CN104385300A - Operational monitoring device and method for winding type hybrid drive wire driven parallel robot - Google Patents

Abstract

The invention discloses an operational monitoring device and method for a winding type hybrid drive wire driven parallel robot. The device comprises the winding type hybrid drive wire driven parallel robot and an operational monitoring device body; the winding type hybrid drive wire driven parallel robot comprises three sets of hybrid drive five-connecting-rod winding structures, a bridge tower support, three wires, a position changing machine and a weight; pulleys are arranged on three pulley supports on the top of the bridge tower support; stress wireless sensor nodes are fixed to a pulley support shell; the three wires are connected with the weight through the position changing machine; a weight node is fixed to the outer surface of the position changing machine; and three anchor nodes are arranged at the position, under the bridge tower support, of the ground. The operational monitoring device body comprises an aggregation node and an industrial personal computer; the aggregation node is connected with the industrial personal computer through a USB data line. The operational monitoring device has the advantages of being simple in structure, convenient to detect and maintain, low in cost, high in sensitivity and free of damage to the wires.

Description

Can wound form hybrid-driven wire parallel robot device for monitoring running and method

Technical field

The present invention relates to the operating state monitoring system field of robot, specifically one can wound form hybrid-driven wire parallel robot device for monitoring running and method.

Background technology

Hybrid drive high speed that hybrid-driven wire parallel robot is compatible, high-bearing capacity, flexibility is adjustable, Compliant Assembly structure is simple, the degree of modularity is high, movement velocity is fast and lower-price characteristic, therefore, can not only high accuracy, high efficiency, heavy load ground running, and larger flexibility output should be had, the output characteristics of motion can be changed easily rapidly.Chinese patent 201310166792.5 discloses a kind of Three Degree Of Freedom combination drive wound form Compliant Assembly, the running of Compliant Assembly heavy load, high-performance movement output can not only be realized, and possess the adjustable feature of movement velocity, large-scale working space can be applied to simultaneously.

Machine for industrial use flexible cable (such as steel wire rope) is generally by the monitoring function promoting the tension detect of flexible cable and realize this state of runtime machine, for can wound form hybrid-driven wire parallel robot system applicable equally.Can wound form hybrid-driven wire parallel robot flexible cable in the course of the work, because factors such as wearing and tearing, fluctuate, block can cause tension variation very large, even there is flexible cable fracture, pulley bracket cracking and Sarasota frame bending is serious etc. causes serious accident, be therefore necessary to carry out Real-Time Monitoring to flexible cable stress, pulley bracket stress, Sarasota frame deformation.Traditional wire rope detection method is generally divided into three kinds: the first knocks ripple method of shaking, it mainly utilizes the relation between tension force and steel wire rope vibration frequency to realize the tension detect to steel wire rope, weak point is can not Real-time and Dynamic Detection, and certainty of measurement is not high yet; The second is series process, and a force snesor of connecting between steel wire rope with carrier carrys out measuring steel wire rope tension, and weak point is that sensitivity is lower and can aggravate the fatigue wear of steel wire rope; The third is three-point bending method, realizes the tension detect to steel wire rope according to the parallelogram law of power, and weak point requires higher to the installation accuracy of device.

Summary of the invention

The object of this invention is to provide one can wound form hybrid-driven wire parallel robot device for monitoring running and method, to solve prior art Problems existing.

In order to achieve the above object, the technical solution adopted in the present invention is:

Can wound form hybrid-driven wire parallel robot device for monitoring running, it is characterized in that: comprise the Sarasota support in regular triangular prism structure, it is that isosceles triangle is distributed with three groups of combination drive five connecting rod winding arrangements that Sarasota props up frame peripheral, Sarasota support three prism apex tops are rotatablely equipped with pulley respectively by pulley bracket, each pulley bracket is fixed with stress wireless sensor node respectively, stretch into below Sarasota support again after having flexible cable one_to_one corresponding to walk around pulley in three groups of combination drive five connecting rod winding arrangements, and the flexible cable of three groups of combination drive five connecting rod winding arrangements has weight by positioner suspention below Sarasota support, described positioner outer surface is fixed with weight node, be positioned at the anchor node ground immediately below Sarasota support being also provided with three distributions triangular in shape, by three groups of combination drive five connecting rod winding arrangements and flexible cable thereof, Sarasota support, positioner and weight are formed can wound form hybrid-driven wire parallel robot, also comprise be arranged on outside can wound form hybrid-driven wire parallel robot operating desk, wound form hybrid-driven wire parallel robot operating desk can be provided with aggregation node, industrial computer, described aggregation node is connected with industrial computer by USB data line, by aggregation node, industrial computer forms device for monitoring running.

Described can wound form hybrid-driven wire parallel robot device for monitoring running, it is characterized in that: described stress wireless sensor node is by resistive pressure foil gauge, signals collecting and modulate circuit, microcontroller, outer extension memory, wireless module, antenna and power module are formed, resistive pressure foil gauge is connected with the input of modulate circuit with signals collecting, signals collecting is connected with microcontroller with the output of modulate circuit, the input of outer extension memory and wireless module accesses microcontroller respectively, antenna access wireless module output, power module supplies power to signals collecting and modulate circuit respectively, microcontroller and wireless module.

Described can wound form hybrid-driven wire parallel robot device for monitoring running, it is characterized in that: described weight node, anchor node are identical with aggregation node structure, form by microcontroller, outer extension memory, wireless module, antenna and power module, the input of outer extension memory and wireless module accesses microcontroller respectively, the output of antenna access wireless module, power module supplies power to microcontroller and wireless module respectively.

Described device can wound form hybrid-driven wire parallel robot operational monitoring method, it is characterized in that: the shell place stress of stress wireless sensor node to pulley bracket is measured, positioned by anchor node counter stress wireless sensor node and weight node, position data and the stress information of stress wireless sensor node are sent to aggregation node by wireless network, the position data of weight node is sent to aggregation node by wireless network simultaneously, aggregation node sends the data to industrial computer by USB interface again, and process is as follows:

(1) operating desk of wound form combination drive flexible cable robot in parallel can arrange the aggregation node be connected by USB data line with industrial computer, three pulley bracket shells on Sarasota support arrange stress wireless sensor node respectively, three anchor nodes are fixed on the ground immediately below Sarasota support as location node distribution triangular in shape, and weight node is fixed on positioner;

(2) RSSI 3 telemetrys are adopted, successively the stress wireless sensor node on three pulley bracket shells and the weight node on positioner are carried out to the determination of locus coordinate by three anchor nodes ground immediately below Sarasota support, each stress wireless sensor node detects the stress at pulley bracket shell place, place respectively;

Position coordinate signal is sent to aggregation node through wireless sensor network by (3) three anchor nodes, position coordinate signal and stress signal are sent to aggregation node through wireless sensor network by three stress wireless sensers simultaneously, position coordinate signal is sent to aggregation node through wireless sensor network by weight node, carry out pretreatment by aggregation node, then send to industrial computer by USB interface;

(4) the position coordinates signal received and stress signal are carried out analyzing and processing by industrial computer, the position coordinates signal analyzing weight node can obtain the displacement of weight, speed and and acceleration relation over time, can obtain three flexible cables position relation over time between sky further, the stressed relation according to weight can obtain:

$\underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_i+\stackrel{\mathrm{ur}}{G}=m\stackrel{r}{a}---\left(1\right)$

Wherein in formula (1), represent the stressed of i-th flexible cable; represent the gravity of weight; M represents the quality of weight; represent the acceleration of weight.

Every root flexible cable decomposed according to three mutually orthogonal directions, formula (1) is expressed as further:

$\left\{\begin{array}{c}{\stackrel{\mathrm{ur}}{F}}_i={\stackrel{\mathrm{ur}}{F}}_{\mathrm{xi}}+{\stackrel{\mathrm{ur}}{F}}_{\mathrm{yi}}+{\stackrel{\mathrm{ur}}{F}}_{\mathrm{zi}}\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{xi}}+{\stackrel{\mathrm{ur}}{G}}_x={m\stackrel{r}{a}}_x\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{yi}}+{\stackrel{\mathrm{ur}}{G}}_y={m\stackrel{r}{a}}_y\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{zi}}+{\stackrel{\mathrm{ur}}{G}}_z={m\stackrel{r}{a}}_z\end{array}\right.---\left(2\right)$

The Tensity size of any time every root flexible cable can be solved according to formula (2), analyze position coordinates signal and the stress signal of stress wireless sensor node, the shell stress of pulley bracket is larger, illustrate that the steel wire rope tension on pulley is larger, the position coordinates change at pulley bracket place greatly, illustrate that the distortion of Sarasota frame bend by pressure is more serious, by with setting normal range (NR) numeric ratio pair, mark stress abnormality point and position coordinates abnormity point, realize can the monitoring of wound form hybrid-driven wire parallel robot running status with this.

First the present invention arranges stress wireless sensor node at pulley bracket shell place, arranges three anchor nodes of distribution triangular in shape on the ground, aggregation node arranged by console.Then, the locus coordinate of three anchor node location stress wireless sensor nodes, stress wireless sensor node gathers the stress information at pulley bracket place simultaneously.Finally, aggregation node receives stress wireless sensor node and anchor node data, industrial computer is sent to by USB line, by analyzing the deformation that can obtain the Tensity size of flexible cable, the stressed size of pulley bracket and Sarasota frame, realize can the Real-Time Monitoring of wound form hybrid-driven wire parallel robot running status with this.

Of the present invention can wound form hybrid-driven wire parallel robot method for monitoring operation states and device can not to wound form hybrid-driven wire parallel robot system bringing any potential safety hazard, simple installation, safe and reliable; Adopt CC1101 wireless communication technology, there is higher traffic rate and communication reliability; Sensor node has that volume is little, low-power consumption, highly sensitive, low cost and other advantages.

Accompanying drawing explanation

Fig. 1 is monitoring device structure chart of the present invention.

Fig. 2 is anchor node distributed architecture top view of the present invention.

Fig. 3 is stress wireless sensor node scheme of installation of the present invention.

Fig. 4 is aggregation node of the present invention and industrial computer connection diagram.

Fig. 5 is stress wireless sensor node structural principle block diagram of the present invention.

Fig. 6 is weight node of the present invention and anchor node structural principle block diagram.

Fig. 7 is aggregation node structural principle block diagram of the present invention.

Fig. 8 is monitoring method workflow diagram of the present invention.

Detailed description of the invention

As Figure 1-Figure 4, can wound form hybrid-driven wire parallel robot device for monitoring running, comprise the Sarasota support 3 in regular triangular prism structure, three groups of combination drive five connecting rod winding arrangements 1 are distributed with in isosceles triangle around Sarasota support 3, Sarasota support 3 three prism apex tops are rotatablely equipped with pulley 4 respectively by pulley bracket 5, each pulley bracket 5 is fixed with stress wireless sensor node 6 respectively, stretch into below Sarasota support 3 again after having flexible cable 2 one_to_one corresponding to walk around pulley 6 in three groups of combination drive five connecting rod winding arrangements 1, and the flexible cable 2 of three groups of combination drive five connecting rod winding arrangements 1 has weight 8 by positioner 9 suspention below Sarasota support 3, positioner 9 outer surface is fixed with weight node 7, be positioned at the anchor node 10 ground immediately below Sarasota support 3 being also provided with three distributions triangular in shape, by three groups of combination drive five connecting rod winding arrangements 1 and flexible cable 2 thereof, Sarasota support 3, positioner 9 and weight 8 are formed can wound form hybrid-driven wire parallel robot, also comprise be arranged on outside can wound form hybrid-driven wire parallel robot operating desk 14, wound form hybrid-driven wire parallel robot operating desk 14 can be provided with aggregation node 13, industrial computer 11, aggregation node 13 is connected with industrial computer 11 by USB data line 12, by aggregation node 13, industry control mechanism 11 one-tenth device for monitoring runnings.

As shown in Figure 5.Stress wireless sensor node 6 is made up of resistive pressure foil gauge, signals collecting and modulate circuit, microcontroller, outer extension memory, wireless module, antenna and power module, resistive pressure foil gauge is connected with the input of signals collecting and modulate circuit, output and the microcontroller of signals collecting and modulate circuit are connected, the input of outer extension memory and wireless module accesses microcontroller respectively, the output of antenna access wireless module, power module supplies power to signals collecting and modulate circuit, microcontroller and wireless module respectively.

As shown in Figure 6, Figure 7.Weight node 7, anchor node 10 are identical with aggregation node 13 structure, form by microcontroller, outer extension memory, wireless module, antenna and power module, the input of outer extension memory, wireless module accesses microcontroller respectively, the output of antenna access wireless module, power module supplies power to microcontroller and wireless module respectively.

As shown in Figure 8.Can wound form hybrid-driven wire parallel robot operational monitoring method, the shell place stress of stress wireless sensor node to pulley bracket is measured, positioned by anchor node counter stress wireless sensor node and weight node, position data and the stress information of stress wireless sensor node are sent to aggregation node by wireless network, the position data of weight node is sent to aggregation node by wireless network simultaneously, aggregation node sends the data to industrial computer by USB interface again, and process is as follows:

(1) operating desk of wound form hybrid-driven wire parallel robot can arrange the aggregation node be connected by USB data line with industrial computer, three pulley bracket shells on Sarasota support arrange stress wireless sensor node respectively, three anchor nodes are fixed on the ground immediately below Sarasota support as location node distribution triangular in shape, and weight node is fixed on positioner;

(2) RSSI 3 telemetrys are adopted, successively the stress wireless sensor node on three pulley bracket shells and the weight node on positioner are carried out to the determination of locus coordinate by three anchor nodes ground immediately below Sarasota support, each stress wireless sensor node detects the stress at pulley bracket shell place, place respectively;

Position coordinate signal is sent to aggregation node through wireless sensor network by (3) three anchor nodes, position coordinate signal and stress signal are sent to aggregation node through wireless sensor network by three stress wireless sensers simultaneously, position coordinate signal is sent to aggregation node through wireless sensor network by weight node, carry out pretreatment by aggregation node, then send to industrial computer by USB interface;

(4) the position coordinates signal received and stress signal are carried out analyzing and processing by industrial computer, the position coordinates signal analyzing weight node can obtain the displacement of weight, speed and and acceleration relation over time, can obtain the position over time relation of three flexible cables in space further, the stressed relation according to weight can obtain:

$\underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_i+\stackrel{\mathrm{ur}}{G}=m\stackrel{r}{a}---\left(1\right)$

Wherein in formula (1), represent the stressed of i-th flexible cable; represent the gravity of weight; M represents the quality of weight; represent the acceleration of weight.

Every root flexible cable decomposed according to three mutually orthogonal directions, formula (1) is expressed as further:

$\left\{\begin{array}{c}{\stackrel{\mathrm{ur}}{F}}_i={\stackrel{\mathrm{ur}}{F}}_{\mathrm{xi}}+{\stackrel{\mathrm{ur}}{F}}_{\mathrm{yi}}+{\stackrel{\mathrm{ur}}{F}}_{\mathrm{zi}}\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{xi}}+{\stackrel{\mathrm{ur}}{G}}_x={m\stackrel{r}{a}}_x\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{yi}}+{\stackrel{\mathrm{ur}}{G}}_y={m\stackrel{r}{a}}_y\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{zi}}+{\stackrel{\mathrm{ur}}{G}}_z={m\stackrel{r}{a}}_z\end{array}\right.---\left(2\right)$

The Tensity size of any time every root flexible cable can be solved according to formula (2), analyze position coordinates signal and the stress signal of stress wireless sensor node, the shell stress of pulley bracket is larger, illustrate that the steel wire rope tension on pulley is larger, the position coordinates change at pulley bracket place greatly, illustrate that the distortion of Sarasota frame bend by pressure is more serious, by with setting normal range (NR) numeric ratio pair, mark stress abnormality point and position coordinates abnormity point, realize can wound form hybrid-driven wire parallel robot monitoring running state with this.

The inventive system comprises can wound form hybrid-driven wire parallel robot, stress wireless sensor node 6, anchor node 10, aggregation node 13, USB data line 12 and industrial computer 11.Three groups of combination drive five connecting rod winding arrangements 1, distributed in isosceles triangle Sarasota support 3, three flexible cables 2, positioner 9 and weights 8 in regular triangular prism structure can be comprised by wound form hybrid-driven wire parallel robot.Sarasota support 3 is provided with three groups of pulley assemblies.Combination drive five connecting rod winding arrangement can be wound around combination drive flexible cable parallel mechanism visual analyzing and a kind of mechanism disclosed in emulation document for periodical " machine driving " the interim one of 37 volume 6 in 2013, and pulley assembly is made up of pulley 4 and pulley bracket 5.With seccotine, stress wireless sensor node 6 is fixed on the shell of pulley bracket 5.Weight node 7 is fixed on positioner 9 outer surface.According to RSSI 3 telemetrys of wireless sensor network, three anchor node 10 distributions triangular in shape are fixed on the ground immediately below Sarasota support 3, are used for the positional information of stress wireless sensor node 6 on pulley bracket 5 shell of three, location and weight node 7.Being fixed on by aggregation node 13 with seccotine can on operating desk 14 shell of wound form hybrid-driven wire parallel robot, be used for receiving stress wireless sensor node 6 by position coordinate signal and stress signal, and the position coordinates signal of weight node 7 and anchor node 10, carry out data prediction, and by USB data line 12, data are sent to industrial computer 11, the position coordinates signal received and stress signal are carried out analyzing and processing by industrial computer 11, the position coordinates signal analyzing weight node 7 can obtain the displacement of weight 8, speed and and acceleration relation over time, three flexible cables 2 position relation over time between sky can be obtained further, stressed relation according to weight can obtain:

$\underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_i+\stackrel{\mathrm{ur}}{G}=m\stackrel{r}{a}---\left(1\right)$

Wherein, represent the stressed of i-th flexible cable; represent the gravity of weight; M represents the quality of weight; represent the acceleration of weight.

Every root flexible cable 2 decomposed according to three mutually orthogonal directions, formula (1) is expressed as further:

$\left\{\begin{array}{c}{\stackrel{\mathrm{ur}}{F}}_i={\stackrel{\mathrm{ur}}{F}}_{\mathrm{xi}}+{\stackrel{\mathrm{ur}}{F}}_{\mathrm{yi}}+{\stackrel{\mathrm{ur}}{F}}_{\mathrm{zi}}\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{xi}}+{\stackrel{\mathrm{ur}}{G}}_x={m\stackrel{r}{a}}_x\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{yi}}+{\stackrel{\mathrm{ur}}{G}}_y={m\stackrel{r}{a}}_y\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{zi}}+{\stackrel{\mathrm{ur}}{G}}_z={m\stackrel{r}{a}}_z\end{array}\right.---\left(2\right)$

The Tensity size of any time every root flexible cable 2 can be solved according to formula (2).Analyze position coordinates signal and the stress signal of stress wireless sensor node 6, the shell stress of pulley bracket 5 is larger, illustrate that flexible cable 2 tension force on pulley is larger, the position coordinates change at pulley bracket 5 place greatly, illustrates that the distortion of Sarasota support 3 bend by pressure is more serious.By with setting normal range (NR) numeric ratio pair, mark stress abnormality point and position coordinates abnormity point, realize can wound form hybrid-driven wire parallel robot monitoring running state with this.

As shown in Figure 5, stress wireless sensor node is made up of resistive pressure foil gauge, signals collecting and modulate circuit, microcontroller Atmega128L, FLASH outer extension memory M25P80, wireless module CC1101, PCB omnidirectional glue staff aerial, power module 5V button cell.Resistive pressure foil gauge one is divided into four, forms full-bridge circuit, and wherein two panels is used for measuring axis and the radial strain of pulley yoke shell, and two panels is used for temperature-compensating in addition.Signals collecting and modulate circuit are used for the collection to pressure-strain sheet signal, and after carrying out filter and amplification, input to microcontroller Atmega128L after the signal of collection being converted into the voltage signal of 0-5V.Atmega128L selected by microcontroller, and this chip low-power consumption, abundant interface resource, data-handling capacity is strong.FLASH outer extension memory M25P80 capacity is 1M, for the Memory Extension of microcontroller Atmega128L.Wireless module selects CC1101, and operating frequency is 484MHz, for the data of stress wireless sensor node are sent to aggregation node by PCB omnidirectional glue staff aerial.Power module adopts the button cell of 5V, and volume is little, and capacity is large.Resistive pressure foil gauge is connected with modulate circuit with signals collecting, the output of microcontroller Atmega128L is connected with FLASH outer extension memory AT28C256, wireless module CC1101 respectively, the output of wireless module CC1101 is connected with PCB omnidirectional antenna, and power module is connected with modulate circuit, microcontroller Atmega128L, wireless module CC1101 with signals collecting respectively.

As shown in Figure 6, weight node and anchor node are formed by microcontroller Atmega128L, FLASH outer extension memory M25P80, wireless module CC1101, PCB omnidirectional glue staff aerial, power module 5V button cell.Phase specific stress wireless sensor node, owing to not needing to detect external environmental information, therefore node architecture does not need sensor assembly, remainder is consistent with stress wireless sensor node.

As shown in Figure 7, aggregation node is made up of microcontroller STM32F407, FLASH outer extension memory W25Q16, wireless module CC1101, PCB omnidirectional antenna, power module 5V button cell.Aggregation node does not need to detect external environmental information, therefore node architecture does not need sensor assembly.Due to the data that aggregation node accepts and pretreatment stress wireless sensor node and anchor node are sent, therefore the ability of its process data is greater than stress wireless sensor node and anchor node, therefore STM32F407 selected by microcontroller, this chip low-power consumption, have advanced Cortex-M4 kernel, storage capacity and data-handling capacity are all better than Atmega128L.FLASH outer extension memory W25Q16 capacity is 16M, for the Memory Extension of microcontroller STM32F407.Wireless module is consistent with stress wireless sensor node and anchor node with power module, is all the button cell adopting CC1101 and 5V.The output of microcontroller STM32F407 is connected with FLASH outer extension memory W25Q16, wireless module CC1101 respectively, the output of wireless module CC1101 is connected with PCB omnidirectional antenna, and power module is connected with microcontroller STM32F407, wireless module CC1101 respectively.

As shown in Figure 8, first open each node, node power-up initializing, setting sample frequency is 1000Hz, and setting-up time is synchronous.Data are sent to aggregation node sensor by stress wireless senser and anchor node sensor, and aggregation node sensor carries out pretreatment to data, then data are sent to industrial computer by USB port.Industrial computer carries out analyzing and processing to data, draw stress intensity and the positional information of pulley yoke shell, the shell stress of pulley bracket is larger, illustrates that the steel wire rope tension on pulley is larger, the position coordinates change at pulley bracket place greatly, illustrates that the distortion of Sarasota frame bend by pressure is more serious.By with setting normal range (NR) numeric ratio pair, mark stress abnormality point and position coordinates abnormity point, realize can wound form hybrid-driven wire parallel robot monitoring running state with this.

(1) the operating desk shell of wound form combination drive flexible cable robot in parallel can arrange the aggregation node be connected by USB interface with industrial computer, three pulley bracket shells on Sarasota support arrange stress wireless sensor node respectively, three anchor nodes are fixed on the ground immediately below Sarasota support as location node distribution triangular in shape, and weight node is fixed on positioner.

(2) adopt RSSI 3 telemetrys, successively the stress wireless sensor node on three pulley bracket shells and weight node are carried out to the determination of locus coordinate by three anchor nodes ground immediately below Sarasota support.Each stress wireless sensor node detects the stress at pulley bracket shell place, place respectively.

Position coordinate signal is sent to aggregation node through wireless sensor network by (3) three anchor nodes, position coordinate signal and stress signal are sent to aggregation node through wireless sensor network by three stress wireless sensers simultaneously, position coordinate signal is sent to aggregation node through wireless sensor network by weight node, carry out pretreatment by aggregation node, then send to industrial computer by USB interface.

(4) the position coordinates signal received and stress signal are carried out analyzing and processing by industrial computer, the position coordinates signal analyzing weight node can obtain the displacement of weight, speed and and acceleration relation over time, can obtain three flexible cables position relation over time between sky further, the stressed relation according to weight can obtain:

$\underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_i+\stackrel{\mathrm{ur}}{G}=m\stackrel{r}{a}---\left(1\right)$

Wherein, represent the stressed of i-th flexible cable; represent the gravity of weight; M represents the quality of weight;

represent the acceleration of weight.

Every root flexible cable decomposed according to three mutually orthogonal directions, formula (1) is expressed as further:

$\left\{\begin{array}{c}{\stackrel{\mathrm{ur}}{F}}_i={\stackrel{\mathrm{ur}}{F}}_{\mathrm{xi}}+{\stackrel{\mathrm{ur}}{F}}_{\mathrm{yi}}+{\stackrel{\mathrm{ur}}{F}}_{\mathrm{zi}}\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{xi}}+{\stackrel{\mathrm{ur}}{G}}_x={m\stackrel{r}{a}}_x\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{yi}}+{\stackrel{\mathrm{ur}}{G}}_y={m\stackrel{r}{a}}_y\\ \underset{i=1}{\overset{3}{\mathrm{\Σ}}}{\stackrel{\mathrm{ur}}{F}}_{\mathrm{zi}}+{\stackrel{\mathrm{ur}}{G}}_z={m\stackrel{r}{a}}_z\end{array}\right.---\left(2\right)$

The Tensity size of any time every root flexible cable can be solved according to formula (2).Analyze position coordinates signal and the stress signal of stress wireless sensor node, the shell stress of pulley bracket is larger, illustrates that the steel wire rope tension on pulley is larger, and the position coordinates change at pulley bracket place greatly, illustrates that the distortion of Sarasota frame bend by pressure is more serious.By with setting normal range (NR) numeric ratio pair, mark stress abnormality point and position coordinates abnormity point, realize can wound form hybrid-driven wire parallel robot monitoring running state with this.

Claims (4)

1. can wound form hybrid-driven wire parallel robot device for monitoring running, it is characterized in that: comprise the Sarasota support in regular triangular prism structure, it is that isosceles triangle is distributed with three groups of combination drive five connecting rod winding arrangements that Sarasota props up frame peripheral, Sarasota support three prism apex tops are rotatablely equipped with pulley respectively by pulley bracket, each pulley bracket is fixed with stress wireless sensor node respectively, stretch into below Sarasota support again after having flexible cable one_to_one corresponding to walk around pulley in three groups of combination drive five connecting rod winding arrangements, and the flexible cable of three groups of combination drive five connecting rod winding arrangements has weight by positioner suspention below Sarasota support, described positioner outer surface is fixed with weight node, be positioned at the anchor node ground immediately below Sarasota support being also provided with three distributions triangular in shape, by three groups of combination drive five connecting rod winding arrangements and flexible cable thereof, Sarasota support, positioner and weight are formed can wound form hybrid-driven wire parallel robot, also comprise be arranged on outside can wound form hybrid-driven wire parallel robot operating desk, wound form hybrid-driven wire parallel robot operating desk can be provided with aggregation node, industrial computer, described aggregation node is connected with industrial computer by USB data line, by aggregation node, industrial computer forms device for monitoring running.

2. according to claim 1 can wound form hybrid-driven wire parallel robot device for monitoring running, it is characterized in that: described stress wireless sensor node is by resistive pressure foil gauge, signals collecting and modulate circuit, microcontroller, outer extension memory, wireless module, antenna, power module is formed, resistive pressure foil gauge is connected with the input of modulate circuit with signals collecting, signals collecting is connected with microcontroller with the output of modulate circuit, outer extension memory, the input of wireless module accesses microcontroller respectively, antenna access wireless module output, power module supplies power to signals collecting and modulate circuit respectively, microcontroller and wireless module.

3. according to claim 1 can wound form hybrid-driven wire parallel robot device for monitoring running, it is characterized in that: described weight node, anchor node are identical with aggregation node structure, form by microcontroller, outer extension memory, wireless module, antenna, power module, the input of outer extension memory and wireless module accesses microcontroller respectively, the output of antenna access wireless module, power module supplies power to microcontroller and wireless module respectively.

4. based on device described in claim 1 can wound form hybrid-driven wire parallel robot operational monitoring method, it is characterized in that: the shell place stress of stress wireless sensor node to pulley bracket is measured, positioned by anchor node counter stress wireless sensor node and weight node, position data and the stress information of stress wireless sensor node are sent to aggregation node by wireless network, the position data of weight node is sent to aggregation node by wireless network simultaneously, aggregation node sends the data to industrial computer by USB interface again, process is as follows:

(1) operating desk of wound form combination drive flexible cable robot in parallel can arrange the aggregation node be connected by USB data line with industrial computer, three pulley bracket shells on Sarasota support arrange stress wireless sensor node respectively, three anchor nodes are fixed on the ground immediately below Sarasota support as location node distribution triangular in shape, and weight node is fixed on positioner;

(2) RSSI 3 telemetrys are adopted, successively the stress wireless sensor node on three pulley bracket shells and the weight node on positioner are carried out to the determination of locus coordinate by three anchor nodes ground immediately below Sarasota support, each stress wireless sensor node detects the stress at pulley bracket shell place, place respectively;

Position coordinate signal is sent to aggregation node through wireless sensor network by (3) three anchor nodes, position coordinate signal and stress signal are sent to aggregation node through wireless sensor network by three stress wireless sensers simultaneously, position coordinate signal is sent to aggregation node through wireless sensor network by weight node, carry out pretreatment by aggregation node, then send to industrial computer by USB interface;

(4) the position coordinates signal received and stress signal are carried out analyzing and processing by industrial computer, the position coordinates signal analyzing weight node can obtain the displacement of weight, speed and and acceleration relation over time, can obtain three flexible cables position relation over time between sky further, the stressed relation according to weight can obtain:

Wherein in formula (1), represent the stressed of i-th flexible cable; represent the gravity of weight; M represents the quality of weight; represent the acceleration of weight.

Every root flexible cable decomposed according to three mutually orthogonal directions, formula (1) is expressed as further:

The Tensity size of any time every root flexible cable can be solved according to formula (2), analyze position coordinates signal and the stress signal of stress wireless sensor node, the shell stress of pulley bracket is larger, illustrate that the steel wire rope tension on pulley is larger, the position coordinates change at pulley bracket place greatly, illustrate that the distortion of Sarasota frame bend by pressure is more serious, by with setting normal range (NR) numeric ratio pair, mark stress abnormality point and position coordinates abnormity point, realize can wound form hybrid-driven wire parallel robot monitoring running state with this.