CN107283645B - The traveling control system and its control method of intelligent spider formula robot - Google Patents
The traveling control system and its control method of intelligent spider formula robot Download PDFInfo
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- CN107283645B CN107283645B CN201710496158.6A CN201710496158A CN107283645B CN 107283645 B CN107283645 B CN 107283645B CN 201710496158 A CN201710496158 A CN 201710496158A CN 107283645 B CN107283645 B CN 107283645B
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- connecting rod
- motion bar
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- walking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/005—Devices for the automatic drive or the program control of the machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mining & Mineral Resources (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Chemical & Material Sciences (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses the traveling control system of intelligent spider formula robot, including walking mechanism and controller, walking mechanism includes movable supporter, it is mounted on the sucking disc mechanism of movable supporting foot plate surface, driving device is put in the lift that foot-up acts up and down of control movable supporter, the rotating mechanism of movable supporter swing movement is controlled, and the vacuum evacuation device of movement is inhaled, put to control sucking disc mechanism；It further include having shell, walking mechanism is at least provided with four, and the total number of each walking mechanism is even number, each walking mechanism is divided into two rows, and outside the two sides in shell, the movable supporter of each walking mechanism is connect with shell, and each walking mechanism on shell is arranged in a one-to-one correspondence.Invention additionally discloses the ambulation control methods of intelligent spider formula robot.Compared with prior art, the traveling control system of intelligent spider formula of the present invention robot can be improved working efficiency, shortens mobile required time, reduces the working strength of operator, reduce cost.
Description
Technical field
The present invention relates to stone processing technical fields, and in particular to be intelligent spider formula robot traveling control system
And its control method.
Background technique
The existing CNC numerical control machining center for processing of stone, generally comprises organic frame, workbench and crossbeam, passes through
Crossbeam and the graver being installed on crossbeam and water knife are mobile, realize the processing to three axis of stone material.That is, X-axis, Y-axis, Z axis side
To processing.However, these tradition CNC numerical control machining centers all have a general character, require to realize processing, institute by crossbeam
It is all bigger with occupied area and occupied space.In order to X-axis, Y-axis, Z-direction is mobile and processes, so driving member ratio
More, when work, also compares energy consumption.When work, each axis is mobile, and there is also certain limitations, and movement is slower, causes working efficiency
It is low.
It is currently used for the robot of processing of stone, with single direction complicated processing can be suitble to, is improved to a certain extent
Single direction mobile working efficiency, but walking can not be turned to, so being unable to reach, 360 steerings are mobile or movement is processed.Still
So there are limitations, are not able to satisfy actual process requirements still.
In consideration of it, inventor furthers investigate the above problem, there is this case generation then.
Summary of the invention
The purpose of the present invention is to provide the traveling control systems of intelligent spider formula robot, can be improved work effect
Rate shortens mobile required time, reduces the working strength of operator, reduce cost.
It is an object of the invention to also provide the ambulation control method of intelligent spider formula robot, CNC numerical control is overcome to add
The mobile limitation in work center or robot for processing of stone straight line walking and can turn to walking, improve mobile efficiency,
Shorten mobile required time, reduces cost.
To achieve the goals above, the present invention adopts the following technical scheme:
The traveling control system of intelligent spider formula robot includes the walking for the walking of intelligent spider formula robot
Mechanism and the controller to work for controlling walking mechanism, walking mechanism include energy foot-up and the movable supporting of swing up and down
Foot, is mounted on the sucking disc mechanism of movable supporting foot plate surface, and the lift that foot-up acts up and down of control movable supporter is put driving device, controlled
The vacuum evacuation device of movement is inhaled, put to the rotating mechanism of movable supporter swing movement processed, and control sucking disc mechanism；
The traveling control system further includes having shell, and the walking mechanism is at least provided with four, and each walking mechanism
Total number is even number, and each walking mechanism is divided into two rows, and outside the two sides in shell, the movable supporter of each walking mechanism
It is connect with shell, each walking mechanism in shell side is set with each walking mechanism one-to-one correspondence in the shell other side
It sets；
The controller is mounted on shell, and the controller puts driving device, the rotating mechanism with the lift respectively
It controls and connects with the vacuum evacuation device, the vacuum evacuation device and sucking disc mechanism ventilation connect.
Preferably, the movable supporter further includes having first connecting rod, the second connecting rod and third connecting rod, and first connects
Extension bar accumbency is in the top of the second connecting rod, and the second connecting rod and third connecting rod are vertically obliquely installed, and third connects
Bar is in the lower section of the second connecting rod, and the second end of first connecting rod and the upper end of second connecting rod are hinged, and described second
The lower end of connecting rod and the upper end of the third connecting rod are hinged.
Preferably, it includes third driving motor, movable rod and swing rod that driving device is put in the lift, and the swing rod has
Vertical part and above vertical part and the transverse part vertical with vertical part, the output shaft of the third driving motor and the lower end of above-mentioned vertical part
Connection, above-mentioned movable rod includes three motion bars, respectively the first motion bar, the second motion bar and third motion bar；Institute
The free end of the first end and above-mentioned transverse part of stating the first motion bar is movably hinged, and first motion bar is vertically arranged, and described the
Three motion bars are vertically obliquely installed, and second motion bar is located at below the first motion bar, and the third motion bar is located at described
Below second motion bar, the first end of the second end of first motion bar and second motion bar is movably hinged, and described the
The second end of two motion bars and the first end of the third motion bar are movably hinged, and the second end activity of the third motion bar connects
It is connected in the third connecting rod；Second end and the institute of second connecting rod are movably connected in the middle part of second motion bar
At the first end for stating third connecting rod.
Preferably, the rotating mechanism further includes having the second driving motor, second driving motor at vertically arranged, and
It is both secured on the lateral wall of the shell；The first end of the first connecting rod is fixed on the output shaft of the second driving motor
On.
Preferably, the vacuum evacuation device includes the first cylinder for supplying or being vented to the sucker, the suction
Disc mechanism includes sucker for fixing, and first cylinder and sucker ventilation connect, and first cylinder is connected to
In the corresponding output end of the controller.
The ambulation control method of intelligent spider formula robot, the walking mechanism of the walking of intelligent spider formula robot and is used for
The controller of walking mechanism work is controlled, walking mechanism includes energy foot-up and the movable supporter of swing up and down, is mounted on
Driving device, control activity branch are put in the sucking disc mechanism of movable supporting foot plate surface, the lift that foot-up acts up and down of control movable supporter
The vacuum evacuation device of movement is inhaled, put to the rotating mechanism of support foot swing movement, and control sucking disc mechanism；
Walking mechanism is provided at least four, and the total number of each walking mechanism is even number, and each walking mechanism is divided into two
Row, wherein each walking mechanism of a row is arranged in a one-to-one correspondence with each walking mechanism in another row, each row in same row
Mechanism is walked to be arranged in forward and backward spacing side by side；The controller puts driving device, the rotating mechanism and described with the lift respectively
Vacuum evacuation device control connection, the vacuum evacuation device and sucking disc mechanism ventilation connect；
Intelligent spider formula robot is achieved by the steps of when keeping straight on:
One, in most two walking mechanisms of front side, two sucking disc mechanisms pass through corresponding two vacuum means respectively
It sets while supplying, two movable supporters put driving device by corresponding lift respectively and carry out foot-up movement；Latter two activity
Support leg carries out opposite direction rotating by rotating mechanism respectively again, and each movable supporter of same row is in always after opposite direction rotating
On line, lift later puts driving device and carries out putting foot-propelled work, and most latter two sucking disc mechanism passes through corresponding two vacuum means respectively
It sets while air-breathing；
Two, two walking mechanisms in most two walking mechanism rears of front side repeat the movement of step 1, that is, realize
The straight trip that row makes a move；
Three, repeat the above steps one and step 2 can be completed N step continuous straight trip；
Intelligent spider formula robot is achieved by the steps of when turning to:
(1), with two walking mechanisms in same row for one group of steering group, the one of previous steering group in each steering group
The one movable supporter common action of movable supporter and latter steering group, and coacting two work in two steering groups
Dynamic support leg is diagonally positioned, and the sucking disc mechanism on coacting two movable supporters is same by the vacuum evacuation device of itself
When supply, then put by itself lift that driving device and rotating mechanism successively carry out foot-up and rotating Vortex acts, lead to again later
It crosses itself lift and puts driving device and sucking disc mechanism and successively carry out putting that foot-propelled is made and air-breathing is fixed；
(2), in each steering group another movable supporter of previous steering group and latter steering group another movable supporter
Repeat the movement of step (1), the i.e. steering of an angle of realization intelligent spider formula robot.
By adopting the above technical scheme, the present invention has following beneficial effect:
Stone material to be processed is placed on work at work by the traveling control system of intelligent spider formula robot of the invention
Make on platform table top, and is clamped and is fixed by fixed device；Then, controller controls spider-type robot running gear work
Make, spider-type robot creeps on workbench, and required working space is smaller.During processing, spider-type machine
People can carry out 360 degree of steerings on the table automatically, without human intervention, can cross the working strength for reducing employee, can also be with
Improve working efficiency.Spider-type robot can creep steering, and it is quicker, convenient to turn to, and can be realized three axis and move simultaneously,
It is more convenient to treat processing stone material positioning.It has saved working hour, has improved processing efficiency, and then reduce processing cost.Not only overcome existing
There is CNC numerical control stone process equipment by being set up in housiung separator and cooperating other mobile mechanisms, it only being capable of one liang of monoplane axis
Carry out the limitation and space hold of running fix.It can also enough avoiding drop CNC numerical control stone process equipment transmission component mistake
It is more, caused by electric energy loss；So more energy saving, environmental protection.
Therefore, the traveling control system of intelligent spider formula robot of the invention can be improved working efficiency, shortens and moves
The time required to dynamic, the working strength of operator is reduced, cost is reduced.
The ambulation control method of intelligent spider formula robot of the invention, each support leg cooperate co-operation realization and push away
The change of dynamic spider-type robot shell position in table plane.Wherein, when not ipsilateral on the shell of spider-type robot
, while the movable supporter of foot-up, toward opposite direction rotating, each movable supporter of same row is in same straight line after opposite direction rotating
On, realize the rectilinear creeping of spider-type robot.When not ipsilateral on shell, at the same the movable supporter of foot-up toward rotating Vortex,
Wobbling action realizes that spider-type robot turns to.
Therefore, the ambulation control method of intelligent spider formula robot of the invention, overcomes CNC numerical control machining center or use
In the mobile limitation of the robot of processing of stone, straight line walking and walking can be turned to, improve mobile efficiency, shorten mobile institute
It takes time, reduces cost.
Detailed description of the invention
Detailed description will be given by the following detailed implementation and drawings by the present invention for ease of explanation,.
Fig. 1 is the structural schematic diagram for not placing spider-type robot of the invention.
Fig. 2 is the structural schematic diagram of the organisation of working of spider-type robot in the present invention.
Fig. 3 be Fig. 2 in along the direction A-A cutting structural schematic diagram.
Fig. 4 be Fig. 2 in along the direction B-B cutting structural schematic diagram.
Fig. 5 is the schematic view of the front view of spider-type robot of the invention.
In figure:
1- workbench；2- fixes device；
The second cylinder of 21-；22- briquetting；
3- tool magazine；7- stone material to be processed；
41- shell；42- main shaft；
43- linear guide；44- mounting plate；
The first driving motor of 45-；46- feed screw nut；
47- screw rod；48- main shaft mounting base；
49- sliding block；
The second driving motor of 51-；52- third driving motor；
53- first connecting rod；The second connecting rod of 54-；
55- third connecting rod；56- sucker；
The first motion bar of 61-；The second motion bar of 62-；
63- third motion bar.
Specific embodiment
In order to further explain the technical solution of the present invention, being explained in detail below by specific embodiment the present invention
It states.
As shown in Figs. 1-5, the traveling control system of intelligent spider formula robot of the invention includes for stone material to be processed
Workbench 1 placed thereon is provided with the fixation device 2 being fixed for treating processing stone material 7 on the workbench 1,
The fixed device 2 is located on the middle part of 1 table top of workbench, further includes having all directions on above-mentioned table surface any
The spider-type robot creeped, the spider-type robot include to treat the organisation of working and be used for that processing stone material is processed
Promote the walking mechanism of the mobile processing of the organisation of working, the organisation of working is fixed in the walking mechanism.
The traveling control system of intelligent spider formula robot of the invention further includes having for controlling organisation of working and walking
The controller (not provided in figure) of mechanism work.The organisation of working and the walking mechanism are separately connected the phase of the controller
Answer output end.
In the present invention, it is preferred that the fixed device 2 includes the second cylinder 21 and briquetting 22, second cylinder 21
It being vertically arranged on the workbench 1, the piston rod of second cylinder 21 is stretched out away from 1 table top of workbench, and described the
The piston rod of two cylinders 21 is installed with the briquetting 22 for compressing stone material 7 to be processed, and second cylinder 21 is connected to the control
In the corresponding output end of device processed.Here according to needs of production, briquetting 22 can be designed to arbitrary shape, pass through single pressure
Block 22 is fixed, and reduces the occupied space of stone material fixed part, and the movement of spider-type robot crawling is avoided to interfere as far as possible.
Specifically, the fixation device 2 in the present invention uses automatic clamping device, is stretched out with the piston rod of cylinder or retraction realizes briquetting
22 lifting, and then unclamp or clamp to stone material to be processed on 1 table top of workbench is placed in.
In the present invention, it is preferred that the fixed device 2 is two, and is located along the same line.It is specific: according to reality
Processing need, two briquettings 22 are in being oppositely arranged or be away from each other setting, or towards being unanimously arranged.It in this way can be to convenient to annular
Stone material or slabstone are gripped.
In the present invention, it is preferred that be installed with the tool magazine for spider-type robot described above tool changing on the workbench 1
3, the tool magazine 3 is located at 1 mesa edge of workbench；The tool magazine 3 is divided for two rows, and two rows of tool magazines 3 are divided
It Wei Yu not be on the table top of the workbench 1 on one group of relative side.In this way, can avoid climbing spider-type robot as far as possible
Row movement interferes.According to actual processing needs, tool magazine 3 is can be set in each Bian Shangjun on the table top of the workbench 1.More
Specifically, tool magazine includes connecting plate and is arranged side by side in multiple knife rests being caught in for cutter on connecting plate.
In the present invention, it is preferred that the organisation of working includes to be sequentially connected the shell 41 surrounded by four side plates and used
In being vertically installed with linear guide 43 on the main shaft 42 of automatic tool changer, 41 inner sidewall of shell, in the linear guide 43
The mounting plate 44 slided up and down along linear guide is installed, the main shaft 42 is vertically arranged on the mounting plate 44, and direction
Stone material 7 to be processed；First driving motor 45 is installed on institute's shell 41, is fixedly installed with feed screw nut on the mounting plate 44
46, the feed screw nut 46 is ordinatedly installed with the screw rod for driving the mounting plate 44 to slide in the linear guide 43
47, the output shaft of first driving motor 45 is fixedly connected through shaft coupling with the one end of the screw rod 47；Described first drives
Dynamic motor 45 is separately connected the corresponding output end of the controller with the main shaft 42.Here, main shaft 42 is by for installing
The main shaft mounting base 48 of main shaft 42 is mounted on mounting plate 44.
In the present invention, it is preferred that the linear guide 43 is two, and the inner sidewall of the shell 41 is installed at interval side by side
On；Sliding block 49 is fitted in each linear guide 43, the sliding block 49 is fixed on the mounting plate 44.In order to realize peace
For loading board 44 in sliding process, sliding is more steady, and linear guide 43 is designed as two.What needs to be explained here is that using
Two linear guides 43 are a kind of preferred mode, be can be set mostly according to needs of production with linear guide 43.For example,
Three, four, five etc..
In the present invention, it is preferred that the walking mechanism includes the two rows of support legs walked for drive shell 41, two rows of
Support leg, which respectively corresponds, to be arranged on the opposite sides plate of shell 41, and every row's support leg is propped up by the activity that several intervals are arranged side by side
Support foot is constituted, and is corresponded on the shell 41 on the position of each movable supporter to correspond and is installed with for driving movable supporting
Second driving motor 51 of foot horizontal swing, second driving motor 51 are both secured to the shell 41 at vertically arranged
Lateral wall on；Second driving motor 51 is connected in the corresponding output end of the controller.
In the present invention, above-mentioned movable supporter includes first connecting rod 53, the second connecting rod 54 and third connecting rod 55,
53 accumbency of first connecting rod is in the top of the second connecting rod 54, and the second connecting rod 54 and the vertical inclination of third connecting rod 55 are set
It sets, and third connecting rod 55 is in the lower section of the second connecting rod 54, the first end of the first connecting rod 53 is fixed on the second drive
On the output shaft of dynamic motor 51, the second end of first connecting rod 53 and the upper end of second connecting rod 54 are hinged, and described second
The lower end of connecting rod 54 and the upper end of the third connecting rod 55 are hinged, and walking mechanism further includes being mounted on movable supporting sole
The sucking disc mechanism in face, the sucking disc mechanism include sucker 56, are provided on the lower end of the third connecting rod 55 convenient for walking
Sucker 56；It is equipped on the first connecting rod 53 and the lower end lift that movement is put in lift up and down of third connecting rod 55 is driven to put driving
Device；Control sucker is installed in the shell and inhales the vacuum evacuation device (not providing in figure) put.It in this way can be to sucker 56
Air inlet or pumping are realized by the change of gas pressure in sucker 56 and 1 deck contact part of workbench in 1 table top of workbench
On absorption and removal.
In the present invention, it is preferred that the vacuum evacuation device includes first for supplying or being vented to the sucker 56
Cylinder (does not provide) in figure, and first cylinder and the sucker 56 ventilation connect, and first cylinder is connected to the control
In the corresponding output end of device.It controls vacuum evacuation device by controller in this way sucker 56 is supplied or is vented.
In the present invention, it is preferred that it includes third driving motor 52, movable rod and swing rod (figure that driving device is put in the lift
In do not provide), the swing rod has vertical part and above vertical part and the transverse part vertical with vertical part, the third driving motor 52
Output shaft connect with the lower end of above-mentioned vertical part, above-mentioned movable rod includes three motion bars, respectively the first motion bar 61,
Second motion bar 62 and third motion bar 63；The first end of first motion bar 61 and the free end moveable hinge of above-mentioned transverse part
It connects, first motion bar 61 is vertically arranged, and the third motion bar 63 is vertically obliquely installed, and second motion bar 62 is located at
Below first motion bar, the third motion bar 63 is located at 62 lower section of the second motion bar, and the of first motion bar 61
Two ends and the first end of second motion bar 62 are hinged, the second end of second motion bar 62 and the third motion bar 63
First end it is hinged, the second end of the third motion bar 63 is movably connected in the third connecting rod 55；The third is driven
Dynamic motor 52 is connected in the corresponding output end of the controller.Wherein, the second end of third motion bar 63 is articulated with third company
Below the middle part or middle part of extension bar 55 on the part of sucker 56；Second motion bar 62 is movably hinged in second connecting rod
The 54 lower end hinged place hinged with the upper end of the third connecting rod 55, which just will be in the second motion bar 62
Portion, so that the second motion bar 62 can be swung around the middle part of the second motion bar 62.I.e., it is possible to realize third connecting rod 55
First end foot-up around third connecting rod 55 acts.
Among the above, the first driving motor 45, the second driving motor 51 and third driving motor 52 be all made of stepper motor or
Servo motor；Swing rod similarly equivalence replacement for turntable and around center of turntable and can be vertically installed in the turntable body of rod.
In the present invention, movable supporter is at least 4, and the movable supporter on 41 side wall of same housing is 2.
Preferably as one kind of the invention, the movable supporter can be 6,8 or 12.Here movable supporter
Number can need to be arranged according to actual production.
By adopting the above technical scheme, the traveling control system of intelligent spider formula robot of the invention, can be improved work
Make efficiency, required time when shortening processing reduces the working strength of operator, reduces cost.
The ambulation control method of intelligent spider formula robot of the invention is by more activities in spider-type robot
Support leg cooperates co-operation and realizes walking.In the process of walking, each movable supporter be how to realize horizontal hunting and
Leg is lifted along the vertical direction, is described by taking a movable supporter course of work as an example here:
Original state, the sucker 56 on movable supporter are adsorbed on 1 table top of workbench.When work, controlled by controller
Second cylinder 21 ventilates to sucker 56, so that air pressure changes in sucker 56, and then sucker 56 is detached from the suction with 1 table top of workbench
It is attached；And then, controller control third driving motor 52 drives swing rod to turn an angle from initial position, as swing rod rotates
Drive movable rod that third connecting rod 55 is pulled to rotate around the first end of third connecting rod 55, swing rod pulls movable rod connection
It is dynamic, realize lift leg movement.After leg movement to be lifted is completed, controller control third driving motor 52 stops working.At this point, control
Device controls the second driving motor 51 and first end of first hinge bar from initial position around the first hinge bar is driven to swing certain angle
It stops working after degree.Controller control third driving motor 52 drives swing rod to be turned back to initial position, drives as swing rod rotates
Movable rod pulls third connecting rod 55 to rotate around the first end of third connecting rod 55, and swing rod pulls movable rod linkage, real
Now put leg movement.After leg to be put movement is completed, controller control third driving motor 52 stops working, and controller control the
Two cylinders 21 are vented sucker 56, so that air pressure changes in sucker 56, and then on the absorption of sucker 56 and 1 table top of workbench.At this point,
The second driving motor 51 drives the first hinge bar to swing to around the first end of the first hinge bar from initial again for controller control
It stops working behind position.Change of the first end with respect to 1 position of workbench of first hinge bar an of support leg is achieved.
That is, translation of the first end of the first hinge bar with respect to 1 position of workbench.
Each movable supporter cooperates co-operation and realizes promotion spider-type robot shell 41 in 1 plane of workbench
The change of position.Wherein, when not ipsilateral on the shell 41 of spider-type robot, while the movable supporter of foot-up is opposite simultaneously
Rotary oscillation movement, and put foot, fixed realization spider-type robot rectilinear creeping.When not ipsilateral on shell 41, while foot-up
Movable supporter rotating Vortex wobbling action, realize spider-type robot turn to.More specifically, in order to more clearly describe spider
Zhu Shi robot is how to creep and turn to.Here by when not ipsilateral movable supporter on the shell 41 of spider-type robot, divide
For first part and second part, controller control first part's movable supporter first is detached from the absorption with workbench, is controlling
First part's movable supporter processed foot-up movement, and opposite direction rotating wobbling action simultaneously simultaneously.At this point, the activity branch of second part
Support foot absorption workbench is motionless.Controller control first part's movable supporter foot-up swings, puts foot, controller control first
When piecemeal activity support leg is adsorbed in workbench again, while the movable supporter for controlling second part is started to work, and second
The movable supporter divided repeats the work of first part's movable supporter.(first part's movable supporter and second part are living here
Dynamic support leg swaying direction is consistent.) realize that spider-type machine with respect to the change of operating position, is quickly cut by controller
Control first part's movable supporter and the work of second part movable supporter are changed, realizes the rectilinear creeping of spider-type robot.
Similarly, controller control first part's movable supporter is detached from the absorption with workbench first, in control first
Divide movable supporter foot-up movement, and rotating Vortex wobbling action simultaneously, at this point, the movable supporter of second part adsorbs work
It is motionless to make platform.Controller control first part's movable supporter foot-up swings, puts foot, and controller controls first part's activity branch
When support foot is adsorbed in workbench again, while the movable supporter for controlling second part is started to work, the activity branch of second part
Support foot repeats the work of first part's movable supporter.(first part's movable supporter and second part movable supporter are put here
Dynamic direction is consistent.) realize that spider-type machine with respect to the change of operating position, is switched fast control first by controller
Piecemeal activity support leg and the work of second part movable supporter, realize that spider-type robot turns to.
When spider-type robot creeps to position to be processed, the organisation of working of spider-type robot is started to work, tool
Body, controller controls the first driving motor 45 and works and then drive mounting plate 44 along the sliding of linear guide 43 as to be added
At the position to be processed of work stone material, change of the main shaft 42 with respect to position height to be processed on stone material is realized.And then, controller control
The work of main shaft 42 processed or main shaft 42 are worked at the same time with the first driving motor 45, realize that main shaft 42 treats the processing of Working position.
When needing tool changing or cutter puts back to tool magazine 3, at the tool magazine 3 onto platform is creeped by spider-type robot,
Controller controls the first driving motor 45 and works and then mounting plate 44 is driven to deposit along the sliding of linear guide 43 as tool magazine 3
At the opposite position of cutter position.The traveling control system controls spider-type robot ambulation, that is, controls the walking of spider-type robot
Mechanism work, and then cutter can be directly caught in the corresponding knife rest of tool magazine 3.Inverse process, then for spider-type robot from
Knife is taken in tool magazine 3.
The present invention utilizes advanced anti-raw technology, and spider walking principle is applied to Machining Center for stone material, breaches biography
Cross beam type of uniting is driven.Pneumatic suction cup 56 on each movable supporter of walking mechanism, it is adsorbable in fixed on workbench 1 or
Pneumatic suction cup 56 is detached from after being vented and is adsorbed on workbench 1, can guarantee to have in spider-type robot ambulation or processing enough
Freedom degree, entire head can be freely to twist in tri- dimensions of X, Y, Z.And automatic traveling mechanism occupied space is minimum, also puts
The mobile larger space occupied of traditional walking robot idler wheel is taken off.
The present invention uses fixed tools library 3, and various cutter can be returned to the cutter being arranged in parallel in 1 plane of work platform for placing
In library 3.When needing a certain cutter to carry out machining, spider-type robot climbs to the corresponding position of tool magazine 3, by cutter
Automatically exchanged on main shaft 42 from tool magazine.Again by used cutter automatically spider-type robot after cutting or drilling
Tool magazine is put back on main shaft 42.This tool changing mode can cooperate turret-style tool changing mechanism suffered when carrying out tool changing to avoid main shaft 42
Limitation also advantageously improves tool changing efficiency, saves the time.Simultaneously, it is possible to reduce labor intensity avoids substitution work knife process
Present in security risk.In addition, being conducive to place all kinds of cutters, avoiding difference because of the tool magazine of independent storing cutter
Cutter, which influences each other, causes to take knife difficult.
The traveling control system of intelligent spider formula robot of the invention, changing tradition CNC numerical control stone process equipment is
It realizes that three axis are mobile, processing, using cruciform bracing move mode, is automatically walked using spider-type robot, tool changing and processing.
The traveling control system of the intelligent spider formula robot, the working strength that working hour can be greatly shortened, reduce operator；Spider
Formula robot can be fast moved and be fixed, and improved working efficiency, reduced cost.The spider-type robot can creep automatically to
At tool magazine on workbench, and knife, tool changing are taken automatically, carry out tool changing without artificial, substantially increase processing efficiency, reduce work
People's fatigue and tool changing operation fault cause business economic to be lost.
The traveling control system of intelligent spider formula robot of the invention, has strong applicability, and the operation is stable is high-efficient
Feature realizes multifunctional all processing, the working strength for greatly shortening working hour, reducing operator, multifunctional all, drop
Low cost improves mechanical convenience.
Above-described embodiment and schema and non-limiting product form and style of the invention, any technical field it is common
The appropriate changes or modifications that technical staff does it all should be regarded as not departing from patent category of the invention.
Claims (4)
1. the traveling control system of intelligent spider formula robot, it is characterised in that: include for intelligent spider formula robot
The walking mechanism of walking and the controller to work for controlling walking mechanism, walking mechanism includes can foot-up and swing up and down
Movable supporter, be mounted on the sucking disc mechanism of movable supporting foot plate surface, the lift of control movable supporter foot-up movement up and down is put
Driving device, the rotating mechanism of control movable supporter swing movement, and control sucking disc mechanism are inhaled, put vacuumizing for movement
Device；
The traveling control system further includes having shell, and the walking mechanism is at least provided with four, and total of each walking mechanism
Number is even number, and each walking mechanism is divided into two rows, and outside the two sides in shell, the movable supporter of each walking mechanism with
Shell connection, each walking mechanism in shell side are arranged in a one-to-one correspondence with each walking mechanism in the shell other side；
The controller is mounted on shell, and the controller puts driving device, the rotating mechanism and institute with the lift respectively
Vacuum evacuation device control connection is stated, the vacuum evacuation device and sucking disc mechanism ventilation connect；The movable supporter also wraps
Including first connecting rod, the second connecting rod and third connecting rod, first connecting rod accumbency is in the top of the second connecting rod, and second
Connecting rod and third connecting rod are vertically obliquely installed, and third connecting rod is in the lower section of the second connecting rod, first connecting rod
Second end and second connecting rod upper end it is hinged, the upper end of the lower end of second connecting rod and the third connecting rod
Hingedly；It includes third driving motor, movable rod and swing rod that driving device is put in the lift, and the swing rod has vertical part and is in
Vertical part top and the transverse part vertical with vertical part, the output shaft of the third driving motor is connect with the lower end of above-mentioned vertical part, above-mentioned
Movable rod includes three motion bars, respectively the first motion bar, the second motion bar and third motion bar；First activity
The free end of the first end of bar and above-mentioned transverse part is movably hinged, and first motion bar is vertically arranged, and the third motion bar is perpendicular
To being obliquely installed, second motion bar is located at below the first motion bar, and the third motion bar is located at second motion bar
The first end of lower section, the second end of first motion bar and second motion bar is movably hinged, second motion bar
The first end of second end and the third motion bar is movably hinged, and the second end of the third motion bar is movably connected on described the
In three connecting rods；The second end that second connecting rod is movably connected in the middle part of second motion bar is connect with the third
At the first end of bar.
2. the traveling control system of intelligent spider formula according to claim 1 robot, it is characterised in that: the whirler
Structure further includes having the second driving motor, and second driving motor is at lateral wall that is vertically arranged, and being both secured to the shell
On；The first end of the first connecting rod is fixed on the output shaft of the second driving motor.
3. the traveling control system of intelligent spider formula according to claim 1 robot, it is characterised in that: described to vacuumize
Device includes the first cylinder for supplying or being vented to the sucker, and the sucking disc mechanism includes suction for fixing
Disk, first cylinder and sucker ventilation connect, and first cylinder is connected in the corresponding output end of the controller.
4. the ambulation control method of intelligent spider formula robot, it is characterised in that: ambulation control method uses the control of claim 1
System processed, each walking mechanism in same row are arranged in forward and backward spacing side by side；
Intelligent spider formula robot is achieved by the steps of when keeping straight on:
One, in most two walking mechanisms of front side, it is same that two sucking disc mechanisms pass through corresponding two vacuum evacuation devices respectively
When supply, two movable supporters respectively by it is corresponding lift put driving device carry out foot-up movement；Latter two movable supporting
Foot carries out opposite direction rotating by rotating mechanism respectively again, and each movable supporter of same row is in same straight line after opposite direction rotating
On, lift later puts driving device and carries out putting foot-propelled work, and most latter two sucking disc mechanism passes through corresponding two vacuum evacuation devices respectively
Air-breathing simultaneously；
Two, two walking mechanisms in most two walking mechanism rears of front side repeat the movement of step 1, that is, realize walking
The straight trip of one step；
Three, repeat the above steps one and step 2 can be completed N step continuous straight trip；
Intelligent spider formula robot is achieved by the steps of when turning to:
(1), with two walking mechanisms in same row for one group of steering group, the one activity of previous steering group in each steering group
The one movable supporter common action of support leg and latter steering group, and coacting two activities branch in two steering groups
Support foot is diagonally positioned, and the sucking disc mechanism on coacting two movable supporters is supplied simultaneously by the vacuum evacuation device of itself
Gas, then put by itself lift that driving device and rotating mechanism successively carry out foot-up and rotating Vortex acts, later again by from
The lift of body puts driving device and sucking disc mechanism and successively carries out putting that foot-propelled is made and air-breathing is fixed；
(2), another movable supporter of previous steering group and another movable supporter of latter steering group repeat in each steering group
The movement of step (1), the i.e. steering of an angle of realization intelligent spider formula robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811625919.4A CN109483739B (en) | 2017-06-26 | 2017-06-26 | Walking control system of intelligent spider type robot |
| CN201710496158.6A CN107283645B (en) | 2017-06-26 | 2017-06-26 | The traveling control system and its control method of intelligent spider formula robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710496158.6A CN107283645B (en) | 2017-06-26 | 2017-06-26 | The traveling control system and its control method of intelligent spider formula robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811625919.4A Division CN109483739B (en) | 2017-06-26 | 2017-06-26 | Walking control system of intelligent spider type robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107283645A CN107283645A (en) | 2017-10-24 |
| CN107283645B true CN107283645B (en) | 2019-03-12 |
Family
ID=60099488
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811625919.4A Expired - Fee Related CN109483739B (en) | 2017-06-26 | 2017-06-26 | Walking control system of intelligent spider type robot |
| CN201710496158.6A Expired - Fee Related CN107283645B (en) | 2017-06-26 | 2017-06-26 | The traveling control system and its control method of intelligent spider formula robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811625919.4A Expired - Fee Related CN109483739B (en) | 2017-06-26 | 2017-06-26 | Walking control system of intelligent spider type robot |
Country Status (1)
| Country | Link |
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| CN (2) | CN109483739B (en) |
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| CN202806932U (en) * | 2012-10-14 | 2013-03-20 | 陈义东 | Non-intelligent four-leg walking machine |
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| CN105109570A (en) * | 2015-08-24 | 2015-12-02 | 广西大学 | Feet-type robot |
| US9594377B1 (en) * | 2015-05-12 | 2017-03-14 | Google Inc. | Auto-height swing adjustment |
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| CN202115613U (en) * | 2011-04-22 | 2012-01-18 | 华磊 | Hexapod robot capable of realizing automatic obstacle crossing |
| CN202626835U (en) * | 2012-05-21 | 2012-12-26 | 重庆市鹏创道路材料有限公司 | Intelligent maintenance robot for bridge |
| CN205729254U (en) * | 2016-04-27 | 2016-11-30 | 大连科技学院 | A kind of clean robot |
| CN106184458B (en) * | 2016-07-08 | 2018-04-06 | 上海大学 | A kind of Hexapod Robot driven by parallel connecting rod |
| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
| CN206262894U (en) * | 2016-11-28 | 2017-06-20 | 华南理工大学 | A kind of truss clean robot |
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
| CN106741274B (en) * | 2017-02-16 | 2023-05-05 | 耿逸芃 | Sucking disc type wall climbing robot capable of adjusting stride and moving method thereof |
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2017
- 2017-06-26 CN CN201811625919.4A patent/CN109483739B/en not_active Expired - Fee Related
- 2017-06-26 CN CN201710496158.6A patent/CN107283645B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202806932U (en) * | 2012-10-14 | 2013-03-20 | 陈义东 | Non-intelligent four-leg walking machine |
| CN104008698A (en) * | 2014-05-23 | 2014-08-27 | 天津商业大学 | Four-footed walking robot consisting of multi-connecting-rod mechanism |
| US9594377B1 (en) * | 2015-05-12 | 2017-03-14 | Google Inc. | Auto-height swing adjustment |
| CN105109570A (en) * | 2015-08-24 | 2015-12-02 | 广西大学 | Feet-type robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109483739A (en) | 2019-03-19 |
| CN107283645A (en) | 2017-10-24 |
| CN109483739B (en) | 2021-01-15 |
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