非织造芯轴智能运输机器人的研发

Development of non-woven mandrel intelligent transport robot

目前非织造工艺中,成卷机与分切机之间的衔接并没有实现自动化。介绍了一种芯轴运输智能机器人,其可在非织造成卷机与分切机之间来回智能运输满轴、空轴。机器人由4个部分组成:升降系统、水平运动系统、框架结构和智能控制系统。其中升降系统由梯形丝杠升降机和钩手机构组成;行走系统由横梁机构、动力机构组成;框架结构由T型钢材、H型钢材等组成;控制系统由主控模块、升降模块、行走模块、安全防护模块、通信模块和供电模块组成。考虑到布卷有一定的质量不良率,故外配了AGV运输系统来运输残次布卷。AGV运输系统采用磁质导航,可正反双向行走,四驱差速纠偏差。

In view of the current non-woven process,the connection between the winding machine and the slitting machine is not automated.A mandrel transport intelligent robot is introduced,which can realize the intelligent transportation of the full-axis between the roll machine and the slitter empty axis.The robot consists of four parts:the lifting system,the horizontal motion system,the frame structure and the intelligent control system.The lifting system is composed of a trapezoidal screw lifter and a hooking mechanism;the walking system is composed of a beam mechanism and a power mechanism;the frame structure is composed of a T-shaped steel and an H-shaped steel;the control system is composed of a main control module,a lifting module,a walking module.The safety protection module,the communication module and the power supply module are combined to realize the smooth running of the intelligent robot.Taking into account the poor quality of the cloth roll,an AGV transport system is used to transport the residual cloth roll.The AGV transport system uses magnetic mass navigation,which could be used for forward and reverse two-way walking and four-wheel drive differential correction.