CN109402806A - Full automatic fine yarn based on the embedded Mecanum wheel of integral hermetic changes pipe machine - Google Patents

Abstract

The present invention discloses a kind of Full automatic fine yarn based on the embedded Mecanum wheel of integral hermetic and changes pipe machine, this vehicle uses four sets of Mecanum wheels altogether, and car body can in this way generated, and any direction in plane of movement is mobile and rotation.For this vehicle equipped with the SCARA with cross screw rod slide unit, front end is equipped with the ring bobbin fixture combination and camera for changing spool mechanism, is also equipped with the ring bobbin fixed basket, ring bobbin collection frame of belt track；This vehicle is also configured with a variety of reading sensors, communication module, button, camera and related safety sensor, is also configured with chargeable dynamic lithium battery.Host computer by CAN adapter can be read all the sensors information and control motor driver, its own can acquisition camera information, host computer can also by wireless module with outside exchange data；Host computer can information based on the received, contexture by self driving path, every portion changes pipe machine and by wireless module and neighbouring other can also change the communication of pipe machines and realize work compound.

Description

Full automatic fine yarn based on the embedded Mecanum wheel of integral hermetic changes pipe machine

Technical field

The present invention relates to cotton yarns to generate enterprise field, is based on the embedded Mecanum wheel of integral hermetic more particularly to one kind Full automatic fine yarn change pipe machine.

Background technique

Mecanum wheel (MecanumWheel) is a kind of all-round moving wheel, and 1973 by Swiss BengtLion Invention, so Lion is also made to take turns, and he works in MecanumAB company.The characteristics of wheel be on the basis of conventional wheel, Again along with axis direction at 45 ° installing several small rollers that can be rotated freely, in this way in wheel rolling, small roller on wheel rim Radio direction finding will be generated.Being applied in combination and controlling by Mecanum wheel can make car body generate appointing in plane of movement Meaning direction is mobile and rotates.

In the world today, automatically for high-end spinning frame all by the business monopoly of Yi De two countries, equipment is expensive, and with Chinese old Ageization is quickly arrived, and young man yearns for urban life, and cotton spinning production plant environment is severe, the continuous astogeny of labour, young The wish of labour to factory is not high, and the recruitment of factory is more and more difficult, and wage cost is higher and higher, or even recruitment famine occurs, How to vitalize the equipment several years ago to start to put in face of each enterprise, China is cotton yarn big producer, how to get rid of foreign country It monopolizes and vitalizes existing equipment, local government helps the policy of machine substitute human labor constantly to be promoted in recent years, and country is towards industrial intelligence The policy that 2025 can be manufactured all be unable to do without factory's intelligence manufacture, and cotton spinning production plant needs Full automatic fine yarn to change pipe machine, automatically Spun yarn changes the wheel of pipe machine using the embedded Mecanum wheel of integral hermetic, and SCARA uses the structure of self-mutilation behavior, spun yarn fixture Combination is also special designs.Existing cotton spinning factory doffing operation relies primarily on manual operation, and the degree of automation is low, handling efficiency It is low, and labor intensive cost, Full automatic fine yarn change the problem of pipe machine can solve worker, are improved enterprise competitiveness.

Summary of the invention

The object of the present invention is to provide a kind of Full automatic fine yarns based on the embedded Mecanum wheel of integral hermetic to change pipe machine, It is able to solve defect present in existing Mecanum wheel installation complexity etc..

In order to solve the above technical problems, the comprehensive technological scheme that the present invention uses is: one kind is embedded based on integral hermetic The Full automatic fine yarn of Mecanum wheel changes pipe machine, and shell and Mecanum wheel including ontology vehicle frame, ontology vehicle frame, feature exist In the fixing pipe of the central axis outside left ontology vehicle frame of Mecanum wheel is connected, and the shell front and rear part of ontology vehicle frame respectively configures There are host computer, RFID reader, camera, infrared sensor of the human body；The preceding inside of ontology vehicle frame is configured with cross screw rod slide unit, Cross screw rod slide unit includes X-axis, Y-axis and the servo motor for controlling X-axis；The front end of the servo motor of control X-axis is equipped with humorous Wave speed reducer is equipped with slide unit in X-axis, Y-axis is equipped on slide unit, and the servo motor of control Y-axis is equipped in Y-axis, is pacified in Y-axis Equipped with slide unit, the front end of servo motor is equipped with harmonic wave speed reducing machine, and harmonic wave speed reducing machine plays the role of high torque；In Y-axis SCARA mechanical arm is installed, SCARA mechanical arm includes the first arm, the second arm, third arm, the 4th arm on slide unit；First arm with Servo motor is fixed between second arm；Servo motor is fixed between second arm and third arm；Between third arm and the 4th arm It is fixed with servo motor；The front end of the 4th arm of SCARA mechanical arm is equipped with spun yarn fixture combination body, and spun yarn fixture combination body includes Servo motor, harmonic wave speed reducing machine, bolt and nut, bolt and nut fixing piece, scalable workpiece, steel bushing, link block, front end are fixed Part, linear bearing and small axis, servo motor front end are equipped with harmonic wave speed reducing machine, and output shaft coupling is connected with harmonic wave speed reducing machine, even It connects and camera is installed among block；The middle layer of ontology vehicle frame is equipped with the positioning track and the first electromagnetism of the fixed basket of spun yarn Iron, the middle layer left side of ontology vehicle frame are equipped with ring bobbin guiding window, and the lower layer of ontology vehicle frame is equipped with ring bobbin collection frame Positioning track and the second electromagnet, before the lower layer of ontology vehicle frame, back, left side, right side respectively configure laser range sensor, And it is configured with 433M wireless serial module and gyro sensor, the left side intermediate configurations two dimensional code of the lower layer of ontology vehicle frame images Head, front and back are equipped with bearing retainer, have electric cabinet below the middle layer of ontology vehicle frame, the rear inside of ontology vehicle frame is configured with dynamic Power lithium battery.

The Mecanum wheel is integrated the embedded Mecanum wheel of sealing, including trundle, left side Mecanum wheel wheel Hub, right side Mecanum wheel wheel hub, DDESM motor outer rotor, DDESM motor stator, reflective optical encoder device code-disc, reflection Formula photoelectric encoder sensor, embedded-type electric machine controller, left side bearing, right side bearing, central axis, axle sleeve, outer end cap, outer end Lid fastening nut and outside framework oil seal；DDESM motor outer rotor is directly embedded into left and right sides Mecanum wheel wheel hub fixed, DDESM Motor stator covers on DDESM motor outer rotor inner hole, and DDESM motor stator is solid by left and right side bearing, central axis, axle sleeve It is scheduled on the inside of Mecanum wheel wheel hub, DDESM motor outer rotor drives Mecanum wheel wheel under the effect of DDESM motor stator Hub rotation, reflective optical encoder device code-disc are fixed on the Mecanum wheel wheel hub of right side, reflective optical encoder device sensor, Embedded-type electric machine controller is fixed on the inside of outer end cap, and reflective optical encoder device sensor can be reflection type optical photoelectric coder The information of code-disc feeds back to embedded-type electric machine controller；Outside framework oil seal covers on the outer edge of right side Mecanum wheel wheel hub, outside It leans against on the inside of end cap on the step on the right side of central axis and is fitted close with outside framework oil seal, outer end cap fastens spiral shell by outer end cap Mother is fixed on center shaft.

The servo motor is integrated embedded servo motor, include central axis, shell, preceding gland, motor stator, Rotor, fore bearing, rear bearing, encoder code disc, reflective photoelectric sensor, embedded-type electric machine controller and rear end cap； The front end of servo motor is equipped with harmonic wave speed reducing machine, and harmonic wave speed reducing machine includes wave producer, steel wheel and flexbile gear；Output shaft and steel Wheel is connected, and wave producer is connected with central axis, and the outer snare of fore bearing is at the right side of preceding gland, the inner ring of fore bearing and center The left sides of axis intermediate lands is connected, the right side surface cover of rear bearing is in the middle position of shell, during the left side of rear bearing leans against In mandrel, rotor covers on center shaft, and is screwed, and preceding gland and shell fix motor stator, and harmonic wave subtracts The flexbile gear of fast machine is fixed on the shell and pushes down preceding gland, and reflective optical encoder device is fixed on the right lateral surface of shell, light Photoelectric coder code-disc is fixed on the tail end of central axis, and embedded-type electric machine controller is fixed on the medial surface of rear end cap, rear end cap It is fixed with outer shell phase.

The front end of the 4th arm of SCARA mechanical arm is equipped with spun yarn fixture combination body, and spun yarn fixture combination body includes Have third servo motor, bolt and nut, bolt and nut fixing piece, scalable workpiece, first straight line bearing, second straight line bearing, First small axis, the second small axis and steel bushing, third servo motor are fixed on the left side of the 4th arm, third servo motor front end peace Equipped with third harmonic speed reducer, the central axis of third servo motor is connected with the third wave producer of third harmonic speed reducer, defeated Shaft coupling is connected with the steel wheel of third harmonic speed reducer out, and the nut of bolt and nut passes through first straight line bearing, second straight line axis It holds and is fixed on bolt and nut fixing piece, bolt and nut fixing piece is fixed on scalable workpiece；The one of the screw rod of bolt and nut Shaft coupling is connected, the other end is fixed on steel bushing with output at end, and steel bushing is fixed on the fixing piece of front end, and fixing piece one side in front end is logical The medial side face for crossing link block and the 4th arm is mutually fixed；Another side passes through the first small axis, the second small axis passes through first straight line bearing, It is connected after second straight line bearing with the hole of the 4th arm, the rotation of third servo motor drives the steel wheel of third harmonic speed reducer to turn Dynamic, output shaft coupling is rotated with the screw rod of bolt and nut, and the nut of such bolt and nut advances or retreats with screw rod, First small axis, the second small axis play the guiding role；Camera is installed among link block.

There is electric cabinet below the middle layer of above-mentioned ontology vehicle frame, includes one piece suitable with CAN mouthfuls MCU, CAN in electric cabinet Orchestration can read RFID reader, 433M wireless serial module, gyro sensor, laser ranging sensing with CAN mouthfuls of MCU Device, infrared sensor of the human body, scram button information can drive alarm, and be connect by CAN adapter with host computer, upper Machine is by wireless module and communicates the data transmission between endpoint；Host computer is ready for thin according to the reception of 433M wireless serial module The facility information of yarn machine, host computer is according to itself position planning path, based on gyro sensor information, two dimensional code camera Scan two-dimensional barcode information on the iron pipe of spinning frame skirt section, the visual information of camera acquisition, RFID reader and laser range finder Implementation path is run supplemented by information, infrared sensor of the human body and can be perceived at a distance from human body, it is ensured that the correct of operational process is kept away Barrier and operational efficiency.

Advantages of the present invention are as follows: entire Mecanum wheel of the invention is at sealing waterproof state.Bearing of the invention The guide bearing of fixing piece can also be in contact with spinning frame skirt section iron pipe ensures the operational efficiency and correct avoidance of operational process.

Detailed description of the invention

Fig. 1 is schematic view of the front view of the invention.

Fig. 1-1 is the side view of Fig. 1.

Fig. 1-2 is the perspective view of ontology vehicle frame in Fig. 1.

Fig. 1-3 is the structural schematic diagram of the cross screw rod slide unit of ontology vehicle frame setting in Fig. 1.

Fig. 1-4 is the structural schematic diagram of the X-axis of cross screw rod slide unit in Fig. 1-3.

Fig. 1-5 is the structural schematic diagram of the Y-axis of cross screw rod slide unit in Fig. 1-3.

Fig. 1-6 is the structural schematic diagram of servo motor.

Fig. 1-7 is the A-A cross-sectional view of Fig. 1-6.

Fig. 1-8 is to be equipped with the schematic perspective view of SCARA mechanical arm on slide unit in the Y-axis of Fig. 1-5.

Fig. 1-9 is the structural schematic diagram that servo motor is installed in the SCARA mechanical arm of Fig. 1-8.

Fig. 1-10 is the left view of Fig. 1-9.

The schematic perspective view for the first arm installed in the SCARA mechanical arm that Fig. 1-11 is Fig. 1-8.

Fig. 1-12 is the main view of Fig. 1-11.

The schematic perspective view for the second arm installed in the SCARA mechanical arm that Fig. 1-13 is Fig. 1-8.

Fig. 1-14 is the main view of Fig. 1-13.

The schematic perspective view for the third arm installed in the SCARA mechanical arm that Fig. 1-15 is Fig. 1-8.

Fig. 1-16 is the main view of Fig. 1-15.

The schematic perspective view for the 4th arm installed in the SCARA mechanical arm that Fig. 1-17 is Fig. 1-8.

Fig. 1-18 is the main view of Fig. 1-17.

Fig. 1-19 is the left view of Fig. 1-17.

The schematic view of the front view for the servo motor installed in the SCARA mechanical arm that Fig. 1-2 0 is Fig. 1-8.

Fig. 1-2 1 is the B-B cross-sectional view of Fig. 1-2 0.

Fig. 1-2 2 is the right view of Fig. 1-2 0.

Fig. 2 is the schematic view of the front view of the shell of ontology vehicle frame.

Fig. 2-1 is the left view of Fig. 2.

Fig. 3 is the schematic view of the front view of host computer.

Fig. 3-1 is the left view of Fig. 3.

Fig. 4 is the schematic view of the front view of camera.

Fig. 4-1 is the left view of Fig. 4.

Fig. 5 is the schematic view of the front view of camera.

Fig. 5-1 is the left view of Fig. 5.

Fig. 6 is the schematic view of the front view of infrared sensor of the human body.

Fig. 6-1 is the left view of Fig. 6.

Fig. 7 is the schematic view of the front view of scram button.

Fig. 7-1 is the left view of Fig. 7.

Fig. 8 is the schematic perspective view of spun yarn fixture combination body.

Fig. 8-1 is the schematic view of the front view of spun yarn fixture combination body.

Fig. 9 is the schematic view of the front view of color alarm lamp.

Fig. 9-1 is the left view of Fig. 9.

Figure 10 is the schematic view of the front view of 433M wireless serial module.

Figure 10-1 is the top view of Figure 10.

Figure 11 is the schematic view of the front view of gyro sensor.

Figure 11-1 is the top view of Figure 11.

Figure 12 is the schematic view of the front view of the fixed basket of spun yarn.

Figure 12-1 is the left view of Figure 12.

Figure 13 is the schematic perspective view of ring bobbin collection frame.

Figure 13-1 is the main view of Figure 13.

Figure 14 is the schematic view of the front view of laser range sensor.

Figure 14-1 is the top view of Figure 14.

Figure 15 is the schematic view of the front view of dynamic lithium battery.

Figure 15-1 is the left view of Figure 15.

Figure 16 is the schematic view of the front view of automatic charging plug.

Figure 16-1 is the left view of Figure 16.

Figure 17 is the schematic perspective view of electric cabinet.

Figure 17-1 is the main view of Figure 17.

Figure 17-2 is that there are four the structural schematic diagrams of the embedded Mecanum wheel of integral hermetic for the installation of ontology vehicle frame.

Figure 18 is the structural schematic diagram of the embedded Mecanum wheel of integral hermetic used in the present invention.

Figure 18-1 is the C-C schematic cross-sectional view of Figure 18.

Figure 18-2 is each section distributed architecture schematic diagram after Figure 18 explosion.

Figure 19 is the structural schematic diagram of one of eight trundles of same specification used in Figure 18.

Figure 19-1 is the perspective view of Figure 19.

Figure 20 is the structural schematic diagram of left side Mecanum wheel wheel hub used in Figure 18.

Figure 20-1 is the right view of Figure 20.

Figure 21 is the structural schematic diagram of right side Mecanum wheel wheel hub used in Figure 18.

Figure 21-1 is the left view of Figure 21.

Figure 22 is the structural schematic diagram of DDESM motor outer rotor used in Figure 18.

Figure 22-1 is the left view of Figure 22.

Figure 23 is the structural schematic diagram of DDESM motor stator used in Figure 18.

Figure 23-1 is the left view of Figure 23.

Figure 24 is the structural schematic diagram of reflective optical encoder device code-disc used in Figure 18.

Figure 24-1 is the left view of Figure 24.

Figure 25 is the structural schematic diagram of reflective optical encoder device sensor used in Figure 18.

Figure 25-1 is the top view of Figure 25.

Figure 26 is the structural schematic diagram of embedded-type electric machine controller used in the present invention.

Figure 26-1 is the rearview of Figure 26.

Figure 27 is the structural schematic diagram of left side bearing used in Figure 18.

Figure 27-1 is the left view of Figure 27.

Figure 28 is the structural schematic diagram of right side bearing used in Figure 18.

Figure 28-1 is the left view of Figure 28.

Figure 29 is the structural schematic diagram of central axis used in Figure 18.

Figure 29-1 is the left view of Figure 29.

Figure 29-2 is the right view of Figure 29.

Figure 30 is the structural schematic diagram of axle sleeve used in Figure 18.

Figure 30-1 is the left view of Figure 30.

Figure 31 is the structural schematic diagram of outer end cap used in Figure 18.

Figure 31-1 is the left view of Figure 31.

Figure 32 is the structural schematic diagram of outer end cap fastening nut used in Figure 18.

Figure 32-1 is the left view of Figure 32.

Figure 33 is the structural schematic diagram of outside framework oil seal used in Figure 18.

Figure 33-1 is the left view of Figure 33.

Figure 34 is the structural schematic diagram of sealing nut used in Figure 18.

Figure 34-1 is the left view of Figure 34.

Figure 35 is the schematic block circuit diagram of embedded-type electric machine controller used in the present invention.

Figure 36 is control flow chart of the invention.

Figure 37 is the schematic block circuit diagram in electric cabinet.

Figure 38 is the MCU microcontroller circuit figure with CAN in Figure 37.

Figure 39 is the gyro sensor circuit diagram in Figure 37.

Figure 40 is the CAN communication mouth circuit diagram in Figure 37.

Figure 41 is the RFID reader circuit diagram in Figure 37.

Figure 42 is the laser range sensor circuit diagram in Figure 37.

Figure 43 is the infrared sensor of the human body circuit diagram in Figure 37.

Figure 44 is the CAN adapter circuit figure in Figure 37.

Specific embodiment

DDESM motor can be used in motor of the present invention, and DDESM motor is the brushless straight drive external rotor electric machine of sine wave, It can be commercially available brshless DC motor, be prior art products.

Embodiment 1

As shown in the picture, a kind of Full automatic fine yarn of the embedded Mecanum wheel of integral hermetic of the present invention changes pipe machine, packet Include the shell 1-2 and Mecanum wheel of ontology vehicle frame 1-1 ontology vehicle frame, which is characterized in that on the outside of the central axis of Mecanum wheel Position is connected with the fixing pipe 1-1-0 of ontology vehicle frame 1-1, and the front and rear part shell 1-2 of ontology vehicle frame is respectively configured with preceding host computer 3- 1, rear host computer 3-1-1, the first RFID reader 3-2-1, the second RFID reader 3-2-2, the first camera 3-3-1, second Camera 3-3-2, the first infrared sensor of the human body 3-4-1, the second infrared sensor of the human body 3-4-2, the first scram button 3-5- 1, the second scram button 3-5-2, there are three types of color alarm lamp 3-6 for configuration above shell；The preceding inside 1-1-1 of ontology vehicle frame 1-1 Configured with cross screw rod slide unit 4, cross screw rod slide unit 4 includes X-axis 4-1, Y-axis 4-2 and the first servo electricity for controlling X-axis 4-1 Machine 4-1-1, the first servo motor 4-1-1 of the control X-axis 4-1 can be integrated embedded servo motor, in having Mandrel 4-1-1-0, shell 4-1-1-1, preceding gland 4-1-1-2, motor stator 4-1-1-3, rotor 4-1-1-4, fore bearing 4-1-1-5, rear bearing 4-1-1-6, encoder code disc 4-1-1-7, reflective photoelectric sensor 4-1-1-8, the first embedded-type electric Machine controller 4-1-1-9, rear end cap 4-1-1-10；The front end of first servo motor 4-1-1 is equipped with first harmonic speed reducer 4- 1-2, first harmonic speed reducer 4-1-2 include the first wave producer 4-1-2-1, steel wheel 4-1-2-2 and flexbile gear 4-1-2-3；It is defeated Shaft 4-1-4 is connected with steel wheel 4-1-2-2, and the first wave producer 4-1-2-1 is connected with central axis 4-1-1-0, fore bearing 4-1- The outer snare of 1-5 is in the right side of preceding gland 4-1-1-2, the inner ring and central axis 4-1-1-0 intermediate lands of fore bearing 4-1-1-5 Left side be connected, the right side surface cover of rear bearing 4-1-1-6 is on the middle position of shell 4-1-1-1, a left side of rear bearing 4-1-1-6 Side leans against on central axis 4-1-1-0, and rotor 4-1-1-4 covers on central axis 4-1-1-0, and is screwed, preceding pressure Lid 4-1-1-2 and shell 4-1-1-1 fixes motor stator 4-1-1-3, the flexbile gear 4-1-2- of first harmonic speed reducer 4-1-2 3 are fixed on shell 4-1-1-1 and gland 4-1-1-2, reflective optical encoder device 4-1-1-7 are fixed on shell 4-1- before pushing down On the right lateral surface of 1-1, photoelectric encoder code-disc 4-1-1-8 is fixed on the tail end of central axis 4-1-1-0, the first embedded motor Controller 4-1-1-9 is fixed on the medial surface of rear end cap 4-1-1-10, and rear end cap 4-1-1-10 is solid with shell 4-1-1-1 phase It is fixed；(the second servo motor 4-2-1, third servo motor 6-1 and first servo motor 4-1-1 have same structure, see Fig. 6, Figure 35)；Be equipped on X-axis 4-1 be equipped on the first slide unit 4-1-3, the first slide unit 4-1-3 Y-axis 4-2, control Y-axis 4-2 the Two servo motor 4-2-1 can be integrated embedded servo motor, and the second slide unit 4-2-3, the second servo electricity are equipped on Y-axis 4-2 The front end of machine 4-2-1 is equipped with second harmonic speed reducer 4-2-2, first harmonic speed reducer 4-1-2, second harmonic speed reducer 4-2- 2 play the role of high torque.SCARA mechanical arm 5 is installed on the second slide unit 4-2-3 in Y-axis, SCARA mechanical arm 5 includes There are the first arm 5-1, the second arm 5-2, third arm 5-3, the 4th arm 5-4；The table top 5-1-1 of first arm 5-1 and second in Y-axis are slided Platform 4-2-3 is connected, and the right side 501-1-2 of the 4th servo motor 501-1 is fixed on the other end 5-1-2 of the first arm 5-1, and the 4th The left side axis 501-1-1 of servo motor 501-1 is fixed on the inner hole 5-2-1 of the second arm 5-2；5th servo motor 502-1's Left side axis 502-1-1 is fixed on the inner hole 5-2-2 of the second arm 5-2；The right side 502-1-2 of 5th servo motor 502-1 is solid Due on the left side 5-3-1 of third arm 5-3, the left side axis 503-1-2 of the 6th servo motor 503-1 is fixed on the 4th arm 5-4 Inner hole 5-4-1 on；(the 4th servo motor 501-1, the 5th servo motor 502-1 and the 6th servo motor 503-1 are the same Servo motor can use the same structure of first servo motor 4-1-1)；The front end of the 4th arm of SCARA mechanical arm 5 is equipped with Spun yarn fixture combination body 6, spun yarn fixture combination body 6 include that third servo motor 6-1, bolt and nut 6-2, bolt and nut are fixed Part 6-2-3, scalable workpiece 6-3, first straight line bearing 6-7-1, second straight line bearing 6-7-2, the first small axis 6-8-1, second Small axis 6-8-2 and steel bushing 6-4, third servo motor 6-1 are fixed on the left side 5-4-2 of the 4th arm 5-4, third servo motor The front end 6-1 is equipped with third harmonic speed reducer 6-1-1, the central axis 6-1-0 and third harmonic speed reducer of third servo motor 6-1 The third wave producer 6-1-1-1 of 6-1-1 is connected, and the output shaft coupling 6-1-2 and third harmonic of third servo motor 6-1 slows down The steel wheel 6-1-1-2 of machine 6-1-1 is connected, and the nut 6-2-2 of bolt and nut 6-2 passes through first straight line bearing 6-7-1, second straight line Bearing 6-7-2 is fixed on bolt and nut fixing piece 6-2-3, and bolt and nut fixing piece 6-2-3 is fixed on scalable workpiece 6-3 On；Shaft coupling 6-1-2 is connected, the other end is fixed on steel bushing 6-4, steel with output for one end of the screw rod 6-2-1 of bolt and nut 6-2 Set 6-4 is fixed on the fixing piece 6-6 of front end, and front end fixing piece 6-6 passes through the medial side of link block 6-5 and the 4th arm 5-4 on one side Face 5-4-3 phase is fixed；Another side passes through first straight line bearing 6-7-1, second by the first small axis 6-8-1, the second small axis 6-8-2 Linear bearing 6-7-2 is connected with upper hole 5-4-4, the lower opening 5-4-5 of the 4th arm 5-4；Camera 3- is installed among link block 6-5 3-3；The middle layer 1-1-2 of ontology vehicle frame 1-1 is equipped with the positioning track 7-1-1 and electromagnet 7-1- of the fixed basket 7-1 of spun yarn 1-1-3 is equipped with ring bobbin guiding window 1-1-4, the lower layer 1-1-5 of ontology vehicle frame 1-1 on the left of the middle layer of 2, ontology vehicle frame 1-1 Another positioning track 8-1-1 and another electromagnet 8-1-2 of ring bobbin collection frame 8-1, the lower layer 1- of ontology vehicle frame 1-1 are installed The configuration each all around of 1-5 there are two laser range sensor, share 8 laser range sensor 9-1,9-2,9-3,9-4, 9-5,9-6,9-7,9-8, and it is configured with 433M wireless serial module 3-7, gyro sensor 3-8, ontology vehicle frame 1-1 lower layer 1- 1-1-10 intermediate configurations two dimensional code camera 3-3-4, front and back are equipped with first bearing fixing piece 1-1-8, second bearing on the left of 1-5 The rear inside 1-1-7 of fixing piece 1-1-9, ontology vehicle frame 1-1 are configured with dynamic lithium battery 10-1.

Above-mentioned RFID reader, 433M wireless serial module, two dimensional code camera, camera, infrared sensor of the human body, Three kinds of color alarm lamps, host computer, camera, infrared sensor of the human body, laser range sensor all can work independently.Cooperate with work Work is shown in the scheme of embodiment 2.

Embodiment 2

As shown in the picture, embodiment 2 is to increase following structures on the basis of the technical characteristic all comprising embodiment 1:

1) increase reflective optical encoder device sensor the information of reflection type optical photoelectric coder code-disc can be fed back to it is embedded Electric machine controller, embedded-type electric machine controller can be connect by CAN adapter with host computer, host computer by CAN adapter with Embedded-type electric machine controller communicates to control the operation of Mecanum wheel.Reflective optical encoder device sensor, reflection-type photoelectricity Encoder code disc, embedded-type electric machine controller, CAN adapter and host computer, the technology being able to achieve for general technology.

2) the charging plug 10-2 for increasing dynamic lithium battery 10-1 can be with the preceding bottom 1-1- that is fixed on ontology vehicle frame 1-1 12 automatic charging socket 10-3 is connected, and dynamic lithium battery 10-1 system provides Full automatic fine yarn and changes the pipe machine whole energy, when dynamic As low as the parameter of setting, Full automatic fine yarn changes pipe function automatic moving and charges to juice point the voltage drop of power lithium battery system, These technologies are what those skilled in the art were able to achieve by program.

3) increasing 1-1-11 below the middle layer of ontology vehicle frame 1-1 has electric cabinet 11-1, includes in electric cabinet 11-1 One piece of MCU 11-2 with CAN mouthfuls, CAN adapter 11-3, can be read the first RFID reader 3-2- with CAN mouthfuls of MCU11-2 1, the second RFID reader 3-2-2,433M wireless serial module 3-7, gyro sensor 3-8,8 laser range sensor 9- 1,9-2,9-3,9-4,9-5,9-6,9-7,9-8, the first infrared sensor of the human body 3-4-1, the second infrared sensor of the human body 3-4- 2, the information such as scram button 3-5, can drive alarm 3-6, and be connect by CAN adapter 11-3 with preceding host computer 3-1, it is preceding on Position machine 3-1 can also be transmitted by the data between wireless module and communication endpoint；Preceding host computer 3-1 is according to 433M wireless serial module 3-7 reception is ready for spinning frame (equipment of cotton spinning producer) information, preceding host computer 3-1 according to itself position planning path, Based on gyro sensor 3-8 information, two dimensional code camera 3-3-4 scans two-dimensional barcode information, first on the iron pipe of spinning frame skirt section The visual information of camera 3-3-1, second camera 3-3-2 acquisition, the first RFID reader 3-2-1, the second RFID reader Implementation path is run supplemented by the information of 3-2-2 and eight laser range finder 9-1,9-2,9-3,9-4,9-5,9-6,9-7,9-8, the One infrared sensor of the human body 3-4-1, the second infrared sensor of the human body 3-4-2 and the bearing retainer at a distance from human body can be perceived Guide bearing be in contact with spinning frame skirt section iron pipe and ensure the operational efficiency and correct avoidance of operational process.It is every full-automatic thin Yarn changes pipe function and changes pipe machine communication realization work compound by wireless module and neighbouring other Full automatic fine yarns.

4) as shown in figure 37, RFID reader 3-1,433M wireless serial module, laser range sensor, human body infrared Sensor, electromagnet button (scram button), CAN adapter and power circuit etc. are connect with the MCU with CAN mouthfuls respectively；1. The power circuit working principle of invention, the 12V power supply provided from outside generate isolation and non-isolated 5V by power circuit And 3.3V working power works for each module.

2. the MCU microprocessor work principle with CAN of the invention is shown in Figure 38,1) it is integrated with inner treater (CPU), storage One piece of integrated chip that device (RAM, FLASH), counter, AD, UART, CAN controller and the port I/O are integrated.It is hard herein On part circuit base, data to be processed, calculation method, step, operational order are compiled into program, deposits in inside MCU and deposits In reservoir, the calculating logic function of complete machine is realized.2) Figure 38 is the circuit diagram of MCU microprocessor, using chip U5 STM32F407VG, resistance R41, R44, R48, R14, R1, R2, R3, R4, R45, R46, R47, capacitor C41, C32, C36, C35, C15, C35, C23, C26, C47, C48, C49 crystal oscillator Y2, light emitting diode D1, D14, D15, D16, diode D10 composition.Electricity R41 is hindered, capacitor C41, triode D10 form the reset circuit of U5 MCU microprocessor, be attached to answering for U5 MCU microprocessor Position foot 14；Capacitor R32, R36, crystal Y2 constitute the clock circuit of U5 MCU microprocessor, and it is micro- that the clock of generation is connected to U5 MCU The 12 of processor, 13 feet.72,76 feet of U5 MCU microprocessor are emulated by the JTAG outside the connection of the 2 of socket JP1,3 feet Device realizes the debugging to U5 MCU microprocessor.

U5 MCU microprocessor is communicated with gyro sensor by CAN communication mouth, reads gyro sensor Angle, angular speed, acceleration original agreement packet are handled by MCU microprocessor, obtain respective angles, and angular speed accelerates The data of degree, then angle, angular speed, the numerical value of acceleration, according still further to CAN protocol requirement, by CAN adapter, angle Degree, acceleration information are sent to host computer by CAN bus and are handled.

3. gyro sensor, is shown in Figure 39, importation is made of current-limiting resistance R110, optocoupler U26 TLP2361.It is defeated Part is by current-limiting resistance R112, optocoupler U28 TLP2361, light emitting diode D2 composition out.

4.CAN communication port, is shown in Figure 40, controls chip U8 CH438Q, crystal X1, capacitor C43, C50 composition by serial communication Oscillating circuit, diode D13, capacitor C40, resistance R42 form reset circuit, the transmitting terminal of the serial communication of gyro sensor 3 feet of the optocoupler U26 of gyro sensor are connected to, it is defeated from 5 feet of optocoupler U26 after rs 232 serial interface signal passes through optocoupler U26 optical isolation Out, into 31 feet of 8 serial ports controller U8 of serial communication control chip, 8 serial ports controller U8 pass through the 31- of data/address bus U8 The 51-62 foot of 41 feet, 1 foot of control bus, 4 feet, 44 feet, 32 feet and U5 MCU microcontroller carries out data exchange, reads gyro The serial communication data of instrument sensor.

When U5 MCU microcontroller communicates gyro module, pass through U5 MCU microcontroller 51-62 foot and 8 serial ports The 31-41 foot of controller U8 data/address bus U8,1 foot of control bus, 4 feet, 44 feet, 32 feet carry out data communication, and control serial ports is logical 30 human hair combing wastes of 8 serial ports controller U8 in news control chip go out data, 3 feet of optocoupler U28 in gyro sensor are sent into, through light After coupling U28 optical isolation, the receiving end of gyro module is given from 5 feet of optocoupler U28.

5.RFID reader working principle: RFID reader uses RFID module, and MCU microprocessor passes through CAN communication mouth Timing is communicated with RFID module, reads the RFID label tag original agreement packet read of RFID module, by MCU microprocessor into Row processing, obtains the ID data of corresponding RFID label tag, and then the ID data of RFID label tag are passed through according still further to CAN protocol requirement The ID data of RFID label tag are sent to host computer by CAN bus and are handled by CAN controller.Figure 41 is RFID reader Circuit diagram, RFID module are made of importation current-limiting resistance R109, optocoupler U25 TLP2361.Output par, c is by current limliting electricity Hinder R111, optocoupler U27 TLP2361, light emitting diode D6 composition.

The transmission of the serial communication of RFID module terminates to 3 feet of optocoupler U25, and rs 232 serial interface signal passes through optocoupler U25 optical isolation Afterwards, it is exported from 5 feet of optocoupler U25, into 11 feet of 8 serial ports controller U8,8 serial ports controller U8 pass through data/address bus U8's The 51-62 foot of 31-41 foot, 1 foot of control bus, 4 feet, 44 feet, 32 feet and U5 MCU microcontroller carries out data exchange, reads The serial communication data of RFID module.When U5 MCU microcontroller communicates RFID module, pass through U5 MCU microcontroller The 31-41 foot of 51-62 foot and 8 serial ports controller U8 data/address bus U8,1 foot of control bus, 4 feet, 44 feet, it is logical that 32 feet carry out data News, 12 human hair combing wastes of 8 serial ports controller U8 of control go out data, 3 feet of optocoupler U27 are sent into, after optocoupler U27 optical isolation, from light 5 feet of coupling U27 give the receiving end of RFID module.

6. laser range sensor working principle: laser range sensor generates corresponding electricity according to the distance of object Press signal, voltage signal by resistance capacitance filter, feeding U5 MCU microcontroller be AD converted, through being calculated with it is right The corresponding distance value of the input voltage signal answered then passes through calculated distance value according still further to CAN protocol requirement Calculated distance value is sent to host computer by CAN bus and is handled by CAN controller.Figure 42 is laser ranging biography Sensor module circuit diagram, the voltage signal that the laser range sensor on the 1st tunnel generates, by 2 feet and 6 feet of socket JP2, resistance R108, capacitor C82 composition；The voltage signal that the laser range sensor on the 2nd tunnel generates, by 6 feet and 3 feet of socket JP2, resistance R60, capacitor C59 composition；The voltage signal that the laser range sensor on the 3rd tunnel generates, by 8 feet and 12 feet of socket JP2, resistance R61, capacitor C60 composition；The voltage signal that the laser range sensor on the 4th tunnel generates, by 11 feet and 15 feet of socket JP2, electricity Hinder R62, capacitor C61 composition；The voltage signal that the laser range sensor on the 5th tunnel generates, by 2 feet and 6 feet of socket JP2, electricity Hinder R108, capacitor C82 composition；The voltage signal that the laser range sensor on the 6th tunnel generates, by 17 feet and 21 feet of socket JP2, Resistance R64, capacitor C62 composition；The voltage signal that the laser range sensor on the 7th tunnel generates, by 20 feet of socket JP2 and 24 Foot, resistance R65, capacitor C64 composition.The voltage signal that the laser range sensor on the 8th tunnel generates, by socket JP2 23 feet with 21 feet, resistance R66, capacitor C65 composition；The voltage signal that the laser range sensor on the 1st tunnel generates, is connected to 2 feet of socket JP2 With 6 feet, 6 feet ground connection, 2 feet filter through resistance R108, capacitor C82, are sent to 23 foot of U5 MCU microcontroller and are AD converted.2nd The voltage signal that the laser range sensor on road generates is connected to 6 feet and 3 feet of socket JP2, and 3 feet are grounded, 5 feet through resistance R60, Capacitor C59 filtering, is sent to 24 foot of U5 MCU microcontroller and is AD converted.The voltage that the laser range sensor on the 3rd tunnel generates Signal is connected to 8 feet and 12 feet of socket JP2,12 feet ground connection, and 8 feet are filtered through resistance R61, capacitor C60, is sent to U5 MCU micro-control 25 foot of device processed is AD converted.The voltage signal that the laser range sensor on the 4th tunnel generates, is connected to 11 feet and 15 of socket JP2 Foot, 15 feet ground connection, 11 feet filter through resistance R62, capacitor C61, are sent to 26 foot of U5 MCU microcontroller and are AD converted.5th tunnel The voltage signal that generates of laser range sensor, be connected to 2 feet and 6 feet of socket JP2,6 feet ground connection, 2 feet are electric through resistance R63 Hold C62 filtering, is sent to 29 foot of U5 MCU microcontroller and is AD converted.The voltage letter that the laser range sensor on the 6th tunnel generates Number, 17 feet and 21 feet of socket JP2,21 feet ground connection are connected to, 2 feet are filtered through resistance R64, capacitor C63, are sent to U5 MCU microcontroller 30 foot of device is AD converted.The voltage signal that the laser range sensor on the 7th tunnel generates, is connected to 20 feet and 24 feet of socket JP2, 24 feet ground connection, 2 feet filter through resistance R65, capacitor C64, are sent to 31 foot of U5 MCU microcontroller and are AD converted.Swash on 8th road The voltage signal that ligh-ranging sensor generates is connected to 23 feet and 21 feet of socket JP2, and 21 feet ground connection, 23 feet are through resistance R66, electricity Hold C65 filtering, is sent to 32 foot of U5 MCU microcontroller and is AD converted.

7. infrared sensor of the human body module working principle: infrared sensor of the human body senses when having human body in 2 meters, exports One switching signal is input to MCU and is handled by light-coupled isolation；Figure 43 is the circuit diagram of human body infrared sensor module； 1 foot and 2 feet of the infrared sensor of the human body module by socket J3, resistance R23, optocoupler U23 TLP521-4, resistance R22, resistance R24, capacitor C56 and U5 MCU microcontroller composition.1 foot and 2 feet of the infrared sensor of the human body module by socket J3,2 feet ground connection, When there is human body in 2 meters, 1 foot of socket J3 and the short circuit of 2 feet, 1,2 feet of optocoupler U23 have electric current, 15,16 feet of optocoupler U23 Low level is exported, is filtered by resistance R24, capacitor C56, is sent to 97 foot of U5 MCU microcontroller and is handled.

8. scram button working principle: when not pressing scram button, scram button output open circuit signal, by light Coupling isolation, optocoupler export 3.3V voltage.When pressing scram button, scram button output short-circuit signal, by light-coupled isolation, light Coupling exports 0V voltage.MCU is input to be handled；Scram button module can be by socket, resistance, optocoupler and capacitor composition.It is anxious Stop button module by 3 feet and 2 feet of socket, 2 feet ground connection, when pressing scram button, 3 feet of socket and 2 feet are short-circuit, optocoupler 3,4 feet have electric current, and 13,14 feet of optocoupler export low level, and by resistance, capacitor filtering is sent to 98 foot of U5 MCU microcontroller It is handled.

9. CAN adapter working principle: the signal that mainly CAN adapter is sent is required according to CAN protocol, is generated CAN bus signal.Figure 44 is the circuit diagram of CAN adaptor module.CAN adaptor module is by resistance R106, R107, R89, light Coupling U10, U17, capacitor C74, C75, CAN adapter chip U18 SN65HVD230, toggle switch S1, light emitting diode D17 group At.The signal sent out by 71 foot of U5 MCU microcontroller is isolated to 3 feet of U10 by optocoupler U10, defeated from 5 feet of optocoupler U10 1 foot for arriving CAN adapter chip U18 out, from 6, the 7 foot output difference signals of CAN adapter chip U18 to terminal JP29 1, 2 feet.From the CAN differential signal that 1,2 feet of terminal JP29 input to 6,7 feet of CAN adapter chip U18, from CAN adapter core 4 feet of piece U18 arrive 70 foot of U5 MCU microcontroller, in MCU to 3 feet of optocoupler U17 from 5 feet of optocoupler U17 Reason.

Embodiment 3

The Mecanum wheel that embodiment 1 and embodiment 2 use is integrated the embedded Mecanum wheel of sealing, there are four, left side two A, two, right side, all, the different embedded Mecanum wheels of left-right integrated sealing is symmetrically to see Figure 17-2 to structure.

Described integral hermetic embedded Mecanum wheel 2-1,2-2,2-3 or 2-4, including the identical trundle of eight specifications M-1-1, left side Mecanum wheel wheel hub M-2-1, right side Mecanum wheel wheel hub M-2-2, DDESM motor outer rotor M-3-1, DDESM motor stator M-3-2, reflective optical encoder device code-disc M-4-1, reflective optical encoder device sensor M-4-2, insertion Formula electric machine controller M-4-3, left side bearing M-5-1, right side bearing M-5-2, central axis M-6-1, axle sleeve M-6-2, outer end cap M- 7-1, outer end cap fastening nut M-7-2, outside framework oil seal M-7-3；It is characterized by: DDESM motor outer rotor is directly embedded into left and right Fixed in the Mecanum wheel wheel hub of side, DDESM motor stator M-3-2 covers on DDESM motor outer rotor M-3-1 inner hole, and DDESM motor stator is fixed on the inside of Mecanum wheel wheel hub by left and right side bearing, central axis, axle sleeve, in DDESM motor Stator acts on lower DDESM motor outer rotor and drives Mecanum wheel hub rotation, and reflective optical encoder device code-disc is fixed on the right side On the Mecanum wheel wheel hub of side, reflective optical encoder device sensor, embedded-type electric machine controller are fixed on the inside of outer end cap, The information of reflection type optical photoelectric coder code-disc is fed back to embedded-type electric machine controller by reflective optical encoder device sensor；Skeleton Oil sealing M-7-3 covers on the outer edge of right side Mecanum wheel wheel hub M-2-2, and central axis M- is leaned against on the inside of outer end cap M-7-1 It is fitted close on step on the right side of 6-1 and with outside framework oil seal M-7-3, outer end cap is fixed on center by outer end cap fastening nut On axis, the controlling cable of embedded DDESM electric machine controller passes through sealing nut and is connected with CAN adapter and attaching plug, this The entire Mecanum wheel of sample may be in sealing waterproof state.

The identical trundle of above-mentioned eight specifications passes through the trundle for being embedded in small bearing each by pin shaft, using locking spiral shell Female and gasket is fixed on trundle on left and right sides Mecanum wheel wheel hub.

Above-mentioned DDESM motor outer rotor M-3-1 is nested on left and right sides Mecanum wheel wheelboss inner hole fixed, reflecting light The profile of photoelectric coder code-disc M-4-1 is fixed on the outside of right side Mecanum wheel wheel hub M-2-2, reflective optical encoder device Sensor M-4-2 is fixed on embedded-type electric machine controller M-4-3, and embedded-type electric machine controller M-4-3 is fixed on outer end cap M- On the inner sidewall of 7-1, left side bearing M-5-1 foreign steamer is leaned against on the Mecanum wheel wheel hub M-2-1 inward flange of left side, left side bearing M- It is leaned against on the left edge of central axis M-6-1 boss on the inside of 5-1 lubrication groove, leans against central axis M-6- on the left of DDESM motor stator M-3-2 On the right hand edge of 1 boss, axle sleeve M-6-2 covers on central axis M-6-1, leans against DDESM motor stator M-3- on the left of axle sleeve M-6-2 In 2 right side edges, it is in contact on the right side of the left side of right side bearing M-5-2 lubrication groove and axle sleeve M-6-2, right side bearing M-5-2 foreign steamer leans on On the inward flange of right side Mecanum wheel wheel hub M-2-2.

Above-mentioned sealing nut M-7-4 can cooperate with the right centre bore of central axis M-6-1, and embedded-type electric machine controller can lead to It crosses CAN adapter to connect with host computer, upper function communicates to control Mike by CAN adapter and embedded-type electric machine controller The operation of Na Mu wheel.

The embedded-type electric machine controller can use commercial product, such as: Xin Tuo Electro-optical Technology, INC. (US) 62 Martin Road, Concord, Massachusetts 017, Shenzhen Present invention structure (see Figure 35) as described below can also be used in the embedded brushless motor driver (PSBD-E-33) of production, It include power module of voltage regulation, crystal oscillator module, outer memory module, photoelectric encoder interface, PWM three-phase bridge power amplification electricity Road, DSP embedded microcontroller module (as used model TMS320F2806X chip), the RS232 with isolation circuit communicate mould Block, the CAN communication module with isolation circuit or EtherCAT communication module, high-power FET driving circuit, the crystalline substance Shake module, the RS232 communication module with isolation circuit, the CAN communication module with isolation circuit or EtherCAT communication module, light Photoelectric coder interface, current detection module, outer memory module, PWM three-phase bridge power amplification circuit module are embedded in DSP respectively The controller module that declines connection, high-power FET driving circuit are controlled after connecting with PWM three-phase bridge power amplification circuit module DDESM motor movement processed, (reflective optical encoder device is by reflective optical encoder through reflective optical encoder device for DDESM motor Device code-disc and reflective optical encoder device sensor composition), photoelectric encoder interface and DSP embedded microcontroller module company It connects；RS232 communication module is connect with host computer respectively with CAN communication module or EtherCAT communication module.

Claims (5)

1. a kind of Full automatic fine yarn based on the embedded Mecanum wheel of integral hermetic changes pipe machine, including ontology vehicle frame, ontology vehicle The shell and Mecanum wheel of frame, which is characterized in that the fixing pipe phase of the central axis outside left ontology vehicle frame of Mecanum wheel Even, the shell front and rear part of ontology vehicle frame is respectively configured with host computer, RFID reader, camera, infrared sensor of the human body；Ontology vehicle The preceding inside of frame is configured with cross screw rod slide unit, and cross screw rod slide unit includes X-axis, Y-axis and the servo motor for controlling X-axis；Control The front end of the servo motor of X-axis processed is equipped with harmonic wave speed reducing machine, and slide unit is equipped in X-axis, and Y-axis is equipped on slide unit, is pacified in Y-axis Equipped with the servo motor for controlling Y-axis, slide unit is installed in Y-axis, the front end of servo motor is equipped with harmonic wave speed reducing machine, harmonic reduction Machine plays the role of high torque；SCARA mechanical arm is installed on the slide unit in Y-axis, SCARA mechanical arm include the first arm, Second arm, third arm, the 4th arm；Servo motor is fixed between first arm and the second arm；It is fixed between second arm and third arm There is servo motor；Servo motor is fixed between third arm and the 4th arm；The front end of the 4th arm of SCARA mechanical arm is equipped with spun yarn Fixture combination body, spun yarn fixture combination body include servo motor, harmonic wave speed reducing machine, bolt and nut, bolt and nut fixing piece, can stretch Contracting workpiece, steel bushing, link block, front end fixing piece, linear bearing and small axis, servo motor front end is equipped with harmonic wave speed reducing machine, defeated Shaft coupling is connected with harmonic wave speed reducing machine out, and camera is equipped among link block；It is solid that the middle layer of ontology vehicle frame is equipped with spun yarn Determine the positioning track and the first electromagnet of basket, ring bobbin guiding window, ontology vehicle frame are installed on the left of the middle layer of ontology vehicle frame Lower layer the positioning track and the second electromagnet of ring bobbin collection frame be installed, before the lower layer of ontology vehicle frame, below, it is left Side, right side respectively configure laser range sensor, and are configured with 433M wireless serial module and gyro sensor, ontology vehicle frame The left side intermediate configurations two dimensional code camera of lower layer, front and back are equipped with bearing retainer, have electricity below the middle layer of ontology vehicle frame Case is controlled, the rear inside of ontology vehicle frame is configured with dynamic lithium battery.

2. the Full automatic fine yarn according to claim 1 based on the embedded Mecanum wheel of integral hermetic changes pipe machine, special Sign is that the Mecanum wheel is integrated the embedded Mecanum wheel of sealing, including trundle, left side Mecanum wheel wheel Hub, right side Mecanum wheel wheel hub (M-2-2), DDESM motor outer rotor (M-3-1), DDESM motor stator (M-3-2), reflection Formula photoelectric encoder code-disc (M-4-1), reflective optical encoder device sensor (M-4-2), embedded-type electric machine controller, left-hand axis Hold (M-5-1), right side bearing (M-5-2), central axis (M-6-1), axle sleeve (M-6-2), outer end cap, outer end cap fastening nut (M- 7-2) and outside framework oil seal (M-7-3)；DDESM motor outer rotor is directly embedded into left and right sides Mecanum wheel wheel hub fixed, DDESM Motor stator (M-3-2) covers on DDESM motor outer rotor (M-3-1) inner hole, and DDESM motor stator passes through left and right side axle It holds, central axis, axle sleeve are fixed on the inside of Mecanum wheel wheel hub, the DDESM motor outer rotor under the effect of DDESM motor stator Mecanum wheel hub rotation is driven, reflective optical encoder device code-disc is fixed on the Mecanum wheel wheel hub of right side, reflective Photoelectric encoder sensor, embedded-type electric machine controller are fixed on the inside of outer end cap, reflective optical encoder device sensor energy The information of reflection type optical photoelectric coder code-disc is fed back to embedded-type electric machine controller；Outside framework oil seal (M-7-3) is covered in right side wheat Ke Namu takes turns on the outer edge of wheel hub (M-2-2), leaned against on the inside of outer end cap on the step on the right side of central axis (M-6-1) and with Outside framework oil seal (M-7-3) is fitted close, and outer end cap is fixed on center shaft by outer end cap fastening nut.

3. the Full automatic fine yarn according to claim 1 based on the embedded Mecanum wheel of integral hermetic changes pipe machine, special Sign is that servo motor is integrated embedded servo motor, includes central axis, shell, preceding gland, motor stator, motor turn Son, fore bearing, rear bearing, encoder code disc, reflective photoelectric sensor, embedded-type electric machine controller and rear end cap；Servo electricity The front end of machine is equipped with harmonic wave speed reducing machine, and harmonic wave speed reducing machine includes wave producer, steel wheel and flexbile gear；Output shaft and steel wheel phase Even, wave producer is connected with central axis, and the outer snare of fore bearing is in the right side of preceding gland, the inner ring and central axis of fore bearing Between boss left side be connected, the right side surface cover of rear bearing is in the middle position of shell, the left side of rear bearing leans against central axis On, rotor covers on center shaft, and is screwed, and preceding gland and shell fix motor stator, harmonic wave speed reducing machine Flexbile gear it is fixed on the shell and push down preceding gland, reflective optical encoder device is fixed on the right lateral surface of shell, and photoelectricity is compiled Code device code-disc is fixed on the tail end of central axis, and embedded-type electric machine controller is fixed on the medial surface of rear end cap, rear end cap and outer Shell phase is fixed.

4. the Full automatic fine yarn according to claim 1 based on the embedded Mecanum wheel of integral hermetic changes pipe machine, special Sign is that the front end of the 4th arm of SCARA mechanical arm is equipped with spun yarn fixture combination body, and spun yarn fixture combination body includes that third is watched Take motor, bolt and nut, bolt and nut fixing piece, scalable workpiece, first straight line bearing, second straight line bearing, the first small axis, Second small axis and steel bushing, third servo motor are fixed on the left side of the 4th arm, and third servo motor front end is equipped with third Harmonic wave speed reducing machine, the central axis of third servo motor are connected with the third wave producer of third harmonic speed reducer, export shaft coupling It is connected with the steel wheel of third harmonic speed reducer, the nut of bolt and nut is fixed on by first straight line bearing, second straight line bearing On bolt and nut fixing piece, bolt and nut fixing piece is fixed on scalable workpiece；One end of the screw rod of bolt and nut and output Shaft coupling is connected, the other end is fixed on steel bushing, and steel bushing is fixed on the fixing piece of front end, and front end fixing piece passes through link block on one side It is mutually fixed with the medial side face of the 4th arm；Another side passes through first straight line bearing, second straight line by the first small axis, the second small axis It is connected after bearing with the hole of the 4th arm, the rotation of third servo motor drives the steel wheel rotation of third harmonic speed reducer, output connection Axis device is rotated with the screw rod of bolt and nut, and the nut of such bolt and nut advances or retreats with screw rod, the first small axis, Second small axis play the guiding role；Camera is installed among link block.

5. the Full automatic fine yarn according to claim 1 based on the embedded Mecanum wheel of integral hermetic changes pipe machine, special Sign is, has electric cabinet below the middle layer of ontology vehicle frame, includes one piece in electric cabinet with CAN mouthfuls of MCU, CAN adapter, RFID reader, 433M wireless serial module, gyro sensor, laser range sensor, people can be read with CAN mouthfuls of MCU Body infrared sensor, scram button information can drive alarm, and be connect by CAN adapter with host computer, and host computer passes through Data between wireless module and communication endpoint are transmitted；Host computer is ready for spinning frame according to the reception of 433M wireless serial module Facility information, host computer is according to itself position planning path, and based on gyro sensor information, the scanning of two dimensional code camera is thin Two-dimensional barcode information on the iron pipe of yarn machine skirt section, the visual information of camera acquisition, the information of RFID reader and laser range finder are The operation of auxiliary implementation path, infrared sensor of the human body and can perceive at a distance from human body, it is ensured that the correct avoidance and fortune of operational process Line efficiency.