整经机筒子架自动换筒机器人系统研发

Research and development of automatic barrel changing robot system for warping machine’s barrel frame

介绍一种通用型整经机筒子架自动换筒机器人,该机器人由行走系统、换筒系统、换箱系统、检测系统以及筒子存储箱5部分组成:其中行走系统利用AGV小车实现机器人的自动定位行走;换筒系统由底座机构、多关节机械臂机构、换筒夹具机构3部分组成,针对不同形式的筒子架均可实现筒子自动上落功能;换箱系统由底座机构、机械臂机构、换箱夹具机构、吸盘机构4部分组成,能够自动完成换箱与移开隔板动作;检测系统利用压力传感器检测筒子存储箱的质量,并利用视觉传感器辅助机器人实现换筒夹具的精确定位,便于换筒机器人实现自动换箱、换筒功能;筒子存储箱是与换筒机器人配套使用的辅助设备,用于存放筒子。采用双目视觉检测技术,可辅助机器人调整换筒夹具的空间位置,实现换筒夹具与筒子架之间的精准对接。该换筒机器人改变了传统人工换筒的工作方式,针对不同形式的筒子架,可在满足换筒工艺要求的前提下自动完成上落筒与换箱功能。

A general robot is introduced,used for automatic changing cylinders on the shelves of warping machine,which consists of five parts including walking system,cylinder changing system,box changing system,detecting system and cylinder-storage boxes respectively.Among them,the cylinder changing system helps the robot realize automatic positioning walking via an AGV mechanism.The cylinder changing system consists of three parts such as base mechanism,the multi-joint arm mechanism and cylinder changing fixture mechanism,which could realize raising cylinders up and falling them down no matter what type the shelf is.The box changing system consists of four parts such as base mechanism,arm mechanism,fixture mechanism and suction cup mechanism,which could change boxes and remove the partition automatically;the detecting one utilizes a pressure sensor to measure the weight of the cylinder storage boxes,and a vision sensor assisted robot to position the fixture exactly,which helps the cylinder changing robot function automatically.For cylinder storage,a cylinder storage box is designed as an assistant device along with the robot.The binocular vision detecting technology is used to aid the robot to adjust the space position of the fixture so that an accurate docking is made between the fixture and the shelf.This cylinder changing robot could change the traditional manual way and the robot is able to realize raising cylinders up and falling them down automatically for all kinds of shelves under the premise of meeting the need of cylinder changing.