CN107283645A - 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
- Publication number
- CN107283645A CN107283645A CN201710496158.6A CN201710496158A CN107283645A CN 107283645 A CN107283645 A CN 107283645A CN 201710496158 A CN201710496158 A CN 201710496158A CN 107283645 A CN107283645 A CN 107283645A
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- CN
- China
- Prior art keywords
- walking mechanism
- motion bar
- walking
- movable
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
Abstract
The present invention discloses the traveling control system of intelligent spider formula robot, including walking mechanism and controller, walking mechanism includes movable supporter, installed in the sucking disc mechanism of movable supporting foot plate surface, drive device is put in the lift of foot-up action above and below control movable supporter, the rotating mechanism of movable supporter swing action, and control sucking disc mechanism is controlled to inhale, put the vacuum extractor of action；Also include housing, 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 both sides in housing, the movable supporter of each walking mechanism is connected with housing, each walking mechanism on housing, which is corresponded, to be set.Invention additionally discloses the ambulation control method of intelligent spider formula robot.Compared with prior art, the traveling control system of intelligent spider formula robot of the present invention, it can improve operating efficiency, shorten mobile required time, reduce the working strength of operating personnel, reduce cost.
Description
Technical field
The present invention relates to stone processing technical field, and in particular to be intelligent spider formula robot traveling control system
And its control method.
Background technology
The existing CNC numerical control machining centers for processing of stone, generally comprise organic frame, workbench and crossbeam, pass through
Crossbeam and the movement of the graver being installed on crossbeam and water knife, realize the processing to the axle of stone material three.That is, X-axis, Y-axis, Z axis side
To processing.However, these traditional CNC numerical control machining centers all have a general character, it is required for realizing processing, institute by crossbeam
With floor space and space-consuming all than larger.In order to X-axis, Y-axis, Z-direction movement and processing, so driving member ratio
It is more, power consumption is also compared during work.During work, each axle movement is there is also certain limitation, and movement is slower, causes operating efficiency
It is low.
The robot of processing of stone is currently used for, with single direction complicated processing can be adapted 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 movement or mobile processing.Still
So there is limitation, can not still meet actual process requirements.
In consideration of it, inventor furthers investigate to above mentioned problem, there is this case generation then.
The content of the invention
It is an object of the invention to provide the traveling control system of intelligent spider formula robot, it can improve work effect
Rate, shortens mobile required time, reduces the working strength of operating personnel, reduce cost.
It is an object of the invention to also provide the ambulation control method of intelligent spider formula robot, it overcomes CNC numerical controls to add
The limitation that work center or robot for processing of stone are moved, can straight line moving and turning to walk, improve mobile efficiency,
Shorten mobile required time, reduce cost.
To achieve these goals, the present invention is adopted the following technical scheme that：
The traveling control system of intelligent spider formula robot, includes the walking of the walking for intelligent spider formula robot
Mechanism and the controller for controlling walking mechanism to work, walking mechanism include foot-up and the movable supporting of swing above and below energy
Pin, installed in the sucking disc mechanism of movable supporting foot plate surface, drive device is put in the lift of foot-up action above and below control movable supporter, is controlled
The vacuum extractor of action is inhaled, put to the rotating mechanism of movable supporter swing action processed, and control sucking disc mechanism；
The traveling control system also includes housing, 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 outside two rows, and the both sides in housing, the movable supporter of each walking mechanism
It is connected with housing, each walking mechanism in housing side is corresponded with each walking mechanism in housing opposite side and set
Put；
The controller is arranged on housing, and the controller puts drive device, the rotating mechanism with the lift respectively
Control to connect with the vacuum extractor, the vacuum extractor is connected with sucking disc mechanism ventilation.
It is preferred that, the movable supporter also includes head rod, the second connecting rod and the 3rd connecting rod, and first connects
Extension bar accumbency is in the top of the second connecting rod, and the second connecting rod and the 3rd connecting rod are vertically obliquely installed, and the 3rd connection
Bar is in the lower section of the second connecting rod, and the second end of head 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 3rd connecting rod are hinged.
It is preferred that, the lift puts drive device and includes the 3rd motor, movable rod and swing rod, and the swing rod has
Vertical part and above the vertical part and the transverse part vertical with vertical part, the output shaft of the 3rd 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 the 3rd motion bar；Institute
The first end and the free end of above-mentioned transverse part for stating the first motion bar are movably hinged, and first motion bar is vertically arranged, and described
Three motion bars are vertically obliquely installed, and second motion bar is located at below the first motion bar, and the 3rd motion bar is located at described
Below second motion bar, the second end of first motion bar and the first end of second motion bar are movably hinged, and described the
Second end of two motion bars and the first end of the 3rd motion bar are movably hinged, and the second end activity of the 3rd motion bar is even
It is connected in the 3rd connecting rod；The 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 the 3rd connecting rod.
It is preferred that, the rotating mechanism also includes the second motor, second motor into vertically arranged, and
On the lateral wall for being both secured to the housing；The first end of the head rod is fixed on the output shaft of the second motor
On.
It is preferred that, the vacuum extractor includes the first cylinder for supplying or being vented to the sucker, the suction
Disc mechanism includes for fixed sucker, and first cylinder is connected with sucker ventilation, 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 foot-up and the movable supporter of swing above and below energy, is arranged on
Drive device, control activity branch are put in the lift of foot-up action above and below the sucking disc mechanism of movable supporting foot plate surface, control movable supporter
The vacuum extractor of action is inhaled, put to the rotating mechanism of spike swing action, and control sucking disc mechanism；
Walking mechanism is provided with least four, and the total number of each walking mechanism is even number, and each walking mechanism is divided into two
Row, is set, each row in same row wherein each walking mechanism of a row is corresponded with each walking mechanism in another row
Mechanism is walked to set in forward and backward spacing side by side；The controller puts drive device, the rotating mechanism and described with the lift respectively
Vacuum extractor control connection, the vacuum extractor is connected with sucking disc mechanism ventilation；
Intelligent spider formula robot is achieved by the steps of when keeping straight on：
First, in most two walking mechanisms of front side, two sucking disc mechanisms pass through corresponding two vacuum means respectively
Put and supply simultaneously, two movable supporters put drive device by corresponding lift respectively and carry out foot-up action；Latter two activity
Each movable supporter that support feet carries out same row after opposite direction rotating, opposite direction rotating by rotating mechanism respectively again is in always
On line, lift afterwards puts drive device and carries out putting foot-propelled work, and most latter two sucking disc mechanism passes through corresponding two vacuum means respectively
Put air-breathing simultaneously；
2nd, the action in most two walking mechanism repeat steps one at two walking mechanism rears of front side, that is, realize
The straight trip that row makes a move；
3rd, repeat the above steps one and step 2 can complete N step continuous straight trip；
Intelligent spider formula robot is achieved by the steps of when turning to：
(1), using two walking mechanisms in same row as one group of steering group, the one of previous steering group in each steering group
Movable supporter and the one movable supporter common action of latter steering group, and coacting two work in two steering groups
Dynamic support feet is diagonally positioned, and the sucking disc mechanism on coacting two movable supporters is same by the vacuum extractor of itself
When supply, then drive device and rotating mechanism put by the lift of itself carry out foot-up and rotating Vortex successively and act, lead to again afterwards
Cross the lift of itself and put drive device and sucking disc mechanism and carry out putting that foot-propelled is made and air-breathing is fixed successively；
(2), another movable supporter of previous steering group and another movable supporter of latter steering group in each steering group
The action of repeat step (1), that is, realize the steering of an angle of intelligent spider formula robot.
Using above-mentioned technical proposal, the present invention has following beneficial effect：
The traveling control system of the intelligent spider formula robot of the present invention, operationally, work is placed on by stone material to be processed
Make on platform table top, and be clamped and fix by fixing device；Then, controller control 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 artificial operation, can cross the working strength of reduction employee, can also
Improve operating efficiency.Spider-type robot can creep steering, and it is quicker, convenient to turn to, and can realize that three axles are moved simultaneously,
Processing stone material positioning is treated more to facilitate.Save man-hour, improved processing efficiency, and then reduce processing cost.Not only overcome existing
There is CNC numerical control stones process equipment by being set up in housiung separator and coordinating other travel mechanisms, only being capable of the axle of monoplane one or two
Move the limitation and space hold of positioning.It can also enough avoiding dropping CNC numerical control stone process equipment transmission component mistakes
Electric energy losses that are many, causing；So more saving, environmental protection.
Therefore, the traveling control system of intelligent spider formula robot of the invention, it can improve operating efficiency, shorten and move
The time required to dynamic, the working strength of operating personnel is reduced, cost is reduced.
The ambulation control method of the intelligent spider formula robot of the present invention, each support feet cooperates cooperation realization and pushed away
The change of dynamic spider-type robot housing position in table plane.Wherein, when not homonymy on the housing of spider-type robot
, while the movable supporter of foot-up is 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 homonymy on housing, at the same the movable supporter of foot-up toward rotating Vortex,
Wobbling action realizes that spider-type robot is turned to.
Therefore, the ambulation control method of intelligent spider formula robot of the invention, it overcomes CNC numerical control machining centers or use
The limitation moved in the robot of processing of stone, being capable of straight line moving and steering walking, the mobile efficiency of raising, shortening movement institute
Take time, reduce cost.
Brief description of the drawings
For ease of explanation, the present invention is described in detail by following specific implementations and accompanying drawing.
Fig. 1 is the structural representation for not placing spider-type robot of the invention.
Fig. 2 is the structural representation of the organisation of working of spider-type robot in the present invention.
Fig. 3 be Fig. 2 in along A-A directions cutting structural representation.
Fig. 4 be Fig. 2 in along B-B directions cutting structural representation.
Fig. 5 is the main structure diagram of the spider-type robot of the present invention.
In figure：
1- workbench；2- fixing devices；
The cylinders of 21- second；22- briquettings；
3- tool magazines；7- stone materials to be processed；
41- housings；42- main shafts；
43- line slideways；44- installing plates；
The motors of 45- first；46- feed screw nut；
47- screw mandrels；48- main shaft mounting seats；
49- sliding blocks；
The motors of 51- second；The motors of 52- the 3rd；
53- head rods；The connecting rods of 54- second；
The connecting rods of 55- the 3rd；56- suckers；
The motion bars of 61- first；The motion bars of 62- second；
The motion bars of 63- the 3rd.
Embodiment
In order to which technical scheme is explained further, the present invention is explained in detail below by specific embodiment
State.
As Figure 1-5, the traveling control system of intelligent spider formula robot of the invention, includes for stone material to be processed
It is provided with workbench 1 placed thereon, the workbench 1 for treating the fixing device 2 that processing stone material 7 is fixed,
The fixing device 2 is located on the middle part of the table top of workbench 1, also includes all directions on above-mentioned table surface any
The spider-type robot creeped, the spider-type robot includes the organisation of working and be used for for treating that processing stone material is processed
Promote the walking mechanism of the organisation of working movement processing, the organisation of working is fixed in the walking mechanism.
The traveling control system of the intelligent spider formula robot of the present invention also includes for controlling organisation of working and walking
The controller (not provided in figure) of mechanism work.The organisation of working and the walking mechanism connect the phase of the controller respectively
Answer output end.
In the present invention, it is preferred that the fixing device 2 includes the second cylinder 21 and briquetting 22, second cylinder 21
It is vertically arranged on the workbench 1, the piston rod of second cylinder 21 stretches out away from the table top of workbench 1, described the
The piston rod of two cylinders 21 is equiped 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 space-consuming of stone material fixed part, avoids the movement of spider-type robot crawling to interfere as far as possible.
Specifically, the fixing 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 unclamped or clamping to being positioned over stone material to be processed on the table top of workbench 1.
In the present invention, it is preferred that the fixing device 2 is two, and is located along the same line.Specifically：According to reality
Processing need, two briquettings 22 are in being oppositely arranged or mutually away from setting, or towards consistent setting.So can be to convenient to annular
Stone material or slabstone are gripped.
In the present invention, it is preferred that the tool magazine for spider-type robot described above tool changing is equiped with the workbench 1
3, the tool magazine 3 is located at the mesa edge of workbench 1；3 points of the tool magazine is two rows, 3 points of tool magazine described in two rows
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 is interfered.According to actual processing needs, tool magazine 3 can be set on each side 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, which includes, to be sequentially connected the housing 41 surrounded by four side plates and used
In being vertically equiped with line slideway 43, the line slideway 43 on the main shaft 42 of automatic tool changer, the madial wall of housing 41
The installing plate 44 slided up and down along line slideway is installed, the main shaft 42 is vertically arranged on the installing plate 44, and direction
Stone material 7 to be processed；It is provided with institute's housing 41 on first motor 45, the installing plate 44 and is installed with feed screw nut
46, the feed screw nut 46 is ordinatedly equiped with the screw mandrel for driving the installing plate 44 to be slided in the line slideway 43
47, the output shaft of first motor 45 is fixedly connected through shaft coupling with the one end of the screw mandrel 47；Described first drives
Dynamic motor 45 is connected the corresponding output end of the controller with the main shaft 42 respectively.Here, main shaft 42 is by for installing
The main shaft mounting seat 48 of main shaft 42 is arranged on installing plate 44.
In the present invention, it is preferred that the line slideway 43 is two, and the madial wall of the housing 41 is installed at interval side by side
On；Coordinate on each line slideway 43 and sliding block 49 is installed, the sliding block 49 is fixed on the installing plate 44.In order to realize peace
Plate 44 is filled in sliding process, slip is more steady, and line slideway 43 is designed as into two.Explanation is needed exist for, is used
Two line slideways 43 are a kind of preferred mode, can set many with line slideway 43 according to needs of production.For example,
Three, four, five etc..
In the present invention, it is preferred that the walking mechanism includes the two row's support feets walked for drive shell 41, two rows
Support feet is correspondingly arranged on the opposite sides plate of housing 41 respectively, is often arranged support feet and is spaced the activity branch being arranged side by side by some
Spike is constituted, and corresponding on the position of each movable supporter to correspond to be equiped with the housing 41 is used to drive movable supporting
Second motor 51 of pin horizontal swing, second motor 51 is both secured to the housing 41 into vertically arranged
Lateral wall on；Second motor 51 is connected in the corresponding output end of the controller.
In the present invention, above-mentioned movable supporter includes head rod 53, the second connecting rod 54 and the 3rd connecting rod 55,
The accumbency of head rod 53 is in the top of the second connecting rod 54, and the second connecting rod 54 and the 3rd connecting rod 55 vertical tilt set
Put, and the 3rd connecting rod 55 is in the lower section of the second connecting rod 54, the first end of the head rod 53 is fixed on the second drive
On the output shaft of dynamic motor 51, the second end of head 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 3rd connecting rod 55 are hinged, and walking mechanism also includes installed in movable supporting sole
The sucking disc mechanism in face, the sucking disc mechanism, which includes to be provided with sucker 56, the lower end of the 3rd connecting rod 55, is easy to walking
Sucker 56；Lift above and below the lower end for driving the 3rd connecting rod 55 is installed on the head rod 53 puts the lift of action and put driving
Device；Control sucker is installed in the housing and inhales the vacuum extractor (not provided in figure) put.So can be to sucker 56
Air inlet or pumping, by the change of gas pressure in sucker 56 and the deck contact part of workbench 1, are realized in the table top of workbench 1
On absorption and removal.
In the present invention, it is preferred that the vacuum extractor include for the sucker 56 is supplied or is vented first
Cylinder (is not provided) in figure, and first cylinder is connected with the sucker 56 ventilation, and first cylinder is connected to the control
In the corresponding output end of device.So vacuum extractor is controlled to supply or be vented sucker 56 by controller.
In the present invention, it is preferred that drive device is put in the lift includes the 3rd motor 52, movable rod and swing rod (figure
In do not provide), the swing rod has vertical part and above the vertical part and the transverse part vertical with vertical part, the 3rd motor 52
Output shaft be connected 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 the 3rd motion bar 63；The first end of first motion bar 61 and the free end moveable hinge of above-mentioned transverse part
Connect, first motion bar 61 is vertically arranged, the 3rd motion bar 63 is vertically obliquely installed, second motion bar 62 is located at
Below first motion bar, the 3rd motion bar 63 is located at the lower section of the second motion bar 62, 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 3rd motion bar 63
First end be hinged, the second end of the 3rd motion bar 63 is movably connected in the 3rd connecting rod 55；Described 3rd drives
Dynamic motor 52 is connected in the corresponding output end of the controller.Wherein, the second end of the 3rd motion bar 63 is articulated with the 3rd 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 hinged place that 54 lower end and the upper end of the 3rd connecting rod 55 are hinged, the hinged place is just by 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 the 3rd connecting rod 55
First end foot-up around the 3rd connecting rod 55 is acted.
In above-mentioned, the first motor 45, the second motor 51 and the 3rd motor 52 using stepper motor or
Servomotor；Swing rod similarly equivalence replacement for rotating disk and around center of turntable and can be vertically installed in the rotating disk body of rod.
In the present invention, the movable supporter that movable supporter is at least on 4, the same side wall of housing 41 is 2.
As one kind of the invention preferably, the movable supporter can be 6,8 or 12.Here movable supporter
Number can need to set according to actual production.
Using above-mentioned technical proposal, the traveling control system of intelligent spider formula robot of the invention, it can improve work
Make efficiency, required time when shortening processing reduces the working strength of operating personnel, reduces cost.
The ambulation control method of the intelligent spider formula robot of the present invention is by many activities in spider-type robot
Support feet cooperates cooperation and realizes walking.In the process of walking, each movable supporter be how to realize horizontal hunting and
Leg is vertically lifted, is described here by taking a movable supporter course of work as an example：
Sucker 56 on original state, movable supporter is adsorbed on the table top of workbench 1.During work, by controller control
Second cylinder 21 is ventilated to sucker 56 so that air pressure changes in sucker 56, and then sucker 56 departs from the suction with the table top of workbench 1
It is attached；And then, controller controls the 3rd motor 52 to be turned an angle with driven fork from initial position, as swing rod is rotated
Movable rod is driven to pull the 3rd connecting rod 55 to be rotated around the first end of the 3rd connecting rod 55, swing rod pulls movable rod connection
It is dynamic, realize lift leg action.After leg action to be lifted is completed, controller controls the 3rd motor 52 to be stopped.Now, control
Device controls the second motor 51 to drive the first hinge bar to swing certain angle from first end of the initial position around the first hinge bar
It is stopped after degree.Controller controls the 3rd motor 52 to be turned back to initial position with driven fork, is driven as swing rod is rotated
Movable rod pulls the 3rd connecting rod 55 to be rotated around the first end of the 3rd connecting rod 55, and swing rod pulls movable rod linkage, real
Now put leg action.After leg to be put action is completed, controller controls the 3rd motor 52 to be stopped, and controller control the
Two cylinders 21 are vented to sucker 56 so that air pressure changes in sucker 56, and then on the absorption of sucker 56 and the table top of workbench 1.Now,
The second motor 51 drives the first hinge bar to be swung to around the first end of the first hinge bar from initial again for controller control
It is stopped behind position.It is achieved in that change of the first end with respect to the position of workbench 1 of the first hinge bar of a support feet.
That is, translation of the first end of the first hinge bar with respect to the position of workbench 1.
Each movable supporter cooperates cooperation and realizes promotion spider-type robot housing 41 in the plane of workbench 1
The change of position.Wherein, when not homonymy on the housing 41 of spider-type robot, while the movable supporter of foot-up is simultaneously opposite
Rotary oscillation is acted, and is put pin, fixed and realize the rectilinear creeping of spider-type robot.When not homonymy on housing 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 robots are how to creep and turn to.Here by when not homonymy movable supporter on the housing 41 of spider-type robot, point
For Part I and Part II, controller control Part I movable supporter first departs from the absorption with workbench, in control
Part I movable supporter processed foot-up action, and opposite direction rotating wobbling action simultaneously simultaneously.Now, the activity branch of Part II
Spike absorption workbench is motionless.Controller controls Part I movable supporter foot-up, swings, puts pin, controller control first
When piecemeal activity support feet is adsorbed in workbench again, while control the movable supporter of Part II to start working, second
The movable supporter divided repeats the work of Part I movable supporter.(Part I movable supporter is lived with Part II here
Dynamic support feet swaying direction is consistent.) change of the spider-type machine with respect to operating position is realized, quickly cut by controller
Control Part I movable supporter and the work of Part II movable supporter are changed, the rectilinear creeping of spider-type robot is realized.
Similarly, controller control Part I movable supporter departs from the absorption with workbench first, in control first
Divide movable supporter foot-up action, and rotating Vortex wobbling action simultaneously, now, the movable supporter absorption work of Part II
Make platform motionless.Controller controls Part I movable supporter foot-up, swings, puts pin, controller control Part I activity branch
When spike is adsorbed in workbench again, while control the movable supporter of Part II to start working, the activity branch of Part II
Spike repeats the work of Part I movable supporter.(Part I movable supporter is put with Part II movable supporter here
Dynamic direction is consistent.) change of the spider-type machine with respect to operating position is realized, control first is switched fast by controller
Piecemeal activity support feet and the work of Part II movable supporter, realize that spider-type robot is turned to.
When spider-type robot creeps to position to be processed, the organisation of working of spider-type robot is started working, tool
Body, controller controls the first motor 45 to work and then drive installing plate 44 along the sliding of line slideway 43 as 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
Main shaft 42 processed works or the motor 45 of main shaft 42 and first works simultaneously, realizes 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 that spider-type robot creeps onto platform,
Controller controls the first motor 45 to work and then drive installing plate 44 to be deposited along the sliding of line slideway 43 as tool magazine 3
At the relative position of cutter position.The traveling control system controls spider-type robot ambulation, that is, controls the walking of spider-type robot
Mechanism is worked, and then cutter directly can be 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 senior anti-raw technology, and spider walking principle is applied into Machining Center for stone material, biography is breached
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 departs from after being vented to be adsorbed on workbench 1, ensure that in spider-type robot ambulation or processing there is enough
The free degree, whole head can be freely to twist in tri- dimensions of X, Y, Z.And automatic traveling mechanism space-consuming is minimum, also puts
The larger space that the roller movement of traditional walking robot takes is taken off.
The present invention can return various cutter on the cutter being arranged in parallel in the plane of work platform for placing 1 using fixed tools storehouse 3
In storehouse 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 to from tool magazine on main shaft 42.Cutting or drilling finish rear again by used cutter automatically spider-type robot
Tool magazine is put back on main shaft 42.It is suffered during tool changing that this tool changing mode can avoid main shaft 42 from coordinating turret-style tool changing mechanism to carry out
Limitation, also advantageously improves tool changing efficiency, saves the time.Simultaneously, it is possible to reduce hand labor intensity, it is to avoid substitution work knife process
Present in potential safety hazard.Further, since there is the tool magazine of independent storing cutter, be conducive to placing all kinds of cutters, it is to avoid different
Cutter, which influences each other, to be caused to take knife difficult.
The traveling control system of the intelligent spider formula robot of the present invention, changing tradition CNC numerical control stone process equipments is
The movement of three axles, processing are realized, 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, can greatly shorten man-hour, reduce the working strength of operating personnel；Spider
Formula robot quickly can be moved and fixed, and improved operating 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 error cause business economic to be lost.
The traveling control system of the intelligent spider formula robot of the present invention, with strong applicability, working stability, efficiency high
Feature, realizes that multifunctional all is processed, and greatly shortens man-hour, reduces the working strength of operating personnel, multifunctional all, drop
Low cost, improves mechanical convenience.
Above-described embodiment and schema and non-limiting product form of the invention and style, any art it is common
Appropriate change or modification that technical staff is done to it, all should be regarded as not departing from the patent category of the present invention.
Claims (6)
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 for controlling walking mechanism to work, walking mechanism include foot-up and swing above and below energy
Movable supporter, installed in the sucking disc mechanism of movable supporting foot plate surface, the lift of foot-up action is put above and below control movable supporter
Drive device, the rotating mechanism of control movable supporter swing action, and control sucking disc mechanism are inhaled, put vacuumizing for action
Device；
The traveling control system also includes housing, and the walking mechanism is at least provided with four, and each walking mechanism is total
Number is even number, and each walking mechanism is divided into two rows, and outside the both sides in housing, the movable supporter of each walking mechanism with
Housing is connected, and each walking mechanism in housing side is corresponded with each walking mechanism in housing opposite side and set；
The controller is arranged on housing, and the controller puts drive device, the rotating mechanism and institute with the lift respectively
Vacuum extractor control connection is stated, the vacuum extractor is connected with sucking disc mechanism ventilation.
2. the traveling control system of intelligent spider formula robot according to claim 1, it is characterised in that：The activity branch
Spike also includes head rod, the second connecting rod and the 3rd connecting rod, and head rod accumbency is in the second connecting rod
Top, the second connecting rod and the 3rd connecting rod are vertically obliquely installed, and the 3rd connecting rod is in the lower section of the second connecting rod, the
Second end of one connecting rod and the upper end of second connecting rod are hinged, and the lower end of second connecting rod is connected with the described 3rd
The upper end of bar is hinged.
3. the traveling control system of intelligent spider formula robot according to claim 2, it is characterised in that：Drive is put in the lift
Dynamic device includes the 3rd motor, movable rod and swing rod, and the swing rod has vertical part and above vertical part and with erecting
The vertical transverse part in portion, the output shaft of the 3rd motor is connected with the lower end of above-mentioned vertical part, and above-mentioned movable rod includes
Three motion bars, respectively the first motion bar, the second motion bar and the 3rd motion bar；The first end of first motion bar with it is upper
The free end for stating transverse part is movably hinged, and first motion bar is vertically arranged, and the 3rd motion bar is vertically obliquely installed, described
Second motion bar is located at below the first motion bar, and the 3rd motion bar is located at below second motion bar, and described first lives
Second end of lever and the first end of second motion bar are movably hinged, the second end of second motion bar and the described 3rd
The first end of motion bar is movably hinged, and the second end of the 3rd motion bar is movably connected in the 3rd connecting rod；It is described
At the first end that the second end of second connecting rod and the 3rd connecting rod are movably connected in the middle part of second motion bar.
4. the traveling control system of intelligent spider formula robot according to claim 2, it is characterised in that：The whirler
Structure also includes the second motor, and second motor is both secured to the lateral wall of the housing into vertically arranged
On；The first end of the head rod is fixed on the output shaft of the second motor.
5. the traveling control system of intelligent spider formula robot according to claim 2, it is characterised in that：It is described to vacuumize
Device includes the first cylinder for supplying or being vented to the sucker, and the sucking disc mechanism includes for fixed suction
Disk, first cylinder is connected with sucker ventilation, and first cylinder is connected in the corresponding output end of the controller.
6. the ambulation control method of intelligent spider formula robot, it is characterised in that：The walking of the walking of intelligent spider formula robot
Mechanism and the controller for controlling walking mechanism to work, walking mechanism include foot-up and the movable supporting of swing above and below energy
Pin, installed in the sucking disc mechanism of movable supporting foot plate surface, drive device is put in the lift of foot-up action above and below control movable supporter, is controlled
The vacuum extractor of action is inhaled, put to the rotating mechanism of movable supporter swing action processed, and control sucking disc mechanism；
Walking mechanism is provided with least four, and the total number of each walking mechanism is even number, and each walking mechanism is divided into two rows, its
In a row each walking mechanism with another row each walking mechanism correspond set, each walking mechanism in same row
Set in forward and backward spacing side by side；The controller is put drive device, the rotating mechanism with the lift respectively and described vacuumized
Device control connection, the vacuum extractor is connected with sucking disc mechanism ventilation；
Intelligent spider formula robot is achieved by the steps of when keeping straight on：
First, in most two walking mechanisms of front side, two sucking disc mechanisms are same by corresponding two vacuum extractors respectively
When supply, two movable supporters respectively by it is corresponding lift put drive device carry out foot-up action；Latter two movable supporting
Each movable supporter that pin carries out same row after opposite direction rotating, opposite direction rotating by rotating mechanism respectively again is in same straight line
On, lift afterwards puts drive device and carries out putting foot-propelled work, and most latter two sucking disc mechanism passes through corresponding two vacuum extractors respectively
While air-breathing；
2nd, the action in most two walking mechanism repeat steps one at two walking mechanism rears of front side, that is, realize walking
The straight trip of one step；
3rd, repeat the above steps one and step 2 can complete N step continuous straight trip；
Intelligent spider formula robot is achieved by the steps of when turning to：
(1), using two walking mechanisms in same row as one group of steering group, the one activity of previous steering group in each steering group
The one movable supporter common action of support feet and latter steering group, and coacting two activities branch in two steering groups
Spike is diagonally positioned, and the sucking disc mechanism on coacting two movable supporters is supplied simultaneously by the vacuum extractor of itself
Gas, then drive device and rotating mechanism put by the lift of itself carry out foot-up and rotating Vortex successively and act, afterwards again by from
The lift of body puts drive device and sucking disc mechanism and carries out putting that foot-propelled is made and air-breathing is fixed successively；
(2), another movable supporter of previous steering group and another movable supporter of latter steering group are repeated in each steering group
The action of step (1), that is, realize the steering of an angle of 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 true CN107283645A (en) | 2017-10-24 |
| CN107283645B CN107283645B (en) | 2019-03-12 |
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ID=60099488
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
| CN201811625919.4A Expired - Fee Related CN109483739B (en) | 2017-06-26 | 2017-06-26 | Walking control system of intelligent spider type robot |
Family Applications After (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 |
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| Country | Link |
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| CN (2) | CN107283645B (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 CN201710496158.6A patent/CN107283645B/en not_active Expired - Fee Related
- 2017-06-26 CN CN201811625919.4A patent/CN109483739B/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 |
| CN107283645B (en) | 2019-03-12 |
| CN109483739B (en) | 2021-01-15 |
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