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1．棉紡梳棉并條工序段條筒運輸
如(ru)圖(tu)1所(suo)示(shi)，主要用于梳棉(mian)(mian)機(ji)——預并(bing)(bing)(bing)條(tiao)(tiao)機(ji)工序之間(jian)的(de)(de)(de)(de)棉(mian)(mian)條(tiao)(tiao)筒(tong)流轉(zhuan)，通過(guo)(guo)與生產管理系統（MES）對(dui)接可(ke)(ke)實(shi)時獲取生產信息，在配套軌道（如(ru)圖(tu)2所(suo)示(shi)）的(de)(de)(de)(de)輔助下(xia)可(ke)(ke)及時準確地將(jiang)(jiang)一米(mi)直徑的(de)(de)(de)(de)棉(mian)(mian)條(tiao)(tiao)筒(tong)從梳棉(mian)(mian)機(ji)的(de)(de)(de)(de)滿(man)筒(tong)出口(kou)處(chu)運(yun)送(song)到(dao)頭(tou)并(bing)(bing)(bing)并(bing)(bing)(bing)條(tiao)(tiao)機(ji)導條(tiao)(tiao)架的(de)(de)(de)(de)喂入(ru)處(chu)，并(bing)(bing)(bing)將(jiang)(jiang)空(kong)(kong)筒(tong)從并(bing)(bing)(bing)條(tiao)(tiao)機(ji)處(chu)運(yun)回到(dao)梳棉(mian)(mian)機(ji)自動(dong)換筒(tong)裝置的(de)(de)(de)(de)空(kong)(kong)條(tiao)(tiao)筒(tong)入(ru)口(kou)處(chu)，亦可(ke)(ke)運(yun)輸(shu)(shu)到(dao)指(zhi)定(ding)(ding)的(de)(de)(de)(de)機(ji)臺(tai)區(qu)(qu)域或(huo)者緩存(cun)(cun)區(qu)(qu)，當指(zhi)定(ding)(ding)機(ji)臺(tai)不需要條(tiao)(tiao)筒(tong)時，可(ke)(ke)以(yi)將(jiang)(jiang)條(tiao)(tiao)筒(tong)運(yun)輸(shu)(shu)至緩存(cun)(cun)區(qu)(qu)，優先將(jiang)(jiang)梳棉(mian)(mian)滿(man)桶(tong)運(yun)輸(shu)(shu)至機(ji)臺(tai)區(qu)(qu)域等均(jun)可(ke)(ke)實(shi)現(xian)，從而(er)實(shi)現(xian)物料在梳并(bing)(bing)(bing)工序段之間(jian)的(de)(de)(de)(de)智能化、柔(rou)性化、閉環式流轉(zhuan)。也可(ke)(ke)以(yi)通過(guo)(guo)現(xian)場安(an)裝的(de)(de)(de)(de)空(kong)(kong)滿(man)筒(tong)區(qu)(qu)域管理系統來實(shi)時調度空(kong)(kong)滿(man)筒(tong)的(de)(de)(de)(de)運(yun)輸(shu)(shu)任(ren)務(wu)（如(ru)圖(tu)3）。
通(tong)過使用(yong)(yong)我們的(de)(de)機器人條筒運輸系(xi)統，可以極大的(de)(de)節省勞動強度和(he)用(yong)(yong)工人數，并且對梳(shu)棉(mian)擋車工的(de)(de)要求還(huan)低，工人只(zhi)需要會更換電池，開關機即(ji)可完成對機器人的(de)(de)維(wei)護，再則(ze)通(tong)過我們設定的(de)(de)物理按鍵一鍵打開或關閉(bi)調度系(xi)統，最后是(shi)通(tong)過觸摸屏可以靈(ling)活(huo)的(de)(de)掌控梳(shu)棉(mian)機空(kong)滿筒的(de)(de)流向，只(zhi)需要便捷的(de)(de)操作即(ji)可輕松駕馭我們的(de)(de)機器人系(xi)統。（如(ru)圖4）
該機(ji)器(qi)(qi)人(ren)基于(yu)雙(shuang)激(ji)光(guang)SLAM定位導(dao)航技術(shu)，采(cai)用(yong)動態地圖(tu)重建、機(ji)器(qi)(qi)視覺、集群控制(zhi)等(deng)(deng)先進技術(shu)，配置上(shang)下(xia)雙(shuang)激(ji)光(guang)雷達(da)(da)、RGBD工業相機(ji)、IMU、里程計等(deng)(deng)多種傳感器(qi)(qi)，具備大規模精(jing)確建圖(tu)、自主避(bi)障、自動充電、多重防護、多機(ji)協(xie)同、人(ren)機(ji)交互(hu)等(deng)(deng)功能，最大移(yi)動速度為(wei)1.2m/s,可連續(xu)(xu)8小(xiao)時以上(shang)持(chi)續(xu)(xu)工作；采(cai)用(yong)特有的機(ji)械(xie)手抓專利技術(shu)，能實(shi)現1米直(zhi)徑棉(mian)條(tiao)筒(tong)的精(jing)確位姿檢測(ce)（定位精(jing)度可達(da)(da)8mm）、智能抓取、自動放筒(tong)擺放，能實(shi)現定點(dian)(dian)到(dao)定點(dian)(dian)、區域到(dao)定點(dian)(dian)的智能運輸(shu)。針對生(sheng)(sheng)產(chan)(chan)工藝有特殊要(yao)求的廠家，我們也可以配合(he)二維(wei)碼，rfid等(deng)(deng)識別校驗，保證條(tiao)筒(tong)的精(jing)準運輸(shu)，真正意義上(shang)的助力(li)生(sheng)(sheng)產(chan)(chan)。注：梳并(bing)工序一(yi)班組（12h）時間內，為(wei)滿足生(sheng)(sheng)產(chan)(chan)要(yao)求，工人(ren)需持(chi)續(xu)(xu)運輸(shu)條(tiao)筒(tong)5.27小(xiao)時。
預并-條并卷-精梳機-末并-粗紗工序段條筒運輸
0.6米直徑棉條筒智能運輸機器人，如(ru)圖7所示，主要用于預并——條(tiao)并卷(juan)工(gong)(gong)序(xu)間(jian)或精(jing)梳(shu)——末(mo)(mo)并工(gong)(gong)序(xu)間(jian)以及末(mo)(mo)并—粗紗工(gong)(gong)序(xu)段等棉(mian)條(tiao)筒(tong)流轉。一般(ban)這(zhe)些工(gong)(gong)序(xu)段粗紗工(gong)(gong)序(xu)段采(cai)用0.6或者0.5米直徑的條(tiao)筒(tong)，對于機器人來說(shuo)，都可以比較完(wan)美的去適配現場的這(zhe)種需(xu)求。
該機(ji)(ji)器(qi)(qi)人與1米直徑棉(mian)條(tiao)(tiao)(tiao)筒(tong)智能運(yun)輸機(ji)(ji)器(qi)(qi)人采用相同的(de)(de)技術，解(jie)決了在動態場(chang)景、多變場(chang)景、擾(rao)動場(chang)景下精確定位(wei)問題，并(bing)且(qie)可在條(tiao)(tiao)(tiao)筒(tong)暫存(cun)區(qu)(qu)自(zi)(zi)動搜(sou)索相應(ying)規(gui)格的(de)(de)棉(mian)條(tiao)(tiao)(tiao)筒(tong)，然(ran)后智能抓取(qu)、自(zi)(zi)動運(yun)輸、自(zi)(zi)動擺放。在預并(bing)——條(tiao)(tiao)(tiao)并(bing)卷(juan)工序(xu)段，多臺機(ji)(ji)器(qi)(qi)人系統將滿(man)筒(tong)從頭(tou)并(bing)并(bing)條(tiao)(tiao)(tiao)機(ji)(ji)的(de)(de)滿(man)條(tiao)(tiao)(tiao)筒(tong)出(chu)口(kou)處運(yun)送到(dao)條(tiao)(tiao)(tiao)筒(tong)暫存(cun)區(qu)(qu)或條(tiao)(tiao)(tiao)并(bing)卷(juan)機(ji)(ji)導條(tiao)(tiao)(tiao)架(jia)的(de)(de)喂入(ru)處，再將空筒(tong)從條(tiao)(tiao)(tiao)并(bing)卷(juan)機(ji)(ji)導條(tiao)(tiao)(tiao)架(jia)的(de)(de)喂入(ru)處或條(tiao)(tiao)(tiao)筒(tong)暫存(cun)區(qu)(qu)運(yun)回到(dao)頭(tou)并(bing)并(bing)條(tiao)(tiao)(tiao)機(ji)(ji)的(de)(de)空條(tiao)(tiao)(tiao)筒(tong)入(ru)口(kou)處。
在(zai)精梳——末(mo)并工序段(duan)(duan)，該機(ji)器人(ren)在(zai)配套軌道(dao)（如圖(tu)7所示(shi)）的輔助下(xia)，將(jiang)滿筒(tong)(tong)(tong)從精梳機(ji)的滿筒(tong)(tong)(tong)出(chu)口(kou)處(chu)運送到條筒(tong)(tong)(tong)暫存區(qu)或末(mo)并條機(ji)導條架(jia)的喂(wei)入(ru)處(chu)，再將(jiang)空筒(tong)(tong)(tong)從末(mo)并條機(ji)導條架(jia)喂(wei)入(ru)處(chu)運回到條筒(tong)(tong)(tong)暫存區(qu)或精梳機(ji)空筒(tong)(tong)(tong)入(ru)口(kou)處(chu)。這兩個工序段(duan)(duan)間，棉條筒(tong)(tong)(tong)流(liu)轉速(su)度較快，機(ji)器人(ren)取代人(ren)工優勢明顯，極大減(jian)輕了(le)(le)工人(ren)勞動(dong)強(qiang)度、提高了(le)(le)工作效率。
這款(kuan)機(ji)器(qi)人(ren)的操(cao)作方式和(he)上述(shu)一米條(tiao)筒(tong)運輸(shu)的模式類似，只(zhi)是根(gen)據不(bu)同(tong)工(gong)序段的作業(ye)要求不(bu)同(tong)，細節上略(lve)有調整和(he)差異。對工(gong)人(ren)的要求基本(ben)相同(tong)，不(bu)僅僅是減輕了工(gong)人(ren)的勞(lao)動強度，更是助力了智能化升級改造(zao)的趨(qu)勢。吧工(gong)人(ren)從枯燥的條(tiao)筒(tong)運輸(shu)中解放出來，有更多的時間(jian)去(qu)關注(zhu)設備棉條(tiao)的質量等問題。（圖9-11為實施現場(chang)）
2．細紗--絡筒工序段
主要用于細紗——絡筒(tong)工序段之間空/滿紗管料筒(tong)的(de)(de)流轉，機器(qi)人(ren)通過機器(qi)視覺(jue)技術(shu)識別品(pin)種和(he)檢測(ce)料筒(tong)的(de)(de)精(jing)確位姿(zi)，利用搭載的(de)(de)電磁(ci)吸附裝置(zhi)牽引運(yun)輸料筒(tong)。
該(gai)機(ji)(ji)(ji)(ji)器(qi)(qi)人將(jiang)細紗(sha)(sha)(sha)機(ji)(ji)(ji)(ji)生(sheng)產的滿紗(sha)(sha)(sha)管(guan)(guan)(guan)運(yun)(yun)輸到(dao)對(dui)應(ying)品種(zhong)(zhong)的絡筒(tong)(tong)機(ji)(ji)(ji)(ji)上料口(kou)，然后(hou)機(ji)(ji)(ji)(ji)器(qi)(qi)人將(jiang)絡筒(tong)(tong)機(ji)(ji)(ji)(ji)上紗(sha)(sha)(sha)后(hou)產生(sheng)的空桶(tong)再運(yun)(yun)送回細紗(sha)(sha)(sha)機(ji)(ji)(ji)(ji)出料口(kou)接滿紗(sha)(sha)(sha)管(guan)(guan)(guan)；相同地(di)，機(ji)(ji)(ji)(ji)器(qi)(qi)人將(jiang)絡筒(tong)(tong)機(ji)(ji)(ji)(ji)處(chu)的空紗(sha)(sha)(sha)管(guan)(guan)(guan)運(yun)(yun)輸到(dao)對(dui)應(ying)品種(zhong)(zhong)的細紗(sha)(sha)(sha)機(ji)(ji)(ji)(ji)上料口(kou)，然后(hou)機(ji)(ji)(ji)(ji)器(qi)(qi)人再把上料后(hou)的空桶(tong)運(yun)(yun)回絡筒(tong)(tong)機(ji)(ji)(ji)(ji)處(chu)接空紗(sha)(sha)(sha)管(guan)(guan)(guan)；物料循環流轉過(guo)程(cheng)如圖13所示。注：管(guan)(guan)(guan)紗(sha)(sha)(sha)料桶(tong)重(zhong)量重(zhong)，運(yun)(yun)送路(lu)線長，使用機(ji)(ji)(ji)(ji)器(qi)(qi)人運(yun)(yun)輸后(hou)可(ke)大大緩解此工序的勞動(dong)強(qiang)度。
(學會辦公室張供稿)