纺织学报 ›› 2022, Vol. 43 ›› Issue (09): 34-40.doi: 10.13475/j.fzxb.20220601107

• 特约专栏:纺织智能制造与机器人 • 上一篇    下一篇

基于增强现实技术的筒子纱印染锁扣机器人运维巡检系统研究

吴乐1,2, 张倩1,2(), 杨万然1,2, 徐朝月1,2, 王维冠1,2, 侯曦3   

  1. 1.北京机科国创轻量化科学研究院有限公司, 北京 100083
    2.先进成形技术与装备国家重点实验室, 北京 100083
    3.中国纺织机械协会, 北京 100028
  • 收稿日期:2022-06-06 修回日期:2022-07-20 出版日期:2022-09-15 发布日期:2022-09-26
  • 通讯作者: 张倩
  • 作者简介:吴乐(1992—),女,工程师。主要研究方向为装备制造数字化及智能化。
  • 基金资助:
    山东省重大科技创新项目(2019TSLH0204)

Research on operation-maintenance-patrol-inspection system of yarn package dyeing latch locking robot based on augmented reality technology

WU Le1,2, ZHANG Qian1,2(), YANG Wanran1,2, XU Zhaoyue1,2, WANG Weiguan1,2, HOU Xi3   

  1. 1. Beijing National Innovation Institute of Lightweight Ltd., Beijing 100083, China
    2. State Key Laboratory of Advanced Forming Technology and Equipment, Beijing 100083, China
    3. China Textile Machinery Association, Beijing 100028, China
  • Received:2022-06-06 Revised:2022-07-20 Published:2022-09-15 Online:2022-09-26
  • Contact: ZHANG Qian

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摘要：

为达到筒子纱印染生产过程中对关键机器人设备可靠性、稳定性和低运维成本的要求,以筒子纱染色锁扣机器人为研究对象,通过分析锁扣机器人作业流程、巡检需求及常见故障,开展其智能巡检作业流程分析、系统方案及功能模块设计、数据接口设计等研究,建立锁扣机器人运维巡检数据模型,搭建基于增强现实技术的锁扣机器人运维巡检系统,实现锁扣机器人的设备实时数据监控、故障监测预警、设备综合效率分析及设备智能运维巡检,并进行现场应用验证。结果表明:锁扣机器人提高了设备运行可靠性及维护便捷性,实现了设备运维安全管控。

关键词: 增强现实技术, 锁扣机器人, 数据模型, 智能运维巡检, 实时监测, 筒子纱染色

Abstract:

According to the requirements for high reliability, stability and low operation and maintenance cost of the key robot in the yarn package dyeing process, this research took the yarn package dyeing latch locking robot as the research object and analysed intelligent inspection workflow, design system schemes and functional modules, design data interface by analyzing the operation process, inspection requirements and common faults of the latch locking robot. This research built a data model for operation-maintenance-patrol-inspection of latch locking robots and a system based on augmented reality technology, realizing the real-time data monitoring, fault monitoring and early warning, comprehensive efficiency analysis and intelligent operation-maintenance-patrol-inspection of the robot. The on-spot application showed that the reliability and the safety control of equipment operation and the convenience of maintenance were improved.

Key words: augmented reality technology, latch locking robot, data model, operation-maintenance-patrol-inspection, real-time monitoring, yarn package dyeing

中图分类号: 

  • TP391.9

图1

锁扣机器人"

图2

智能巡检作业流程"

图3

智能运维系统研究框架"

图4

锁扣机器人智能巡检系统数据模型"

表1

数据类别及来源"

类型 数据
类别		 实时
数据		 数据
来源
实时
信息		 任务状态 任务号、纱笼号、任务进度、操作类别、颜色类别、纱笼杆号、托盘杆号、缓存层数、缓存数量 PLC
设备状态 单机/联机、手动/自动、空闲/工作、正常/报警
关键零部
件状态		 手抓气缸、升降气缸、扶正气缸
运行
参数		 轴当前
速度		 X轴、Y轴、Z轴、纱笼移载车W轴、缓存架升降轴 PLC/
传感器
轴当前
坐标		 X轴、Y轴、Z轴、纱笼移载车W轴、缓存架升降轴
轴限位预
警状态		 X轴、Y轴、Z轴、纱笼移载车W轴
电机报
警状态		 X轴、Y轴、Z轴、纱笼移载车W轴
故障
记录		 联轴器故
障记录		 X轴、Y轴、Z轴 PLC/
数据库
滑块故
障记录		 X轴、Y轴、Z轴

图5

数据通信架构"

图6

锁扣机器人巡检系统组成"

图7

巡检场景设计"

图8

巡检场景选择"

图9

系统测试场景"

图10

系统部分界面设计"

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