed of the doff robot is 2.3 m/s, the system can realize complete automatic doff.

Key words: chemical filament, automatic doff process, production line simulation, simulation platform, robots avoidance strategy

CLC Number: 

  • TP391.9

Fig.1

Schematic diagram of typical chemical filament automatic doff system"

Fig.2

Simulation scenario case"

Fig.3

Software structure diagram of simulation platform"

Fig.4

Logic diagram of MatLab program"

Tab.1

Full signal information table"

满卷
信号		 时间/
s		 满卷
信号		 时间/
s		 满卷
信号		 时间/
s		 满卷
信号		 时间/
s
0 60 45 60 25 180 14 300
3 60 36 60 46 180 17 300
6 60 39 60 28 180 20 300
9 60 42 60 31 180 23 300
12 60 1 180 24 180 26 300
15 60 4 180 37 180 29 300
18 60 7 180 40 180 32 300
21 60 10 180 43 180 25 300
24 60 13 180 2 300 38 300
27 60 16 180 5 300 41 300
30 60 19 180 8 300 44 300
33 60 22 180 11 300 47 300

Tab.2

Full signal number comparison between Unity3D and MatLab verification"

仿真
平台		 对比
验证		 仿真
平台		 对比
验证		 仿真
平台		 对比
验证		 仿真
平台		 对比
验证
3 3 36 36 28 28 17 17
6 6 39 39 31 31 20 20
9 9 42 42 34 34 23 23
12 12 45 45 37 37 26 26
15 15 7 7 40 40 29 29
18 18 10 10 43 43 32 32
21 21 13 13 46 46 35 35
24 24 16 16 5 5 38 38
27 27 19 19 8 8 41 41
30 30 22 22 11 11 44 44
33 33 25 25 14 14 47 47

Tab.3

Manual drop situation comparison of three kinds of robot avoidance strategies"

落卷机器人
平均移动
速度/(m·s-1)		 人工落卷次数
落卷优先策略 投掷优先策略 先到先得策略
0.1 37 38 37
0.2 26 27 26
0.3 20 21 20
0.4 16 17 16
0.5 12 14 13
0.6 9 11 10
0.7 7 10 8
0.8 5 8 6
0.9 4 6 4
1.0 2 4 3
1.1 1 2 2
1.2 1 2 1
1.3 0 1 0
1.4 0 0 0
1.5 0 0 0

Tab.4

Manual doff situation comparison at different speeds of doff robot"

落卷机器人
平均移动
速度/(m·s-1)		 人工落卷
次数		 落卷机器人
平均移动
速度/(m·s-1)		 人工落卷
次数
1.1 35 1.8 12
1.2 32 1.9 8
1.3 31 2.0 6
1.4 26 2.1 4
1.5 22 2.2 2
1.6 18 2.3 0
1.7 14 2.4 0
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