CN106945048A - A kind of intelligent mobile robot goes up yarn system automatically - Google Patents
A kind of intelligent mobile robot goes up yarn system automatically Download PDFInfo
- Publication number
- CN106945048A CN106945048A CN201710316496.7A CN201710316496A CN106945048A CN 106945048 A CN106945048 A CN 106945048A CN 201710316496 A CN201710316496 A CN 201710316496A CN 106945048 A CN106945048 A CN 106945048A
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- China
- Prior art keywords
- yarn
- robot
- axles
- supporting plate
- intelligent mobile
- 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
- 210000000707 wrist Anatomy 0.000 claims description 24
- 210000000078 claw Anatomy 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 238000004043 dyeing Methods 0.000 abstract description 11
- 238000005516 engineering process Methods 0.000 abstract description 10
- 239000004753 textile Substances 0.000 abstract description 10
- 238000009434 installation Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000009941 weaving Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 235000013351 cheese Nutrition 0.000 description 3
- 238000007639 printing Methods 0.000 description 3
- 229920000742 Cotton Polymers 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009984 hand spinning Methods 0.000 description 1
- 238000009940 knitting Methods 0.000 description 1
- 239000004745 nonwoven fabric Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40519—Motion, trajectory planning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Yarn system is gone up automatically the invention discloses a kind of intelligent mobile robot, including 6 shaft industrial robot work systems and control system, the robot work system includes two yarn bobbin racks, supporting plate is equipped with the downside of each tube rack, universal wheel is equipped with the lower end corner of each supporting plate, the same side of each supporting plate is equipped with location-plate, each relative both sides of the supporting plate are equipped with fixed dam, the upper end of each fixed dam is equipped with U-shaped connecting rod, and the two ends of connecting rod are separately fixed on fixed dam, between two fixed dams, it is equidistant between the inwall of connecting rod to be provided with some fixed transverse rods.The present invention is stronger in the versatility of textile dyeing and finishing production line, and the yarn plate rail of each station of dyeing and finishing technology need not be manufactured with yarn grabbing finger Aided design, convenient for installation and maintenance, meets textile dyeing and finishing production line low cost, the requirement of high-efficient automatic production.
Description
Technical field
Yarn system is gone up automatically the present invention relates to robotics, more particularly to a kind of intelligent mobile robot.
Background technology
Weaving original meaning is taken from spinning and the general name weaved cotton cloth, but with the continuous hair of weaving knowledge hierarchy and subject system
Exhibition and perfect, after the technology such as particularly non-woven textile material and three-dimensional be composite braided is produced, present weaving has been not only
Traditional hand spinning and weave cotton cloth, also including nonwoven fabric technology, Modern three-dimensional knitting skill, modern electrostatic nanometer net-forming technology etc.
The clothes of production are used, industry is used, decorative textile product.So, modern textile refers to many chis of a kind of fiber or fiber assembly
Spend structure process technology.The weaving of ancient Chinese has very long history with printing technology, early in primitive society's period, ancient
People has understood and gathered materials on the spot for the change of acclimatization, and the raw material of weaving and printing and dyeing, and manufacture are used as by the use of natural resources
Simple Handicraft Textile instrument.Until today, clothes, air bag and curtain carpet in daily life are all weaving and printing and dyeing
The product of technology, and with the progress of society, also there is increasing textile technology to start applicable industry automated production, mesh
Before, domestic cheese dyeing and finishing production line is mostly using semi-automatic production model, and cheese is between production line each station
What transfer was manually carried out, labor strength is very big, inefficiency, and the domestic recruitment for being faced with sternness at present is waste
Problem, enterprise's cost of labor is stepped up, and 6 shaft industrial robots (Robot) are the automatic installations for performing work.It was both
Mankind commander can be received, the program of advance layout can be run again, can also be according to the principle formulated with artificial intelligence technology
Guiding principle is taken action.Its task is assistance or the work for replacing human work, for example, produce industry, construction industry, or dangerous work,
Realize that the full-automatic operation of cheese dyeing and finishing production line is relevant industries enterprise in the urgent need to domestic using yarn grabbing robot
In existing textile dyeing and finishing automatic assembly line, the application at home of yarn grabbing manipulator is actually rare.
The content of the invention
The invention aims to solve shortcoming present in prior art, and a kind of intelligent mobile robot proposed
Automatic upper yarn system.
To achieve these goals, present invention employs following technical scheme：
A kind of intelligent mobile robot upper yarn system, including robot work system and control system automatically, the machine
People's work system includes being equipped with supporting plate on the downside of two yarn bobbin racks, each tube rack, each described
Universal wheel is equipped with the lower end corner of supporting plate, the same side of each supporting plate is equipped with location-plate, each branch
The relative both sides of fagging are equipped with fixed dam, and the upper end of each fixed dam is equipped with U-shaped connecting rod, and connecting rod
Two ends be separately fixed on fixed dam, if between two fixed dams, between the inwall of connecting rod it is equidistant provided with
It is equidistant on dry fixed transverse rod, each fixed transverse rod to place bar provided with some yarn bobbins, the yarn bobbin rack
Platform is kept in side provided with yarn bobbin, and yarn bobbin keeps in the upside of platform provided with some yarn bobbins, two yarn bobbin racks
Between be provided with robot, the downside of the robot is provided with robot base, and the downside of the robot base is provided with vehicle with walking machine
Structure, the upside of the robot base is provided with robot arm, and the control system includes power supply, upper seat in the plane PC, DSP and controlled
Device, rotation S axles, underarm L axles, upper arm U axles, wrist rotation R axles, wrist swinging B axle and wrist revolution T axle angular position sensings
Device, the output end of the upper seat in the plane PC is electrically connected with the input of dsp controller, the input of the power supply and dsp controller
Connection, the output end of the dsp controller rotates R axles, wrist swinging B with rotation S axles, underarm L axles, upper arm U axles, wrist respectively
The input electrical connection of axle and wrist revolution T axle angular position sensors.
Preferably, the control system also includes AGV control systems, and input and the DSP of AGV control systems control
The output end electrical connection of device.
Preferably, the inside of the AGV control systems generates system and servo drive system, the mesh provided with target trajectory
The output end of mark system of path generator is electrically connected with the input of servo drive system.
Preferably, the upside of the robot arm is provided with camera, and the output end and dsp controller of camera
Input is electrically connected.
Preferably, the described one end of robot arm 12 away from robot base is provided with grabbing claw, and grabbing claw and DSP
Controller is electrically connected.
Preferably, the input of the output end of the servo drive system and three-joint mechanical arm and walking mechanism is electrically connected
Connect.
In the present invention, the motion track of robot is judged by camera and control system, and set machine
The movement locus of people, then drives robot ambulation, mechanical arm and crawl by servo drive system and walking mechanism again
Pawl is captured to yarn bobbin, and two pawl manipulators can be realized along rotation S axles, underarm L axles, upper arm U axles, wrist rotation R axles, hand
Wrist swings B axle and wrist turns round the space gyration of T direction of principal axis, can flexibly control yarn grabbing finger, be at any institute
The crawl attitude needed, equipment is stronger in the versatility of textile dyeing and finishing production line, and the yarn plate rail of each station of dyeing need not be with
Yarn grabbing finger Aided design is manufactured, convenient for installation and maintenance, is met textile dyeing and finishing production line low cost, high-efficient automatic and is produced
It is required that.
Brief description of the drawings
Fig. 1 is the structural representation that a kind of intelligent mobile robot proposed by the present invention goes up yarn system automatically；
Fig. 2 is the principle control figure that a kind of intelligent mobile robot proposed by the present invention goes up yarn system automatically.
In figure：1 supporting plate, 2 universal wheels, 3 fixed dams, 4 montants, 5 fixed transverse rods, 6 yarn bobbins place bar, 7 yarn bobbins
Temporary platform, 8 yarn bobbins, 9 location-plates, 10 robot bases, 11 walking mechanisms, 12 robot arms, 13 grabbing claws.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
Reference picture 1-2, a kind of intelligent mobile robot upper yarn system, including robot work system and manipulation system automatically
System, robot work system includes being equipped with supporting plate 1 on the downside of two yarn bobbin racks, each tube rack, each
Universal wheel 2 is equipped with the lower end corner of supporting plate 1, the same side of each supporting plate 1 is equipped with location-plate 9, each supporting plate 1
Relative both sides are equipped with fixed dam 3, and the upper end of each fixed dam 3 is equipped with U-shaped connecting rod, and the two ends of connecting rod
It is separately fixed on fixed dam 3, it is equidistant provided with some fixed horizontal between two fixed dams 3, between the inwall of connecting rod
Equidistant on bar 5, each fixed transverse rod 5 to place bar 6 provided with some yarn bobbins, the side of yarn bobbin rack is provided with yarn bobbin
Platform 7 is kept in, and the upside of the temporary platform 7 of yarn bobbin is provided with provided with robot between some yarn bobbins 8, two yarn bobbin racks,
The downside of robot is provided with robot base 10, and the downside of robot base 10 is provided with walking mechanism 11, robot base 10
Upside is provided with robot arm 12, and the control system includes power supply, upper seat in the plane PC, dsp controller, rotation S axles, underarm L
Axle, upper arm U axles, wrist rotation R axles, wrist swinging B axle and wrist revolution T axle angular position sensors, the upper seat in the plane PC's
Output end is electrically connected with the input of dsp controller, the input connection of the power supply and dsp controller, the dsp controller
Output end respectively with rotation S axles, underarm L axles, upper arm U axles, wrist rotation R axles, wrist swinging B axle and wrist revolution T shaft angles
Spend the input electrical connection of position sensor, the control system also includes AGV control systems, and AGV control systems is defeated
Enter end to electrically connect with the output end of dsp controller, output end and three-joint mechanical arm and the vehicle with walking machine of the servo drive system
The input electrical connection of structure, the upside of the robot arm 12 is provided with camera, and the output end of camera is controlled with DSP
The input electrical connection of device, the described one end of robot arm 12 away from robot base is provided with grabbing claw 13, and grabbing claw
13 and dsp controller electrical connection, the inside of the AGV control systems generates system and servo drive system provided with target trajectory,
The output end of the target trajectory generation system is electrically connected with the input of servo drive system.
In the present invention, the motion track of robot is judged by camera and control system, and set machine
The movement locus of people, is then driven robot ambulation, mechanical arm and grabbed by servo drive system and walking mechanism 11 again
Take pawl 13 to capture yarn bobbin 8, two pawl manipulators can be realized along rotation S axles, underarm L axles, upper arm U axles, wrist rotation R
The space revolution fortune of axle, wrist swinging B axle and wrist revolution T direction of principal axis, can flexibly control yarn grabbing finger, be at any
Required crawl attitude.
The foregoing is intended to be a preferred embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent or change, should all be included within the scope of the present invention.
Claims (6)
1. a kind of intelligent mobile robot upper yarn system, including robot work system and control system automatically, the robot
Work system includes two yarn bobbin racks, it is characterised in that be equipped with supporting plate on the downside of each tube rack
(1) universal wheel (2), is equipped with the lower end corner of each supporting plate (1), the same side of each supporting plate (1) is equal
Provided with location-plate (9), each relative both sides of the supporting plate (1) are equipped with fixed dam (3), each fixed dam
(3) upper end is equipped with U-shaped connecting rod, and the two ends of connecting rod are separately fixed on fixed dam (3), two fixations
It is equidistant between baffle plate (3), between the inwall of connecting rod to be provided with some fixed transverse rods (5), each fixed transverse rod (5)
Equidistant to place bar (6) provided with some yarn bobbins, platform (7), and yarn are kept in the side of the yarn bobbin rack provided with yarn bobbin
The upside that spool keeps in platform (7) is provided with provided with robot between some yarn bobbins (8), two yarn bobbin racks, described
The downside of robot is provided with robot base (10), and the downside of the robot base (10) is provided with walking mechanism (11), described
The upside of robot base (10) is provided with robot arm (12), and the control system includes power supply, upper seat in the plane PC, DSP and controlled
Device processed, rotation S axles, underarm L axles, upper arm U axles, wrist rotation R axles, wrist swinging B axle and wrist revolution T axle angular position sensings
Device, the output end of the upper seat in the plane PC is electrically connected with the input of dsp controller, the input of the power supply and dsp controller
Connection, the output end of the dsp controller rotates R axles, wrist swinging B with rotation S axles, underarm L axles, upper arm U axles, wrist respectively
The input electrical connection of axle and wrist revolution T axle angular position sensors.
2. a kind of intelligent mobile robot according to claim 1 goes up yarn system automatically, it is characterised in that the manipulation system
That unites also includes AGV (automatically moving dolly) control system, and the input and the output end of dsp controller of AGV control systems
Electrical connection.
3. a kind of intelligent mobile robot according to claim 2 goes up yarn system automatically, it is characterised in that the AGV behaviour
The inside of control system generates system and servo drive system provided with target trajectory, the output end of the target trajectory generation system with
The input electrical connection of servo drive system.
4. a kind of intelligent mobile robot according to claim 1 goes up yarn system automatically, it is characterised in that the robot
The upside of mechanical arm (12) is provided with camera, and the output end of camera is electrically connected with the input of dsp controller.
5. a kind of intelligent mobile robot according to claim 1 goes up yarn system automatically, it is characterised in that the robot
The one end of mechanical arm (12) away from robot base (10) is provided with grabbing claw (13), and grabbing claw (13) and dsp controller are electrically connected
Connect.
6. a kind of intelligent mobile robot according to claim 3 goes up yarn system automatically, it is characterised in that the servo is driven
The output end of dynamic system is electrically connected with the input of three-joint mechanical arm and walking mechanism (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710316496.7A CN106945048A (en) | 2017-05-08 | 2017-05-08 | A kind of intelligent mobile robot goes up yarn system automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710316496.7A CN106945048A (en) | 2017-05-08 | 2017-05-08 | A kind of intelligent mobile robot goes up yarn system automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106945048A true CN106945048A (en) | 2017-07-14 |
Family
ID=59478187
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710316496.7A Pending CN106945048A (en) | 2017-05-08 | 2017-05-08 | A kind of intelligent mobile robot goes up yarn system automatically |
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| Country | Link |
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| CN (1) | CN106945048A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107720438A (en) * | 2017-11-03 | 2018-02-23 | 杭州锐冠科技有限公司 | A kind of lick-up control system and control method |
| CN108729051A (en) * | 2018-08-16 | 2018-11-02 | 广东溢达纺织有限公司 | Thread-changing threading mechanism and its method |
| CN110077789A (en) * | 2018-01-26 | 2019-08-02 | 广州赫伽力智能科技有限公司 | A kind of automatic Yarn hanging device of AGV diamond shape |
| CN111674805A (en) * | 2020-06-12 | 2020-09-18 | 南京鑫鼎纤维材料有限公司 | Intelligent spindle yarn loading and storing frame robot |
| CN112456047A (en) * | 2020-11-13 | 2021-03-09 | 昆山艾博机器人股份有限公司 | Rotary carrying device |
| CN113526229A (en) * | 2020-04-17 | 2021-10-22 | 阳程科技股份有限公司 | Yarn bobbin feeding device and method thereof |
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| CN106081609A (en) * | 2016-08-22 | 2016-11-09 | 广东溢达纺织有限公司 | Cheese transfer mechanism and cheese are arranged to device |
| CN205771449U (en) * | 2016-06-06 | 2016-12-07 | 广州赫伽力智能科技有限公司 | Creel mechanism gone up automatically by a kind of cheese |
| CN205888700U (en) * | 2016-08-09 | 2017-01-18 | 广东利迅达机器人系统股份有限公司 | Unloading system in robot with accurate locate function |
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| CN205972094U (en) * | 2016-06-06 | 2017-02-22 | 广州赫伽力智能科技有限公司 | Automatic packaging production line of section of thick bamboo yarn based on multiple packaging mode |
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| CN106584421A (en) * | 2017-02-10 | 2017-04-26 | 中国东方电气集团有限公司 | Mobile trolley system based on mobile robot |
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| CN106393098A (en) * | 2015-07-27 | 2017-02-15 | 精工爱普生株式会社 | Robot, control apparatus, and robot system |
| KR20170016534A (en) * | 2015-08-03 | 2017-02-14 | 한국타이어 주식회사 | Creel auto loading apparatus |
| CN105480712A (en) * | 2015-12-22 | 2016-04-13 | 青岛环球集团股份有限公司 | Automatic taking-and-placing device for cone yarns |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107720438A (en) * | 2017-11-03 | 2018-02-23 | 杭州锐冠科技有限公司 | A kind of lick-up control system and control method |
| CN110077789A (en) * | 2018-01-26 | 2019-08-02 | 广州赫伽力智能科技有限公司 | A kind of automatic Yarn hanging device of AGV diamond shape |
| CN108729051A (en) * | 2018-08-16 | 2018-11-02 | 广东溢达纺织有限公司 | Thread-changing threading mechanism and its method |
| CN108729051B (en) * | 2018-08-16 | 2023-12-26 | 广东溢达纺织有限公司 | Thread changing and threading mechanism and method thereof |
| CN113526229A (en) * | 2020-04-17 | 2021-10-22 | 阳程科技股份有限公司 | Yarn bobbin feeding device and method thereof |
| CN111674805A (en) * | 2020-06-12 | 2020-09-18 | 南京鑫鼎纤维材料有限公司 | Intelligent spindle yarn loading and storing frame robot |
| CN112456047A (en) * | 2020-11-13 | 2021-03-09 | 昆山艾博机器人股份有限公司 | Rotary carrying device |
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Application publication date: 20170714 |
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