GZH62-200型整经机经轴上落运输智能机器人研发  

Development of the robot for installing,uninstalling and transporting of warp beam on GZH62-200 warping machine

作　　者：李铬[1] 刘汉申 崔运喜 张洪[1] 陈威望 王庆华[1] 张汉山 LI Ge;LIU Hanshen;CUI Yunxi;ZHANG Hong;CHEN Weiwang;WANG Qinghua;ZHANG Hanshan(Zhongyuan University of Technology, Zhengzhou 450007, China;Zhengzhou Textile Machinery Engineering ＆ Technology Co., Ltd., Zhengzhou 450006, China)

机构地区：[1]中原工学院,河南郑州450007 [2]郑州纺机工程技术有限公司,河南郑州450006

出　　处：《上海纺织科技》2017年第12期50-52,共3页Shanghai Textile Science & Technology

基　　金：河南省现代制造装备与仪器重点学科开放实验室资助(2017ME1004);郑州市科技创新团队基金资助(10CXTD153)

摘　　要：介绍了一种经轴上落运输智能机器人,实现了GZH62-200型整经机和智能经轴库之间的智能化上落和运输。机器人由4个系统组成:空轴上落系统、满轴上落系统、机器人导航系统和机器人控制系统。其中,空轴上落系统由升降机构和伸缩臂机构组成;满轴上落系统由行走机构和托臂机构组成;机器人导航系统采用磁导航,可正反双向行走,四驱差速纠偏差;控制系统由主控单元、行走单元、空轴上落单元、满轴上落单元、安全防护单元、通信单元和供电单元构成,以实现智能机器人的安全稳定运行。此外,在机器人与整经机对接过程中提出利用超声波定位,保证了较高的对接精度。An intelligent robot to install, uninstall and transport the warp beam is introduced to achieve the intelligent movement and transportation of warp beam between the GZH62- 200 waiping machine and the intelligent warp beam library. The intelligent robot is composed of four systems： the installing and uninstalling system of empty beams, the installing and uninstalling system of full beams, the navigation system of the robot and the robotic control system. The installing and uninstalling system of empty beams consists of a lifting mechanism and a telescopic arm mechanism ; the installing and uninstalling system of full beams consists of a walking mechanism and a boom mechanism; it adopts magnetic navigation in the robotic navigation system and realizes movement in two direction, and the four-wheel-drive robot adjusts directions by electric differential control strategy; the robotic control system is composed of main control unit, walking unit, installing and uninstalling unit of empty beams, installing and uninstalling unit of full beams, safety protection unit, communication unit and the power supply unit, which can realize the safe and stable operation of the intelligent robot. In addition, in the process of docking between the robot and warping machine, the ultrasonic positioning is proposed to ensure the high accuracy of docking.

关 键 词：整经机 整经轴 智能 机器人 

分 类 号：TS103.322[轻工技术与工程—纺织工程]