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Modeling and controlling method for automatic aligning and oil exchanging robot

A technology of automatic alignment and control method, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of waste of manpower, danger of high-altitude work, and inability to meet the requirements of control accuracy.

Active Publication Date: 2019-05-21
XIAN AEROSPACE PRECISION ELECTROMECHANICAL INST
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  • Abstract
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  • Application Information

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Problems solved by technology

[0002] At present, the oil loading and unloading work in my country's railway oil transportation industry is mainly realized through manual operations. Field operations face severe environmental conditions such as severe cold and exposure to the sun. In addition, there are certain dangers in high-altitude operations.
[0003] The existing technology adopts a crane tube oil loading and unloading equipment, and the oil loading and unloading work is realized through manual operation of the crane tube loading and unloading equipment, but the problem in this method is that a series of actions by manual operation will waste a lot of manpower, and at the same time control accuracy can not meet the requirements
[0006] If the robot is operated manually, there will also be problems of waste of manpower and poor control accuracy.

Method used

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  • Modeling and controlling method for automatic aligning and oil exchanging robot
  • Modeling and controlling method for automatic aligning and oil exchanging robot
  • Modeling and controlling method for automatic aligning and oil exchanging robot

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Embodiment Construction

[0067] Below in conjunction with accompanying drawing, the present invention is described in further detail:

[0068] A modeling and control method for an automatic alignment oil change robot, the specific steps are as follows:

[0069] At the beginning of realizing this method, it is necessary to install a laser rangefinder 8, a proximity switch 10 and a sensor 9 on the automatic alignment oil change robot;

[0070] Such as figure 2 and image 3 As shown, the laser range finder 8 is installed on the horizontal translation axis 2. When the inner arm 5 of the crane tube is in a vertical state, the center point position of the laser range finder 8 is just below the center position of the oil filling port 7; Figure 5 and Figure 6 As shown, the proximity switch 10 is installed under the outer arm 6 of the crane tube, and the induction piece 9 is installed on the sealing air cushion of the sealing cap;

[0071] Step [1] Modeling of automatic alignment oil change robot;

[0...

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Abstract

The invention relates to a modeling and controlling method for an automatic aligning and oil exchanging robot. The controlling method can acquire oil filling port coordinate values of the robot underall postures, and high-precision and fully-automatic operation of the entire oil loading and unloading action is realized. The method comprises the following main steps of (1) modeling of the automatic aligning and oil exchanging robot, (2) the debugging phase, and (3) the automatic operation phase.

Description

technical field [0001] The invention relates to a modeling and control method of an automatic alignment oil change robot. Background technique [0002] At present, the oil loading and unloading work in my country's railway oil transportation industry is mainly realized through manual operations. Field operations face harsh environmental conditions such as severe cold and exposure to the sun. In addition, there are certain dangers in high-altitude operations. [0003] The existing technology adopts a crane tube oil loading and unloading equipment, and the oil loading and unloading work is realized through manual operation of the crane tube loading and unloading equipment, but the problem in this method is that a series of actions by manual operation will waste a lot of manpower, and at the same time control accuracy Also unable to meet the requirements. [0004] Based on this, an automatic alignment oil change robot is currently provided to be installed on the trestle, such ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 冯艳丽黎原马少阳田子阳兰玉乾张颖
Owner XIAN AEROSPACE PRECISION ELECTROMECHANICAL INST
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