CN107953138A - A kind of loading and unloading manipulator of numerically-controlled machine tool - Google Patents
A kind of loading and unloading manipulator of numerically-controlled machine tool Download PDFInfo
- Publication number
- CN107953138A CN107953138A CN201711140758.5A CN201711140758A CN107953138A CN 107953138 A CN107953138 A CN 107953138A CN 201711140758 A CN201711140758 A CN 201711140758A CN 107953138 A CN107953138 A CN 107953138A
- Authority
- CN
- China
- Prior art keywords
- signal
- represent
- node
- data packet
- control panel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/0014—Carrier regulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2707/00—Automatic supply or removal of metal workpieces
- B23Q2707/003—Automatic supply or removal of metal workpieces in a lathe
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L2101/00—Indexing scheme associated with group H04L61/00
- H04L2101/60—Types of network addresses
- H04L2101/618—Details of network addresses
- H04L2101/622—Layer-2 addresses, e.g. medium access control [MAC] addresses
Abstract
The invention belongs to factory's manufacturing industry technical field, discloses a kind of loading and unloading manipulator of numerically-controlled machine tool, is provided with base, and conveyer belt is provided with above the base, control panel is connected with front of the base；Sliding block is movably installed with the right side of the base, the upper end of slide block pressing has telescopic rod, and described telescopic rod the top rotary link has swingle, and the swingle end riveting has fixed plate.Mentality of designing of the present invention is simple, by flexible, elastic, the rotation of manipulator, goods material can be cased and be unloaded, and is transmitted to appointed place with conveyer belt, and operation is simple, and learning cost is low, and work efficiency is high, has very big Practical significance.
Description
Technical field
The invention belongs to factory's manufacturing industry technical field, more particularly to a kind of loading and unloading manipulator of numerically-controlled machine tool.
Background technology
At present, with the development of science and technology, manipulator is also gradually popularized in some large and medium-sized factories, for carrying goods
Material, saves manpower to a certain extent.But existing manipulator is heavier, reaction is slower, and function is relatively simple, can only
It is simple to carry out loading and unloading or carry material, it is impossible to combine well.
In conclusion problem existing in the prior art is：Existing manipulator is heavier, reacts slower, function ratio
It is more single, loading and unloading can only be carried out merely or carry material, it is impossible to combined well.
The content of the invention
In view of the problems of the existing technology, the present invention provides a kind of loading and unloading manipulator of numerically-controlled machine tool.
The present invention is achieved in that a kind of loading and unloading manipulator of numerically-controlled machine tool, base；
Conveyer belt is installed above the base, control panel is connected with front of the base；
The signal model of the overlapping MASK of the control panel time-frequency is expressed as：
Wherein, N is the signal component number of time-frequency overlapped signal, and n (t) is additive white Gaussian noise, si(t) it is time-frequency
The signal component of overlapped signal, it is expressed asA in formulaiRepresent
The amplitude of signal component, ai(m) symbol of signal component is represented, p (t) represents shaping filter function, TiRepresent signal point
The code-element period of amount, fciRepresent the carrier frequency of signal component,Represent the phase of signal component；The circulation of MASK signals is double
The diagonal slice spectrum of spectrum is expressed as：
Wherein, y (t) represents MASK signals, and α is the cycle frequency of y (t), fcRepresent the carrier frequency of signal, T is signal
Code-element period, k is integer,Ca,3Represent the Third-order cumulants of random sequence a, δ () is impulse function, P (f)
It is shaping impulse function, expression formula is：
F=0 sections are taken to obtain the diagonal slice spectrum of cyclic bispectrum：
For MASK signals, the f=0 sections of the diagonal slice spectrum of its cyclic bispectrum, at place there are peak value, and carry letter
Number carrier frequency information；Since the diagonal slice spectrum of cyclic bispectrum meets linear superposition, then the overlapping MASK signal cycles of time-frequency are double
The expression formula of the diagonal slice spectrum of spectrum is：
Wherein,It is constant, T related with the modulation system of i-th of signal componentiIt is the symbol week of i-th of signal component
Phase；
The fractional lower-order ambiguity function that the control panel calculates digital modulation signals carries out according to the following steps：
Signal y (t) is received to be expressed as：
Y (t)=x (t)+n (t)
Wherein, x (t) is digital modulation signals, and n (t) is the impulsive noise of obedience standard S α S distributions.For MASK and
MPSK is modulated, and the analytical form of x (t) is expressed as：
Wherein, N is sampling number, anFor the information symbol of transmission, in MASK signals, an=0,1,2 ..., M-1, M are
Order of modulation, in mpsk signal, an=ej2πε/M, ε=0,1,2 ..., M-1, g (t) expression rectangle shaping pulses, TbRepresent symbol
Number cycle, fcRepresent carrier frequency, carrier wave initial phaseIt is the equally distributed random number in [0,2 π].For MFSK tune
System, the analytical form of x (t) are expressed as：
Wherein, fmFor the offset of m-th of carrier frequency, if MFSK signals carrier shift is Δ f, fm=-(M-1) Δ f ,-
(M-3) Δ f ..., (M-3) Δ f, (M-1) Δ f, carrier wave initial phaseIt is the equally distributed random number in [0,2 π]；
The control panel respectively contains the multimode situation of some interference characteristic vectors for interference signal and contrast signal,
Disturbance state S (V at this timeI, VS), it is calculated as below：
Wherein S [VI, VS]M×NIt is referred to as disturbance state matrix, each element in matrixRepresent VIIn
K-th of characteristic vector and VSIn l-th of characteristic vector disturbance state, each element in only two characteristic vector set
When not disturbing, S (VI, VSThe interference signal of)=0 does not just form contrast signal and disturbs；Conversely, S (VI, VS) ＞ 0, do at this time
Contrast signal will be formed interference by disturbing signal；
The data packet of the control panel kidnaps comprising the following steps that for forwarding mechanism：
Step 1, after MAP nodes receive unicast packet, the source mac addresses of data packet at extraction, then inquiry is local
Conversion table judges source mac addresses whether in table, and in local translation table, then explanation is that the client of this node connection is sent
Data packet, enter step two；Otherwise, node is only forwarding the data packet, without processing；
Step 2, after source mac address searches to corresponding local translation table entry, extracts in local translation table
Mark domain flags, with L2P_NCL_CLIENT_WIFI carry out step-by-step ＆ computings, be as a result 1, then illustrate data packet by wifi
Client is sent, and enters step three；Otherwise, without processing；
Step 3, extracts the IP layers head of data packet, then obtains purpose IP address, and destination IP is 10 or 192 network segments
, then illustrate that data packet is destined in net, without processing；Otherwise four are entered step；
Step 4, obtains the mac addresses of MPP selected by current MAP nodes, compared with packet rs destination mac addresses,
It is identical, then illustrate that data packet is destined for MPP nodes selected by current MAP, without any processing；Difference, then by data packet
Purpose mac addresses are modified as the mac addresses of MPP nodes selected by current MAP nodes, enter step five；
Step 5, after packet rs destination mac addresses are changed, according to the new optimal next-hop section of purpose mac address searches
Point, then adds the unicast data packet header of L2P protocol definitions and calls l2p_transmit_skb_to_initi functions to send
Go to MPP nodes selected by MAP nodes, and forwarded by the MPP nodes；
The control panel wireless location method specifically includes following steps：
Anchor node coordinate in node O communication ranges to be positioned is Ai(xi,yi), wherein i=0,1, L, n (n34)；
Step 1, node docking collection of letters r (t) to be positioned are sampled to obtain sampled signal r (n), wherein, n=0,1,
L, N-1, N represent the subcarrier number that OFDM symbol includes, while the sending node for recording received signal is Ai；
Step 2, according to sampled signal r (n), calculates cross correlation value E：
Step 3：According to log-distance path loss model model, equation below calculates node to be positioned and anchor node AiBetween
Distance：
Pr di'=Pr d0- 10 γ lg di′+Xσ；
Wherein, Pr di' represent that apart from transmitting terminal distance be di' when the cross correlation value that obtains, Pr d0Represent that distance is sent
Hold d0The cross correlation value obtained at=1 meter, γ represent path-loss factor, and lg represents the logarithm operation X that bottom is 10σ, obey
The Gaussian Profile that average is 0, standard deviation is σ；
It is respectively d to calculate the distance between each anchor node and node O to be positioned using above formulai', corresponding anchor section
The coordinate of point is respectively Ai xi,yi, wherein i=0,1,2 ..., n；
Step 4：According to adaptive distance correction algorithm, the coordinate O (x, y) of node to be positioned is estimated；
Sliding block is movably installed with the right side of the base, the upper end of slide block pressing has telescopic rod, and the telescopic rod is topmost
Rotary link has swingle, and the swingle end riveting has fixed plate.
Further, gear is installed, gear is intermeshed with conveyer belt inside the conveyer belt.
Further, slide is provided with the right side of the conveyer belt, sliding block is fixed in slide.
Further, it is cementing on the inside of the fixed plate to have non-slip mat.
Mentality of designing of the present invention is simple, is rotated by the flexible of telescopic rod of manipulator, the elastic of sliding block, swingle, profit
It is controlled, goods material can be cased and be unloaded with control panel, and coordinates conveyer belt to be transmitted to appointed place, operation is simple,
Learning cost is low, and work efficiency is high, has very big Practical significance.
Brief description of the drawings
Fig. 1 is the loading and unloading manipulator structure diagram of numerically-controlled machine tool provided in an embodiment of the present invention；
Fig. 2 is the loading and unloading manipulator top view of numerically-controlled machine tool provided in an embodiment of the present invention；
In figure：1st, base；2nd, conveyer belt；3rd, control panel；4th, telescopic rod；5th, swingle；6th, fixed plate；7th, sliding block.
Embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached
Figure describes in detail as follows.
The structure of the present invention is explained in detail below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, the loading and unloading manipulator of numerically-controlled machine tool provided in an embodiment of the present invention includes：Base 1, pass
Send band 2, control panel 3, telescopic rod 4, swingle 5, fixed plate 6, sliding block 7.
The top of base 1 is provided with conveyer belt 2, and the front of base 1 is connected with control panel 3；
The right side of base 1 is movably installed with sliding block 7, and 7 upper end of the sliding block pressing has telescopic rod 4, and the telescopic rod is most
Upper end rotary link has swingle 5, and 5 end of the swingle riveting has fixed plate 6.
Further, gear is installed, gear is intermeshed with conveyer belt 2 inside the conveyer belt 2.
Further, the right side of conveyer belt 2 is provided with slide, and sliding block 7 is fixed in slide.
Further, the inner side of fixed plate 6 is cementing non-slip mat.
The signal model of the overlapping MASK of the control panel time-frequency is expressed as：
Wherein, N is the signal component number of time-frequency overlapped signal, and n (t) is additive white Gaussian noise, si(t) it is time-frequency
The signal component of overlapped signal, it is expressed asA in formulaiRepresent
The amplitude of signal component, ai(m) symbol of signal component is represented, p (t) represents shaping filter function, TiRepresent signal point
The code-element period of amount, fciRepresent the carrier frequency of signal component,Represent the phase of signal component；The circulation of MASK signals is double
The diagonal slice spectrum of spectrum is expressed as：
Wherein, y (t) represents MASK signals, and α is the cycle frequency of y (t), fcRepresent the carrier frequency of signal, T is signal
Code-element period, k is integer,Ca,3Represent the Third-order cumulants of random sequence a, δ () is impulse function, P (f)
It is shaping impulse function, expression formula is：
F=0 sections are taken to obtain the diagonal slice spectrum of cyclic bispectrum：
For MASK signals, the f=0 sections of the diagonal slice spectrum of its cyclic bispectrum, at place there are peak value, and carry letter
Number carrier frequency information；Since the diagonal slice spectrum of cyclic bispectrum meets linear superposition, then the overlapping MASK signal cycles of time-frequency are double
The expression formula of the diagonal slice spectrum of spectrum is：
Wherein,It is constant, T related with the modulation system of i-th of signal componentiIt is the symbol week of i-th of signal component
Phase；
The fractional lower-order ambiguity function that the control panel calculates digital modulation signals carries out according to the following steps：
Signal y (t) is received to be expressed as：
Y (t)=x (t)+n (t)
Wherein, x (t) is digital modulation signals, and n (t) is the impulsive noise of obedience standard S α S distributions.For MASK and
MPSK is modulated, and the analytical form of x (t) is expressed as：
Wherein, N is sampling number, anFor the information symbol of transmission, in MASK signals, an=0,1,2 ..., M-1, M are
Order of modulation, in mpsk signal, an=ej2πε/M, ε=0,1,2 ..., M-1, g (t) expression rectangle shaping pulses, TbRepresent symbol
Number cycle, fcRepresent carrier frequency, carrier wave initial phaseIt is the equally distributed random number in [0,2 π].For MFSK tune
System, the analytical form of x (t) are expressed as：
Wherein, fmFor the offset of m-th of carrier frequency, if MFSK signals carrier shift is Δ f, fm=-(M-1) Δ f ,-
(M-3) Δ f ..., (M-3) Δ f, (M-1) Δ f, carrier wave initial phaseIt is the equally distributed random number in [0,2 π]；
The control panel respectively contains the multimode situation of some interference characteristic vectors for interference signal and contrast signal,
Disturbance state S (V at this timeI, VS), it is calculated as below：
Wherein S [VI, VS]M×NIt is referred to as disturbance state matrix, each element in matrixRepresent VIIn
K-th of characteristic vector and VSIn l-th of characteristic vector disturbance state, each element in only two characteristic vector set
When not disturbing, S (VI, VSThe interference signal of)=0 does not just form contrast signal and disturbs；Conversely, S (VI, VS), interference at this time is believed
Number interference will be formed to contrast signal；
The data packet of the control panel kidnaps comprising the following steps that for forwarding mechanism：
Step 1, after MAP nodes receive unicast packet, the source mac addresses of data packet at extraction, then inquiry is local
Conversion table judges source mac addresses whether in table, and in local translation table, then explanation is that the client of this node connection is sent
Data packet, enter step two；Otherwise, node is only forwarding the data packet, without processing；
Step 2, after source mac address searches to corresponding local translation table entry, extracts in local translation table
Mark domain flags, with L2P_NCL_CLIENT_WIFI carry out step-by-step ＆ computings, be as a result 1, then illustrate data packet by wifi
Client is sent, and enters step three；Otherwise, without processing；
Step 3, extracts the IP layers head of data packet, then obtains purpose IP address, and destination IP is 10 or 192 network segments
, then illustrate that data packet is destined in net, without processing；Otherwise four are entered step；
Step 4, obtains the mac addresses of MPP selected by current MAP nodes, compared with packet rs destination mac addresses,
It is identical, then illustrate that data packet is destined for MPP nodes selected by current MAP, without any processing；Difference, then by data packet
Purpose mac addresses are modified as the mac addresses of MPP nodes selected by current MAP nodes, enter step five；
Step 5, after packet rs destination mac addresses are changed, according to the new optimal next-hop section of purpose mac address searches
Point, then adds the unicast data packet header of L2P protocol definitions and calls l2p_transmit_skb_to_initi functions to send
Go to MPP nodes selected by MAP nodes, and forwarded by the MPP nodes；
The control panel wireless location method specifically includes following steps：
Anchor node coordinate in node O communication ranges to be positioned is Ai(xi,yi), wherein i=0,1, L, n (n34)；
Step 1, node docking collection of letters r (t) to be positioned are sampled to obtain sampled signal r (n), wherein, n=0,1,
L, N-1, N represent the subcarrier number that OFDM symbol includes, while the sending node for recording received signal is Ai；
Step 2, according to sampled signal r (n), calculates cross correlation value E：
Step 3：According to log-distance path loss model model, equation below calculates node to be positioned and anchor node AiBetween
Distance：
Pr di'=Pr d0-10·γlg di′+Xσ；
Wherein, Pr di' represent that apart from transmitting terminal distance be di' when the cross correlation value that obtains, Pr d0Represent that distance is sent
Hold d0The cross correlation value obtained at=1 meter, γ represent path-loss factor, and lg represents the logarithm operation X that bottom is 10σ, obey
The Gaussian Profile that average is 0, standard deviation is σ；
It is respectively d to calculate the distance between each anchor node and node O to be positioned using above formulai', corresponding anchor section
The coordinate of point is respectively Ai xi,yi, wherein i=0,1,2 ..., n；
Step 4：According to adaptive distance correction algorithm, the coordinate O (x, y) of node to be positioned is estimated；
During feeding of the present invention, goods material is placed on 2 beginning of conveyer belt, operation control panel 3 operates conveyer belt 2, and goods, which is expected, to be reached
Behind 2 end of conveyer belt, sliding block 7 takes goods feed collet to contract, fixed plate 6, and swingle 5 is rotated to opposite side, 4 liters of telescopic rod
Height, completes feeding；During blanking, goods material is placed on the right side of manipulator, sliding block 7 takes goods feed collet to contract, fixed plate 6, rotates
Bar 5 is rotated to opposite side, and telescopic rod 4 reduces, and goods material is placed on 2 end of conveyer belt, operation control panel 3 transports conveyer belt 2
Turn, goods is expected up to after 2 beginning of conveyer belt, completes blanking.Mentality of designing of the present invention is simple, passes through stretching for the telescopic rod of manipulator
Contracting, the elastic of sliding block, swingle rotation, are controlled using control panel, goods material can be cased and be unloaded, and coordinate biography
Band is sent to be transmitted to appointed place, operation is simple, and learning cost is low, and work efficiency is high, has very big Practical significance.
The above is only the preferred embodiments of the present invention, and not makees limitation in any form to the present invention,
Every technical spirit according to the present invention belongs to any simple modification, equivalent change and modification made for any of the above embodiments
In the range of technical solution of the present invention.
Claims (4)
1. a kind of loading and unloading manipulator of numerically-controlled machine tool, it is characterised in that the loading and unloading manipulator of the numerically-controlled machine tool is provided with：
Base；
Conveyer belt is installed above the base, control panel is connected with front of the base；
The signal model of the overlapping MASK of the control panel time-frequency is expressed as：
Wherein, N is the signal component number of time-frequency overlapped signal, and n (t) is additive white Gaussian noise, si(t) it is the overlapping letter of time-frequency
Number signal component, it is expressed asA in formulaiRepresent signal component
Amplitude, ai(m) symbol of signal component is represented, p (t) represents shaping filter function, TiRepresent the symbol week of signal component
Phase, fciRepresent the carrier frequency of signal component,Represent the phase of signal component；The cutting on the cross of the cyclic bispectrum of MASK signals
Piece stave is shown as：
Wherein, y (t) represents MASK signals, and α is the cycle frequency of y (t), fcRepresent the carrier frequency of signal, T is the symbol of signal
Cycle, k are integer,Ca,3Represent the Third-order cumulants of random sequence a, δ () is impulse function, and P (f) is shaping
Impulse function, expression formula are：
F=0 sections are taken to obtain the diagonal slice spectrum of cyclic bispectrum：
For MASK signals, the f=0 sections of the diagonal slice spectrum of its cyclic bispectrum, at place there are peak value, and carry the load of signal
Frequency information；Since the diagonal slice spectrum of cyclic bispectrum meets linear superposition, then pair of the overlapping MASK signal cycles bispectrum of time-frequency
Angle section spectrum expression formula be：
Wherein,It is constant, T related with the modulation system of i-th of signal componentiIt is the code-element period of i-th of signal component；
The fractional lower-order ambiguity function that the control panel calculates digital modulation signals carries out according to the following steps：
Signal y (t) is received to be expressed as：
Y (t)=x (t)+n (t)
Wherein, x (t) is digital modulation signals, and n (t) is the impulsive noise of obedience standard S α S distributions.For MASK and MPSK tune
System, the analytical form of x (t) are expressed as：
Wherein, N is sampling number, anFor the information symbol of transmission, in MASK signals, an=0,1,2 ..., M-1, M are modulation
Exponent number, in mpsk signal, an=ej2πε/M, ε=0,1,2 ..., M-1, g (t) expression rectangle shaping pulses, TbRepresent symbol week
Phase, fcRepresent carrier frequency, carrier wave initial phaseIt is the equally distributed random number in [0,2 π].Modulated for MFSK, x
(t) analytical form is expressed as：
Wherein, fmFor the offset of m-th of carrier frequency, if MFSK signals carrier shift is Δ f, fm=-(M-1) Δ f ,-(M-3)
Δ f ..., (M-3) Δ f, (M-1) Δ f, carrier wave initial phaseIt is the equally distributed random number in [0,2 π]；
The control panel respectively contains the multimode situation of some interference characteristic vectors for interference signal and contrast signal, at this time
Disturbance state S (VI, VS), it is calculated as below：
Wherein S [VI, VS]M×NIt is referred to as disturbance state matrix, each element in matrixRepresent VIIn k-th
Characteristic vector and VSIn l-th of characteristic vector disturbance state, each element is not done in only two characteristic vector set
When disturbing, S (VI, VSThe interference signal of)=0 does not just form contrast signal and disturbs；Conversely, S (VI, VS) ＞ 0, interference signal will at this time
Contrast signal is formed and is disturbed；
The data packet of the control panel kidnaps comprising the following steps that for forwarding mechanism：
Step 1, after MAP nodes receive unicast packet, the source mac addresses of data packet, then inquire about local translation table at extraction
Source mac addresses are judged whether in table, and in local translation table, then explanation is the data of the client transmission of this node connection
Bag, enters step two；Otherwise, node is only forwarding the data packet, without processing；
Step 2, after source mac address searches to corresponding local translation table entry, extracts the mark in local translation table
Domain flags, carries out step-by-step ＆ computings with L2P_NCL_CLIENT_WIFI, is as a result 1, then illustrates that data packet is sent out by wifi clients
Go out, enter step three；Otherwise, without processing；
Step 3, extracts the IP layers head of data packet, then obtains purpose IP address, and destination IP is 10 or 192 network segments, then
Illustrate that data packet is destined in net, without processing；Otherwise four are entered step；
Step 4, obtains the mac addresses of MPP selected by current MAP nodes, identical compared with packet rs destination mac addresses,
Then illustrate that data packet is destined for MPP nodes selected by current MAP, without any processing；Difference, then by the purpose of data packet
Mac addresses are modified as the mac addresses of MPP nodes selected by current MAP nodes, enter step five；
Step 5, after packet rs destination mac addresses are changed, according to the new optimal next-hop node of purpose mac address searches, so
The unicast data packet header of L2P protocol definitions is added afterwards and calls l2p_transmit_skb_to_initi functions to be sent to MAP sections
MPP nodes selected by point are gone, and are forwarded by the MPP nodes；
The control panel wireless location method specifically includes following steps：
Anchor node coordinate in node O communication ranges to be positioned is Ai xi, yi, wherein i=0,1 ..., n n >=4；
Step 1, node docking collection of letters r t to be positioned are sampled to obtain sampled signal r n, wherein, n=0,1 ..., N-1,
N represents the subcarrier number that OFDM symbol includes, while the sending node for recording received signal is Ai；
Step 2, according to sampled signal r n, calculates cross correlation value E：
Step 3：According to log-distance path loss model model, equation below calculates node to be positioned and anchor node AiBetween away from
From：
Pr d′i=Pr d0-10·γlg d′i+Xσ；
Wherein, Pr d 'iRepresent that apart from transmitting terminal distance be d 'iWhen the cross correlation value that obtains, Pr d0Represent apart from transmitting terminal d0=1
The cross correlation value obtained at rice, γ represent path-loss factor, and 1g represents the logarithm operation X that bottom is 10σ, obey average for 0,
Standard deviation is the Gaussian Profile of σ；
It is respectively d ' to calculate the distance between each anchor node and node O to be positioned using above formulai, the seat of corresponding anchor node
Mark is respectively Ai xi, yi, wherein i=0,1,2 ..., n；
Step 4：According to adaptive distance correction algorithm, coordinate the O x, y of node to be positioned are estimated；
Sliding block is movably installed with the right side of the base, the upper end of slide block pressing has telescopic rod, and the telescopic rod topmost rotates
Chain is connected to swingle, and the swingle end riveting has fixed plate.
2. the loading and unloading manipulator of numerically-controlled machine tool as claimed in claim 1, it is characterised in that be provided with inside the conveyer belt
Gear, gear are intermeshed with conveyer belt.
3. the loading and unloading manipulator of numerically-controlled machine tool as claimed in claim 1, it is characterised in that be provided with the right side of the conveyer belt
Slide, sliding block are fixed in slide.
4. the loading and unloading manipulator of numerically-controlled machine tool as claimed in claim 1, it is characterised in that cementing on the inside of the fixed plate to have
Non-slip mat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711140758.5A CN107953138A (en) | 2017-11-16 | 2017-11-16 | A kind of loading and unloading manipulator of numerically-controlled machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711140758.5A CN107953138A (en) | 2017-11-16 | 2017-11-16 | A kind of loading and unloading manipulator of numerically-controlled machine tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107953138A true CN107953138A (en) | 2018-04-24 |
Family
ID=61964778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711140758.5A Pending CN107953138A (en) | 2017-11-16 | 2017-11-16 | A kind of loading and unloading manipulator of numerically-controlled machine tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107953138A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621337A (en) * | 2020-11-23 | 2021-04-09 | 江苏汉田机械工业有限公司 | Finished product storage device for high-speed band sawing machine |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104468866A (en) * | 2014-12-26 | 2015-03-25 | 陈晨 | Fast roaming method for multi-gateway terminal in wireless local area network |
| CN104469941A (en) * | 2014-12-23 | 2015-03-25 | 西安电子科技大学 | Indoor wireless locating method based on wireless local area network WLAN OFDM signal cyclic prefix |
| CN105049141A (en) * | 2015-05-26 | 2015-11-11 | 西安电子科技大学 | Analysis method for interference relation among signals based on multidimensional interference space model |
| CN105522188A (en) * | 2016-01-29 | 2016-04-27 | 苏州市永通不锈钢有限公司 | Metal pipe drilling device with automatic collection function |
| CN205201186U (en) * | 2015-12-10 | 2016-05-04 | 天津合立普机器人自动化技术有限公司 | Hierarchical positioner among photovoltaic collection flow box flexible production line |
| CN105939188A (en) * | 2016-06-13 | 2016-09-14 | 西安电子科技大学 | Carrier frequency estimation method for underlay spectrum sharing time-frequency overlapped MASK signal |
| CN106067004A (en) * | 2016-05-30 | 2016-11-02 | 西安电子科技大学 | The recognition methods of digital modulation signals under a kind of impulsive noise |
| CN106241698A (en) * | 2016-08-29 | 2016-12-21 | 成都灵感元素科技有限公司 | A kind of block bottle for production line |
| CN107052747A (en) * | 2017-04-17 | 2017-08-18 | 彭红星 | A kind of assembling device of Medical glass slide |
-
2017
- 2017-11-16 CN CN201711140758.5A patent/CN107953138A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104469941A (en) * | 2014-12-23 | 2015-03-25 | 西安电子科技大学 | Indoor wireless locating method based on wireless local area network WLAN OFDM signal cyclic prefix |
| CN104468866A (en) * | 2014-12-26 | 2015-03-25 | 陈晨 | Fast roaming method for multi-gateway terminal in wireless local area network |
| CN105049141A (en) * | 2015-05-26 | 2015-11-11 | 西安电子科技大学 | Analysis method for interference relation among signals based on multidimensional interference space model |
| CN205201186U (en) * | 2015-12-10 | 2016-05-04 | 天津合立普机器人自动化技术有限公司 | Hierarchical positioner among photovoltaic collection flow box flexible production line |
| CN105522188A (en) * | 2016-01-29 | 2016-04-27 | 苏州市永通不锈钢有限公司 | Metal pipe drilling device with automatic collection function |
| CN106067004A (en) * | 2016-05-30 | 2016-11-02 | 西安电子科技大学 | The recognition methods of digital modulation signals under a kind of impulsive noise |
| CN105939188A (en) * | 2016-06-13 | 2016-09-14 | 西安电子科技大学 | Carrier frequency estimation method for underlay spectrum sharing time-frequency overlapped MASK signal |
| CN106241698A (en) * | 2016-08-29 | 2016-12-21 | 成都灵感元素科技有限公司 | A kind of block bottle for production line |
| CN107052747A (en) * | 2017-04-17 | 2017-08-18 | 彭红星 | A kind of assembling device of Medical glass slide |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112621337A (en) * | 2020-11-23 | 2021-04-09 | 江苏汉田机械工业有限公司 | Finished product storage device for high-speed band sawing machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1082300C (en) | Method of and apparatus for interference rejection combining in multi-antenna digital cellular communications systems | |
| DE102015101699B4 (en) | Processing mesh communications | |
| EP2975814B1 (en) | Chirp Signal Processor | |
| US6754170B1 (en) | Timing synchronization in OFDM communications receivers | |
| Lang et al. | Design and development of a 5.25 GHz software defined wireless OFDM communication platform | |
| CN101958764B (en) | Transmitting device, signal generating apparatus and transmitting method | |
| CN107005289A (en) | Technology for detecting line-of-sight transmission using millimetre-wave attenuator equipment | |
| CN1554154A (en) | A calibrated DC compensation system for a wireless communication device configured in a zero intermediate frequency architecture | |
| CN107124749A (en) | The relay selection method and device of a kind of full duplex relaying system | |
| CN102265667A (en) | Baseband recovery in wireless networks, base station transceivers, and wireless networking devices | |
| CN1280995C (en) | Equalizer apparatus and method using maximum likelihood sequence estimation for wireless receivers | |
| CN101027571B (en) | Blind signal separation using spreading codes | |
| CN1083196C (en) | Digital transmission system comprising a receiver which includes carrier recovery circuit | |
| CN101019393A (en) | Equalizers for multi-branch receiver | |
| CN107953138A (en) | A kind of loading and unloading manipulator of numerically-controlled machine tool | |
| US6353630B1 (en) | Method for the parameterization of a reception means as well as a corresponding reception means and radio station | |
| Amuru et al. | On the degrees-of-freedom of the 3-user MISO broadcast channel with hybrid CSIT | |
| WO2018207281A1 (en) | Transmission device, base station device, and wireless communication system | |
| EP1889435A1 (en) | Differential detection unit for the zigbee ieee 802.15.4 standard | |
| CN113794668B (en) | WiFi-ZigBee reliable data transmission method based on symbol-level chip combination mode | |
| CN103634034A (en) | Wave beam forming processing method and apparatus | |
| Gao et al. | Full-duplex cooperative transmission scheduling in fast-fading MIMO relaying wireless networks | |
| CN102164000B (en) | Blind signal separation using spreading codes | |
| CN106685491A (en) | Determination method of large-scale multiple-input multiple-output system energy efficiency data and apparatus thereof | |
| CN102625321B (en) | Base station from home group network system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180424 |
|
| RJ01 | Rejection of invention patent application after publication |