| With the rise of Industrie4.0 and the "Made in China 2025" plan, the intelligent manufacturing based on the Internet of things is popular in manufacturing industry.In the field of cotton spinning workshop, the cotton barrel replacement process is still using the traditional manal operation, so that the market is in urgent need of a kind of intelligent automation equipment to solve this situation.According to this kind of problem,the technical scheme of the double robot for the replacement of the cotton barrel with "AGV+4 axis handling manipulator" was proposed. According to the requirements of the status, the mobile power supply system, the electronic control system and the communication of the double robot was discussed and analysed, for similar double robot providing some design ideas.The automatic guided vehicle (AGV) and the 4 axis robot of double robot was as the research object in this paper. According to the actual working conditions, the power system characteristics and power supply scheme of the double robot were analyzed and given. The combination scheme of power battery was determined after the power,voltage and capacity design parameters of the power battery were calculated by power estimation. The acceleration and deceleration curve of S was chosen as the law of acceleration and deceleration of servo drive, and the impact of the sudden change of inertia on the power supply system was analyzed in the a working cycle of 4 axis robot. Through the comparison and analysis of various kinds of batteries, lithium iron phosphate battery was selected as the system power supply.The rationality of battery selection was verified through simulating the pulse discharge in MATLAB simulation software.The rationality of the 4 axis robot servo motor selection is verified,through the calculation and analysis. According to the characteristics of the 4 axis cotton barrel handling robot, the key technologies of servo drive position control were analyzed.According to the precision and speed requirements of the robot,the suitable electronic gear ratio is calculated. According to the definition of the interface of the robot controller and the characteristics of each axis of the robot, the key parameters of the servo driver were set. The parameters matching and communication between the robot controllers and each axis servo driver were completed, which makes the best performance of the robot to pave the way for the follow-up design of robot electronic control.The electric control scheme of 4 axis robot was designed, by studying the principle of electric control design of the robot.According to the characteristics of hardware interface between CRP-S40 and EP1CPlus, the function of each pin was defined. The level logic relation between CRP-S40 and EP1CPlus was match.According to the operating characteristics of the robot, the internal parameters of the robot were set up,and its performance was modulated optimally. Because the AGV and the 4 axis robot adopts the control method of independent, in order to make the joint operation of hybrid robot efficiently,the technical problems of coordination between composite robot operation was successfully solved through proposing a I/O communication scheme suitable for this system.In order to further verify the feasibility of the scheme, the experimental prototype of the cotton barrel handling robot was built. The signal relationship between the CRP-S40 controller and the servo system of EP1CPlus was matched,which is used to calibrate the space coordinate of the robot. According to the time sequence of the robot,the communication scheme between the two controllers was designed. The feasibility of communication between the double controllers was verified by debugging the prototype. According to the test standard, the repeatability of the 4 axis robot is tested in the case of power supply. The life time of the mobile power supply system of the mobile robot was calculated, and the waveform of the mobile power supply and the power supply was investigated.Based on a large number of domestic and foreign literature,and combined with the Internet of things technology and industrial robot technology, the technical scheme of the cotton barrel handling double robot was proposed. The power supply scheme of the lithium battery and inverter was presented for the key problem of the power supply system. The communication between the dual controllers in the composite robot was based on the I/O logic communication scheme. The performance of each part of the system was tested by making the prototype. The success of this technology provides the design basis and technical support for the similar complex robot system in the future. |
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