CN107866792A - A kind of inter-linked controlling method of cotton bucket transfer robot - Google Patents
A kind of inter-linked controlling method of cotton bucket transfer robot Download PDFInfo
- Publication number
- CN107866792A CN107866792A CN201610883414.2A CN201610883414A CN107866792A CN 107866792 A CN107866792 A CN 107866792A CN 201610883414 A CN201610883414 A CN 201610883414A CN 107866792 A CN107866792 A CN 107866792A
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- control unit
- forearm
- motor
- manipulator
- rotary table
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to technical field of textile machine, is related to a kind of cotton bucket transfer robot, including automatic guide vehicle, rotary table and robot, and automatic guide vehicle is provided with cotton bucket fixed bit, and rotary table is arranged at automatic guide vehicle middle position；The lower end of robot's arm is fixed on rotary table by joint support, and the end of forearm and the upper end of large arm are connected, and middle part and the pitman shaft of forearm connect, and interlinking lever end is rotatablely connected with rotary table；Manipulator is rotatablely connected with forearm, and manipulator is connected with manipulator servomotor, rotary table and rotary servovalve motor connection；Automatic guide vehicle is provided with driver element and control unit, and automatic guided vehicle control unit sends a high level signal by auxiliary reclay to robot control unit, and robot control unit carries out transport operation after receiving signal；Robot control unit feeds back to one high level signal of automatic guided vehicle control unit after fulfiling assignment, automatic guide vehicle AGV continues to travel.
Description
Technical field
The invention belongs to textile machine control method technical field, specifically, is related to a kind of control cotton bucket conveying robot
People realizes the linkage of cotton bucket replacement operation.
Background technology
The container that cotton plant is used to transport sliver is plastic cylinder, high 1.1M, there is tri- kinds of diameter 0.4M, 0.5M, 0.6M.
Multiple working procedure is formed by cotton-wool to cotton thread, including cotton carding, drafting (head simultaneously, two simultaneously), rove, spun yarn etc.
Multiple working procedure, it needs to transport sliver to next process by a upper procedure with cotton bucket.Storage is provided between per two procedures
Area.
The time that carding machine completes one barrel of sliver is about fixed on or so half an hour, and carding machine is put in order.
The cotton bucket method for carrying generally used now is carried to be artificial, average worker per's 2 cotton buckets of every time carrying, this
Manual type is extremely inefficient, and easily causes the waste of resource.
Also the unmanned autonomous carrying of effective automated arm completion cotton bucket is not formed in cotton plant at present.
The content of the invention
Automatic guide vehicle AGV major function is to realize the transport of cotton bucket, and action has fixed point to open/stop, turn to and guide.
Transfer robot CBHR major function is to complete the carrying of cotton bucket, and its main actions has the revolution of fuselage, large arm
Swing, forearm pitching and wrist are turned round.
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of cotton bucket transfer robot
Inter-linked controlling method.
Technical scheme is as follows：
A kind of cotton bucket transfer robot, including automatic guide vehicle, rotary table and robot, the robot include big
Arm, forearm and manipulator, the automatic guide vehicle are provided with symmetrical cotton bucket fixed bit, and the rotary table is arranged at automatically
Guide car middle position, the lower end of the large arm are fixed on rotary table by joint support, large arm by reductor with
Large arm motor connects, and realizes big arm swing；The end of the forearm and the upper end of large arm connect, and forearm motor passes through deceleration
Machine is connected with forearm motor, realizes forearm pitching, and middle part and the pitman shaft of forearm connect, and interlinking lever end turns with rotary table
Dynamic connection；The manipulator is rotatablely connected with forearm, and manipulator is connected with manipulator servomotor, realizes that manipulator turns round；Institute
State rotary table and pass through reductor and rotary servovalve motor connection；The automatic guide vehicle bottom is provided with universal wheel and driving
Take turns, driver element and control unit are additionally provided with automatic guide vehicle, driver element is connected with driving wheel, and control unit is with driving
Moving cell electrically connects；Described control unit includes automatic guided vehicle control unit and robot control unit, large arm motor,
Forearm motor, rotary servovalve motor and manipulator servomotor are connected with robot control unit respectively, automatic guided vehicle
Control unit is connected with driver element；
Automatic guided vehicle control unit is provided with output port and input port, robot control unit be provided with sending port and
Receiving port, the output port of automatic guide vehicle control unit are electrically connected with the receiving port of robot control unit, led automatically
The input port for drawing car control unit electrically connects with robot control unit provided with sending port；
After automatic guide vehicle AGV reaches specified station point, automatic guided vehicle control unit is by auxiliary reclay to machine
People's control unit sends a high level signal, and robot control unit carries out transport operation after receiving signal；Robot control
Unit processed feeds back to one high level signal of automatic guided vehicle control unit after fulfiling assignment, automatic guide vehicle AGV continues to travel.
Preferably, the automatic guide vehicle bottom is provided with sensor device, and sensor device is electrically connected with control unit
Connect, sensor device includes magnetic navigation sensor, landmark sensor, obstacle sensor and photoelectric sensor；
Preferably, the driver element includes driving power and motor, and motor is connected with driving wheel.
Preferably, the automatic guide vehicle car body is provided with wireless communication module, wireless communication module and control unit
Connection；
Preferably, the front and rear bottom of the automatic guide vehicle car body is provided with anticollision strip.
Preferably, the automatic guided vehicle is tape guidance formula guide car.
Preferably, the driving wheel is two groups, is connected on respective motor.
The beneficial effects of the invention are as follows：A kind of automatic guide vehicle AGV for cotton bucket replacement operation and robot group are provided
Attach together standby, exchanging for carding machine empty barrel and bucketful can be automatically performed, solve the problems, such as manually to carry cotton bucket efficiency low, Neng Gouyou
Effect mitigates the labor intensity of employee, reduces the labor cost of enterprise.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is communication for coordination process schematic.
Automatic guide vehicle 1, connecting rod 2, cotton bucket 3, forearm 4, large arm 5, rotary table 6, manipulator 7.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment 1
The cotton bucket transfer robot of the present embodiment, including automatic guide vehicle 1, rotary table 6 and robot, the machine
People includes large arm 5, forearm 4 and manipulator 7, and the automatic guide vehicle 1 is provided with symmetrical cotton bucket fixed bit, the revolution work
Platform 6 is arranged at the middle position of automatic guide vehicle 1, and the lower end of the large arm 5 is fixed on rotary table 6 by joint support,
Large arm 5 is connected by reductor with large arm motor, realizes big arm swing；The end of the forearm 4 connects with the upper end of large arm 5
Connecing, the motor via reducer of forearm 4 is connected with forearm motor, realizes forearm pitching, and middle part and the axle of connecting rod 2 of forearm 4 connect,
The end of connecting rod 2 is rotatablely connected with rotary table 6；The manipulator 7 is rotatablely connected with forearm 4, manipulator 7 and manipulator servo
Motor connection, realize that manipulator turns round；The rotary table 6 passes through reductor and rotary servovalve motor connection；It is described automatic
The bottom of guide car 1 is provided with universal wheel and driving wheel, and driver element and control unit are additionally provided with automatic guide vehicle 1, and driving is single
Member is connected with driving wheel, and control unit electrically connects with driver element；It is single that described control unit includes automatic guided vehicle control
Member and robot control unit, large arm motor, forearm motor, rotary servovalve motor and manipulator servomotor difference
It is connected with robot control unit, automatic guided vehicle control unit is connected with driver element；The end of manipulator 7 is provided with vacuum
Sucker, complete the carrying of workpiece.Automatic guided vehicle control unit is provided with output port and input port, and robot control unit sets
There are sending port and receiving port, the output port of automatic guide vehicle control unit and the receiving port electricity of robot control unit
Connection, the input port of automatic guided vehicle control unit electrically connect with robot control unit provided with sending port；
After automatic guide vehicle 1 reaches specified station point, automatic guided vehicle control unit sends one by auxiliary reclay
For high level signal to robot control unit, robot control unit carries out transport operation after receiving signal；Robot controls
Unit feeds back to one high level signal of automatic guided vehicle control unit after fulfiling assignment, automatic guide vehicle AGV continues to travel.
Embodiment 2
The cotton bucket transfer robot of the present embodiment, other are the same as embodiment 1 in addition to following difference：
The bottom of automatic guide vehicle 1 is provided with sensor device, and sensor device electrically connects with control unit, sensor
Device includes magnetic navigation sensor, landmark sensor, obstacle sensor and photoelectric sensor；
The driver element includes driving power and motor, and motor is connected with driving wheel.
The car body of automatic guide vehicle 1 is provided with wireless communication module, and wireless communication module is connected with control unit；
The front and rear bottom of the car body of automatic guide vehicle 1 is provided with anticollision strip.
The automatic guided vehicle 1 is tape guidance formula guide car.
The driving wheel is two groups, is connected on respective motor.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (6)
- A kind of 1. inter-linked controlling method of cotton bucket transfer robot, it is characterised in that：The cotton bucket transfer robot includes automatic Guide car (1), rotary table (6) and robot, the robot includes large arm (5), forearm (4) and manipulator (7), described Automatic guide vehicle (1) is provided with symmetrical cotton bucket fixed bit, and the rotary table (6) is arranged at automatic guide vehicle (1) center Position, the lower end of the large arm (5) are fixed on rotary table (6) by joint support, and large arm (5) is by reductor and greatly Arm motor connects, and realizes big arm swing；The end of the forearm (4) is connected with the upper end of large arm (5), and the motor of forearm 4 leads to Cross reductor to be connected with forearm motor, realize forearm pitching, middle part and connecting rod (2) axle of forearm (4) connect, connecting rod (2) end Portion is rotatablely connected with rotary table (6)；The manipulator (7) is rotatablely connected with forearm (4), and manipulator (7) is watched with manipulator Motor connection is taken, realizes that manipulator turns round；The rotary table (6) passes through reductor and rotary servovalve motor connection；It is described Automatic guide vehicle (1) bottom is provided with universal wheel and driving wheel, and driver element is additionally provided with automatic guide vehicle (1) and control is single Member, driver element are connected with driving wheel, and control unit electrically connects with driver element；Described control unit includes homing guidance Car control unit and robot control unit, large arm motor, forearm motor, rotary servovalve motor and manipulator servo Motor is connected with robot control unit respectively, and automatic guided vehicle control unit is connected with driver element.
- 2. the inter-linked controlling method of cotton bucket transfer robot according to claim 1, it is characterised in that：The automatic guiding Car (1) bottom is provided with sensor device, and sensor device electrically connects with control unit, and sensor device senses including magnetic navigation Device, landmark sensor, obstacle sensor and photoelectric sensor；The driver element includes driving power and motor, drives Dynamic motor is connected with driving wheel.
- 3. the inter-linked controlling method of cotton bucket transfer robot according to claim 1, it is characterised in that：The automatic guiding Car (1) car body is provided with wireless communication module, and wireless communication module is connected with control unit.
- 4. the inter-linked controlling method of cotton bucket transfer robot according to claim 1, it is characterised in that：The automatic guiding The front and rear bottom of car (1) car body is provided with anticollision strip.
- 5. the inter-linked controlling method of cotton bucket transfer robot according to claim 1, it is characterised in that：The homing guidance Car (1) is tape guidance formula guide car.
- 6. the inter-linked controlling method of cotton bucket transfer robot according to claim 1, it is characterised in that：The driving wheel is Two groups, it is connected on respective motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610883414.2A CN107866792A (en) | 2016-09-28 | 2016-09-28 | A kind of inter-linked controlling method of cotton bucket transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610883414.2A CN107866792A (en) | 2016-09-28 | 2016-09-28 | A kind of inter-linked controlling method of cotton bucket transfer robot |
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| CN107866792A true CN107866792A (en) | 2018-04-03 |
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| CN201610883414.2A Pending CN107866792A (en) | 2016-09-28 | 2016-09-28 | A kind of inter-linked controlling method of cotton bucket transfer robot |
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Citations (13)
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|---|---|---|---|---|
| EP0008981B1 (en) * | 1978-09-04 | 1983-08-03 | COMMISSARIAT A L'ENERGIE ATOMIQUE Etablissement de Caractère Scientifique Technique et Industriel | Motorized manipulator |
| CN103412593A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Submarine AGV movement transferring robot |
| CN203331021U (en) * | 2013-06-03 | 2013-12-11 | 山东科技大学 | Household carrying robot |
| CN103787216A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Two-degree-of-freedom driving controllable hoisting crane |
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| CN104552274A (en) * | 2014-12-25 | 2015-04-29 | 广西大学 | Multi-degree-of-freedom controllable industrial robot mechanism |
| CN104552231A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Four-degree-of-freedom controllable mechanism type movable manipulator with four connecting rods |
| CN104626090A (en) * | 2013-11-12 | 2015-05-20 | 天津斯堪迪科技有限公司 | Unmanned grabbing robot |
| CN104625495A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Six-freedom-degree series moving type welding robot with multiple connecting rods |
| CN204976631U (en) * | 2015-07-28 | 2016-01-20 | 广西凯纵机械制造有限公司 | Eight pole connection in series -parallel spraying machine people of 6 -degree of freedom |
| CN205201503U (en) * | 2015-12-17 | 2016-05-04 | 佛山市新鹏机器人技术有限公司 | Carry on AGV dolly of manipulator |
| CN205254972U (en) * | 2015-12-14 | 2016-05-25 | 南京肯信精密机器制造有限公司 | Metallurgical special purpose machinery people of wireless control |
| CN105643587A (en) * | 2016-03-04 | 2016-06-08 | 哈尔滨工业大学 | Thirteen-freedom spraying robot for outer surface of large ship body |
-
2016
- 2016-09-28 CN CN201610883414.2A patent/CN107866792A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0008981B1 (en) * | 1978-09-04 | 1983-08-03 | COMMISSARIAT A L'ENERGIE ATOMIQUE Etablissement de Caractère Scientifique Technique et Industriel | Motorized manipulator |
| CN203331021U (en) * | 2013-06-03 | 2013-12-11 | 山东科技大学 | Household carrying robot |
| CN103412593A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Submarine AGV movement transferring robot |
| CN104626090A (en) * | 2013-11-12 | 2015-05-20 | 天津斯堪迪科技有限公司 | Unmanned grabbing robot |
| CN103787216A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Two-degree-of-freedom driving controllable hoisting crane |
| CN103978483A (en) * | 2014-05-05 | 2014-08-13 | 重庆优楷科技有限公司 | Industrial joint robot body |
| CN104552231A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Four-degree-of-freedom controllable mechanism type movable manipulator with four connecting rods |
| CN104625495A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Six-freedom-degree series moving type welding robot with multiple connecting rods |
| CN104552274A (en) * | 2014-12-25 | 2015-04-29 | 广西大学 | Multi-degree-of-freedom controllable industrial robot mechanism |
| CN204976631U (en) * | 2015-07-28 | 2016-01-20 | 广西凯纵机械制造有限公司 | Eight pole connection in series -parallel spraying machine people of 6 -degree of freedom |
| CN205254972U (en) * | 2015-12-14 | 2016-05-25 | 南京肯信精密机器制造有限公司 | Metallurgical special purpose machinery people of wireless control |
| CN205201503U (en) * | 2015-12-17 | 2016-05-04 | 佛山市新鹏机器人技术有限公司 | Carry on AGV dolly of manipulator |
| CN105643587A (en) * | 2016-03-04 | 2016-06-08 | 哈尔滨工业大学 | Thirteen-freedom spraying robot for outer surface of large ship body |
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Application publication date: 20180403 |
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