CN105390992B - A kind of chute type robot comprehensive wiring method - Google Patents
A kind of chute type robot comprehensive wiring method Download PDFInfo
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- CN105390992B CN105390992B CN201510849568.5A CN201510849568A CN105390992B CN 105390992 B CN105390992 B CN 105390992B CN 201510849568 A CN201510849568 A CN 201510849568A CN 105390992 B CN105390992 B CN 105390992B
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- magnetic valve
- robot
- cable
- steel wire
- valve
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Abstract
It is particularly chute type robot comprehensive wiring method, including the steps the present invention relates to routing field：Steel wire is returned to head end by robot from after setting up the head end of job area of cable and taking tail end to；The Robot steel wire trend, multiple magnetic valves with line stretcher are distributed on steel wire, magnetic valve is opened, the magnetic valve carries the crawl structure by solenoid valve control；The robot pulls cable, is moved towards along steel wire, often by just sending close command to the magnetic valve after a magnetic valve, cable is hung in the crawl structure of magnetic valve；After the robot runs to terminal and cable is unloaded, Robot backtracking often passes by the backward magnetic valve of a magnetic valve and sends OPEN, cable is fallen in crane span structure.The inventive method need to arrange two operating personnels simultaneously at the head and the tail two ends of crane span structure, and being not required to climbing up and down can repeatedly complete, and then substantially increase the job safety coefficient of workman.
Description
Technical field
It is particularly chute type robot comprehensive wiring method the present invention relates to routing field.
Background technology
Comprehensive wiring is mainly by the way of manually laying, by building scaffold, using finer wire transmission line from pipe
Drawn in road or on crane span structure.Formally implemented according on October 1st, 2007《Integration laying line system engineering design specification》GB
50311-2007 and《Comprehensive wiring system mounting process standard》, " when crane span structure level is laid, the spacing for hanging (branch) frame is generally
1.5m~3m ", this mean that in wiring every 1.5m~3m will arrange an operating personnel by hand and hand one by one
The transmission of cable could complete the task of wiring.Calculate accordingly, the crane span structure of 60m length, need 5 people by constantly moving scaffold totally 6
It is secondary to complete.If laying the cable of all the building, need to expend substantial amounts of manpower and materials, extremely inefficient, cost of labor
Gao Qi.Moreover, sometimes there is special environment, operating personnel is difficult to reach or is awkward, and then wiring can not be completed
Task.If building is higher or operating environment is more severe, completing wiring also has certain danger, the people of operating worker
Body can not be guaranteed safely.
A kind of robot comprehensive wiring method based on Internet of Things of the present inventor in Application No. 201310403072.6
In, the system that can be used and robot architecture are have studied, but simply a blank of research is that the one kind that can be used is real
Existing mode, be not disclosed in specifically how to be carried out on long transmission line operation and and robot control.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of chute type robot comprehensive wiring method that there is provided one kind
More convenient and strong operability wire laying mode.
The present invention is achieved in that a kind of chute type robot comprehensive wiring method of offer, including the steps：
Steel wire is returned to head end by robot from after setting up the head end of job area of cable and taking tail end to；
The Robot steel wire trend, multiple magnetic valves with line stretcher are distributed on steel wire, magnetic valve is made
Open, the magnetic valve carries the crawl structure by solenoid valve control；
The robot pulls cable, moves towards, is often closed by just being sent after a magnetic valve to the magnetic valve along steel wire
Instruction is closed, electric wire cable is hung in the crawl structure of magnetic valve；
After the robot runs to terminal and cable is unloaded, Robot backtracking often passes by an electromagnetism
The backward magnetic valve of valve sends OPEN, cable is fallen in crane span structure.
Further, each magnetic valve has single chip machine controlling circuit, and each magnetic valve is carried out into unique number, machine
Device people numbering described in automatic identification and can carry out radio communication with magnetic valve, with as needed according to numbering control numbering correspondence
Magnetic valve action.
Further, the robot sets a communication distance between magnetic valve, it is ensured that run to and certain electromagnetism
After the communication distance of valve, only communicated with the magnetic valve.
Further, the Robot steel wire trend, multiple magnetic valves with line stretcher are distributed on steel wire, made
After magnetic valve is opened, in addition to, receive the feedback information of magnetic valve, be defined as after magnetic valve open mode, carry out next step.
Further, the robot pulls cable, is moved towards along steel wire, often by after a magnetic valve just to the electromagnetism
Valve is sent after close command, in addition to, receive the feedback information of magnetic valve, be defined as after solenoid closure state, carry out next
Step.
Further, after the robot runs to terminal and cable is unloaded, Robot backtracking is often passed by
The backward magnetic valve of one magnetic valve is sent after OPEN, in addition to, receive the feedback information of magnetic valve, be defined as magnetic valve
After open mode, next step is carried out.
Further, Internet of things node is arranged in the job area of cable to be set up, Internet of Things is passed through using controller
Node carries out communicating so as to the operation of control machine people with robot.
Further, the Robot steel wire trend, multiple magnetic valves with line stretcher are distributed on steel wire, wrapped
Include：Steering gear is installed at turning, the steering gear includes：
Outside has the steering brush of smooth semicircular structure；
For fixed clip.
Compared with prior art, beneficial effect is the present invention：The present invention proposes the comprehensive wiring using technology of Internet of things
Robot replaces being accomplished manually comprehensive wiring task.Lay many cables, no matter crane span structure how long, only need to arrange two operation people
Member is simultaneously at the head and the tail two ends of crane span structure, and being not required to climbing up and down can repeatedly complete, and then substantially increase the job safety of workman
Coefficient, and can complete manually reach or not easy-operating local cable laying, solve cloth under particular surroundings
The problem that informant person is difficult to reach or is awkward.
Brief description of the drawings
Fig. 1 is robot architecture's block diagram for using in the present invention；
Fig. 2 is the controller architecture block diagram used in the present invention；
Fig. 3 is field wiring schematic diagram provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram provided in an embodiment of the present invention for installing cable；
The structural representation for the steering gear that Fig. 5 provides for inventive embodiments；
Fig. 6 is wiring flow figure provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Referring to Fig. 1, the robot used in the embodiment of the present invention includes control device, running gear, draw-gear, communication
Camera is installed in device, robot；Wherein control device control camera shoots the image of working site, and passes through communication
Image information is passed to controller by device；Communication device is responsible for the communication of robot and controller.The figure that robot is shot
Picture and status information reach controller by Internet of Things.The control command that controller is sent is sent to robot by Internet of Things again
Communication device.
In the embodiment of the present invention by a controller according to the image information of reception by processing according to result to machine
The control device of device people sends instruction；The control device of robot receives the instruction of controller, control device by communication device
Require that control running gear makes corresponding action according to instruction, ultrasonic unit be installed in the front-end and back-end of robot,
Prevent telecontrol equipment because advance or astern speed bump against soon on crane span structure wall very much, cause robot to damage.And according to the finger of controller
The retractable cable of order control draw-gear.Pulling of the draw-gear to finer wire in draw-gear, need to meet fixation with steel wire, dismounting and hold
Easily, steel wire acts freely requirement.The robot also includes warning device, and warning device detects the failure and electricity of robot,
And controller is reached by Internet of Things.
Shown in Figure 2, the controller that the embodiment of the present invention is used includes image receiver module, image processing module, figure
As display module and operation control module：Image receiver module is received from robot communication device by Internet of things node
Image information, and image information will be sent to image processing module and image display simultaneously；Image processing module is according to figure
As information calculates the position of robot operation, by local information conveying to operation control module；Operation control module is according to position
Confidence, which is ceased to robot, issues control command.Accordingly, controller includes alarm information processing module, alarm information processing mould
Block receives the warning message of robot warning device transmission and carries out alert process.
Controller has image display, and image display receives the image information of image receiver module and display,
Supervision in order to staff to site operation.
The embodiment of the present invention, material net node is arranged in the job area of cable to be set up, thing is passed through using controller
Networked node carries out communicating so as to the operation of control machine people with robot.
Referring to Fig. 3 combination Fig. 4 and Fig. 6, the embodiment of the present invention provides a kind of chute type robot comprehensive wiring method, adopted
Robot and controller in manner just described, including the steps：
Step 401, steel wire 1 is installed, the head end of steel wire 1 from the job area of cable to be set up is taken to tail end by robot 6
After return to head end；This process is realized by the control of robot and controller；
Step 402, the upper installation steering gear at turning is needed in steel wire 1, referring to Fig. 5, the steering gear used has for outside
Have smooth semicircular structure turns to brush 31 and for fixed clip 32, and the clip 32 of steering gear is clipped in the side wall of crane span structure,
The outside for turning to brush 31 is that the pulley 2 on smooth semicircle, steel wire can be reached by slipping over steering on the outside of steering gear and brushing
Steering gear opposite side.
Step 403, arrange and open magnetic valve, multiple magnetic valves 3 of crawl structure 4 will be carried, installed by sliding block 2
On steel wire 1, have between magnetic valve 3 after line stretcher 5, the opening completely of line stretcher 5, tail end and head end distance with job area
Quite, robot is moved towards from head end along steel wire, and multiple magnetic valves 3 with line stretcher 5 are distributed on steel wire 1, tail end is reached
During returning afterwards, open magnetic valve；
Step 404, tow cable；
Step 405, robot pulls cable, is moved towards along steel wire 1, often by just being sent out after a magnetic valve to the magnetic valve
Go out close command, make by solenoid closure, cable is hung in the crawl structure 4 of magnetic valve；
Step 406, judge whether to tail end, return to step 404 if not reaching tail end；
Step 407, reach after tail end, unload cable；
Step 408, after robot runs to terminal and cable is unloaded, Robot backtracking；
Step 409, return in way, often pass by the backward magnetic valve of a magnetic valve and send OPEN, fall cable
In crane span structure.
The operation of robot realized by communication between controller and controlled, robot in the process of running, with electromagnetism
Individually communication is realized between valve, it is therefore desirable to single chip machine controlling circuit is separately provided on each magnetic valve, and passes through monolithic
Machine is uniquely numbered to each magnetic valve, be capable of in the program of robot each magnetic valve of automatic identification numbering and with electricity
Magnet valve carries out radio communication, in the process of running, numbers the action of corresponding magnetic valve according to numbering control as needed.
One communication distance between magnetic valve of setting in the program of robot, robot is detected in communication distance
After some magnetic valve, learn that the magnetic valve after numbering, sends the instruction for the numbering accordingly by accessing, should so as to have
The magnetic valve of numbering can recognize and perform order.
During operation, there is provided the signal of feedback, such as move towards in Robot steel wire, by multiple with flexible
The magnetic valve of line is distributed on steel wire, is made after magnetic valve opening, is also additionally arranged, receives the feedback information of magnetic valve, be defined as electricity
After magnet valve open mode, next step is carried out, is so ensured in the approach that robot passes through so that magnetic valve is the shape needed
State.
Same principle, robot pulls cable, is moved towards along steel wire, often by just being sent out after a magnetic valve to the magnetic valve
Go out after close command, be also additionally arranged feedback signal, receive the feedback information of magnetic valve, be defined as after solenoid closure state, enter
Row next step.
Same principle, after robot runs to terminal and cable is unloaded, Robot backtracking often passes by one
The backward magnetic valve of magnetic valve is sent after OPEN, is additionally arranged feedback signal, is received the feedback information of magnetic valve, be defined as electricity
After magnet valve open mode, next step is carried out.
Control between above-mentioned robot and magnetic valve, by the program that is arranged in magnetic valve and robot from
Dynamic operation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (7)
1. a kind of chute type robot comprehensive wiring method, it is characterised in that including the steps：
Steel wire is returned to head end by robot from after setting up the head end of job area of cable and taking tail end to；
The Robot steel wire trend, multiple magnetic valves with line stretcher are distributed on steel wire, magnetic valve is opened, institute
State magnetic valve and carry crawl structure by solenoid valve control；
The robot pulls cable, moves towards, is often referred to by just sending closure to the magnetic valve after a magnetic valve along steel wire
Order, makes cable hang in the crawl structure of magnetic valve；
After the robot runs to terminal and cable is unloaded, Robot backtracking is often passed by after a magnetic valve
OPEN is sent to the magnetic valve, cable is fallen in crane span structure；Each magnetic valve has single chip machine controlling circuit, will
Each magnetic valve carries out unique number, and robot numbering described in automatic identification and can carry out radio communication with magnetic valve, with root
According to the action for needing to control to number corresponding magnetic valve according to numbering.
2. in accordance with the method for claim 1, it is characterised in that the robot sets a communication between magnetic valve
Distance, it is ensured that run to after the communication distance with certain magnetic valve, is only communicated with the magnetic valve.
3. in accordance with the method for claim 1, it is characterised in that the Robot steel wire trend, by multiple with flexible
The magnetic valve of line is distributed on steel wire, is made after magnetic valve opening, in addition to, receive the feedback information of magnetic valve, be defined as electromagnetism
After valve open mode, next step is carried out.
4. in accordance with the method for claim 1, it is characterised in that the robot pulls cable, moves towards, often leads to along steel wire
Cross after a magnetic valve and just sent to the magnetic valve after close command, in addition to, receive the feedback information of magnetic valve, be defined as electricity
After magnet valve closure state, next step is carried out.
5. in accordance with the method for claim 1, it is characterised in that the robot runs to terminal and cable is unloaded
Afterwards, Robot backtracking, often passes by the backward magnetic valve of a magnetic valve and sends after OPEN, in addition to, receive electricity
The feedback information of magnet valve, is defined as after magnetic valve open mode, carries out next step.
6. in accordance with the method for claim 1, it is characterised in that Internet of Things section is arranged in the job area of cable to be set up
Point, carries out communicating so as to the operation of control machine people using controller by Internet of things node with robot.
7. in accordance with the method for claim 1, it is characterised in that the Robot steel wire trend, by multiple with flexible
The magnetic valve of line is distributed on steel wire, including：Steering gear is installed at turning, the steering gear includes：
Outside has the steering brush of smooth semicircular structure；
For fixed clip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510849568.5A CN105390992B (en) | 2015-11-27 | 2015-11-27 | A kind of chute type robot comprehensive wiring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510849568.5A CN105390992B (en) | 2015-11-27 | 2015-11-27 | A kind of chute type robot comprehensive wiring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105390992A CN105390992A (en) | 2016-03-09 |
| CN105390992B true CN105390992B (en) | 2017-09-29 |
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ID=55422966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510849568.5A Expired - Fee Related CN105390992B (en) | 2015-11-27 | 2015-11-27 | A kind of chute type robot comprehensive wiring method |
Country Status (1)
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| CN (1) | CN105390992B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737762B (en) * | 2017-03-07 | 2023-07-21 | 长春理工大学 | Automatic wiring robot of wiring machine |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101183779A (en) * | 2007-12-14 | 2008-05-21 | 李作河 | Overhead rail type integral moving monorail crane |
| CN102856841B (en) * | 2012-10-11 | 2015-08-19 | 中铝国际山东建设有限公司 | The mechanical laying method of large-cross section aerial cable |
| CN103457203B (en) * | 2013-09-06 | 2016-02-17 | 沈阳师范大学 | A kind of robot comprehensive wiring method based on Internet of Things |
| CN203463794U (en) * | 2013-09-12 | 2014-03-05 | 苏州晓炎自动化设备有限公司 | Cable clamping mechanism |
| CN204190297U (en) * | 2014-11-28 | 2015-03-04 | 上海司态光纤传感技术咨询服务有限公司 | The successive trays of the built-in temperature measuring optical cable of cable |
| CN104377603B (en) * | 2014-12-04 | 2017-01-25 | 中石化胜利建设工程有限公司 | Device for laying cables in horizontal cable trays and application method of device |
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- 2015-11-27 CN CN201510849568.5A patent/CN105390992B/en not_active Expired - Fee Related
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| CN105390992A (en) | 2016-03-09 |
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