CN114955909A - Indoor robot positioning device and positioning method based on parallel rope mechanism - Google Patents
Indoor robot positioning device and positioning method based on parallel rope mechanism Download PDFInfo
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- CN114955909A CN114955909A CN202210274392.5A CN202210274392A CN114955909A CN 114955909 A CN114955909 A CN 114955909A CN 202210274392 A CN202210274392 A CN 202210274392A CN 114955909 A CN114955909 A CN 114955909A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000002131 composite material Substances 0.000 claims abstract description 21
- 238000004804 winding Methods 0.000 claims abstract description 19
- 229910000831 Steel Inorganic materials 0.000 claims 3
- 239000010959 steel Substances 0.000 claims 3
- 238000003466 welding Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/46—Control devices non-automatic electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to an indoor robot positioning device and method based on a parallel rope mechanism, and relates to accurate positioning in a large-area large platform and a parallel rope robot. The device comprises upright post groups with variable positions, wherein each upright post group comprises a base connected with the ground and a telescopic supporting rod connected on the base; the rope winding/unwinding device comprises a seat support plate, a motor, a winding wheel and the like, wherein the motor, the winding wheel and the like are arranged on the support rod; the device comprises a positioning trolley, wherein the positioning trolley comprises a composite pulley structure which is arranged on a fixed pulley at the lower part and a composite pulley structure at the upper part, one end of a rope is fixed on the composite pulley, and the rope clockwise bypasses the composite pulley structure, a wheel set and a reel; the rope is wound and unwound to realize the movement of the positioning trolley in the space; the invention aims to solve the problems of low indoor positioning precision, difficult operation and the like, and has the advantages of few parts, simple structure, low cost, convenient installation, low later maintenance cost and the like.
Description
Technical Field
The invention relates to an indoor robot positioning device and method based on a parallel rope mechanism instead of GPS positioning, which are suitable for intelligent positioning of industrial warehouses/production lines and belong to the field of industrial automation and mechanical engineering.
Background
With the iterative progress of the factory industry, the area of the factory is larger and the equipment is more and more, so that the access and search functions of the articles are more and more required. Most of the current factories adopt: the chip positioning mode is that a local area network is arranged in a factory, and positioning is carried out by searching chip signals, but the accuracy is not high, and the error is in centimeter level; some factories use a laser positioning method for positioning, but have the disadvantages of high price, troublesome arrangement and incapability of recycling; some factories use parallel cameras for visual identification and positioning, but the factories are affected by temperature and radiation environments, the price is quite high, and operators are difficult to handle. In order to save the positioning cost and time, reduce the positioning difficulty and improve the positioning efficiency of the positioning device, an apparatus capable of replacing the above method is urgently needed.
Disclosure of Invention
The invention provides an indoor robot positioning device and method based on a parallel rope mechanism, which overcome the problems of high positioning cost, high environmental requirement and the like in the prior art and have the characteristics of low manufacturing cost, easiness in maintenance and transportation, high utilization efficiency and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows:
preferably, the indoor robot positioning device based on the parallel rope mechanism is characterized by comprising upright post groups with variable relative positions, wherein each upright post group comprises a weighted base connected with the ground and a supporting rod connected on the base; the rope winding/unwinding device comprises a seat support plate, and a motor, a 3D disc, a screw rod, a wheel set and a winding wheel which are arranged on the upper part of the seat support plate;
the device also comprises a positioning trolley in the motion space, wherein the positioning trolley comprises a fixed pulley arranged at the lower part and a composite pulley structure arranged at the upper part, one end of a rope is fixed on the composite pulley structure, clockwise sequentially bypasses the composite pulley structure, a wheel set and a winding wheel, a rope winding and unwinding device is started, and the rope is wound and unwound in a matching manner to realize the movement of the positioning trolley in the motion space.
The rope winding and unwinding equipment comprises a winding wheel, a screw rod, a wheel set clamp, a seat support plate, a plurality of fixing pieces and a motor; the reel is laid on the lead screw, and the lead screw passes through the mounting to be fixed with the motor shaft of motor, and the motor passes through the mounting to be fixed with the seat backup pad, and the wheelset is fixed on the wheelset frame, fixes with the seat backup pad through the mounting.
The composite pulley structure comprises a fixed central rod piece connected with the positioning trolley, a pulley bearing surrounding the rod piece, a sleeve sleeved outside the central rod piece and the pulley bearing and fixedly connected with the pulley bearing, and a fixed pulley arranged at the upper part and fixed with the sleeve; one end of the rope is fixed on the composite pulley mechanism and sequentially passes through the fixed pulley, the wheel set and the reel.
One end of the rope is fixed on the composite pulley mechanism and sequentially passes through the fixed pulley, the wheel set and the reel, and the other end of the rope is fixed on the reel to form restraint;
the relative position of the composite pulley structure arranged on the upper part of the positioning trolley and the universal wheel on the lower part is variable, and the intersection point of the connecting lines of the diagonal arrangement structure passes through the center of the positioning trolley.
The bracing piece nestification of stand group sets up, and inside is provided with the telescopic link, adjusts length through the screens piece, and the screens piece is fixed through the bolt.
The position clamping sheet is arranged in a U shape, and the closed end of the position clamping sheet is connected with the inner rod and the outer rod through bolts.
A fixed central rod piece and a universal wheel of the composite pulley mechanism are both connected with a positioning trolley through bolts, and a sleeve is connected with the fixed central rod piece through a pulley bearing; the sleeve is connected with the fixed central rod piece through a bearing seat.
The method of any preceding claim, wherein the method comprises: when the positioning trolley is used, after the to-be-positioned position is selected, the motor is started, the motor shaft drives the reel to take up/pay off the rope, the rope passes through the composite pulley structure of the positioning trolley, the positioning trolley is driven to move in the motion platform, and finally the positioning trolley reaches the positioning position.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the indoor robot positioning device based on the parallel rope mechanism can be widely applied to factory positioning operation of various large spaces and large platforms, is particularly suitable for positioning occasions of movable factories and non-permanent factories, and can solve the problems of low positioning precision, large rope length calculation error and the like;
2. the indoor robot positioning device based on the parallel rope mechanism realizes the positioning of a large-space large platform by using a rope driving mode according to a double-pulley principle and a compliant mechanism principle;
3. the indoor robot positioning device based on the parallel rope mechanism has the advantages of few parts, distinct structure, simple manufacture, low cost, convenient installation, easy operation, low cost for later maintenance and the like.
Drawings
The above advantages of the present invention will be readily apparent and understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:
fig. 1 is an overall perspective view of the solution.
Fig. 2 is an overall front view.
FIG. 3 is an overall plan view
Fig. 4 is an overall isometric view of the rope retracting device.
Fig. 5 is a part view of the rope retracting device.
Fig. 6 is a supplementary view of the rope reel.
Fig. 7 is a control flow chart.
In the figure, 1-trolley bottom plate, 2-rope, 3-rope winding and unwinding device, 4-upright rod, 5-base, 6-trolley wheel, 7-wheel connecting frame, 8-fixed pulley, 9-bearing, 10-pulley bracket, 11-upper bottom plate, 12-universal wheel, 13-universal wheel axle mapping diagram, 14-rope restraining plate, 15-installation fixing plate, 16-3D disc, 17-installation bottom plate, 18-lead screw, 19-fixing disc, 20-fixing plate, 21-motor, 22-motor installation fixing frame, 23-fixing screw, 24-connecting rod, 25-fixing screw, 26-coupler, 27-nut, 28-lightening hole and 29-double-end stud.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
With the iterative progress of the factory industry, the area of the factory is larger and the equipment is more and more, so that the access and search functions of the articles are more and more required. Most of the current factories adopt: the chip positioning mode is that a local area network is arranged in a factory, and positioning is carried out by searching chip signals, but the accuracy is not high, and the error is in centimeter level; some factories use a laser positioning method for positioning, but have the disadvantages of high price, troublesome arrangement and incapability of recycling; some factories use parallel cameras for visual identification and positioning, but the factories are affected by temperature and radiation environments, the price is quite high, and operators are difficult to handle. In order to save the positioning cost and time, reduce the positioning difficulty and improve the positioning efficiency of the positioning device, an apparatus capable of replacing the above method is urgently needed. The application aims to provide a positioning robot device which can replace the method and meet the requirements of low price and quick operation.
The present invention is described in further detail below with reference to the attached drawings and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that "connected" and words used in this application to mean "connected", such as "connected", and the like, include both direct connection of one element to another element and connection of one element to another element through another element.
As shown in fig. 1-6, the invention provides an indoor positioning device based on a rope robot, which comprises a positioning trolley, a positioning rod and four rope collecting and releasing devices arranged at the top of the positioning rod, wherein rope outlet points of the four rope collecting and releasing devices are bilaterally symmetrical and are symmetrical front and back.
The indoor positioning device comprises four positioning rods which are arranged and installed in the same way, each positioning rod consists of a base, a support and a top seat provided with a rope winding and unwinding device, and a rope is led out from each rope winding and unwinding device at each end and is connected with a fixed pulley on the trolley.
The rope winding and unwinding device is composed of a lead screw, a motor, a 3D disc, a coupler and the like, and the winding and unwinding of a rope are controlled by controlling the motor; the rope is led out through a limiting hole on the mounting positioning plate, bypasses the universal wheel and is connected with the trolley.
The fixed pulley on the trolley is connected with the trolley through the bearing, so that the linearity of the rope during the movement of the trolley is guaranteed, the error is reduced, and the precision is improved.
Wherein, four locating levers can remove, not only are applicable to the location in little space, also can realize the location in big space simultaneously.
When the four positioning rods are reasonably arranged in a working environment, the trolley moves equidistantly for three times along the fixed direction, a torque sensor arranged in a motor detects torque, the forward and reverse rotation of the rope receiving and releasing device is controlled, the rope length is guaranteed to be always in a tensioning state, the lengths of ropes led out by the four positioning rods are different due to the fact that the trolley is located at different positions, and the position of the current movable platform can be calculated according to the rope length matrix with the three different times through an internal algorithm of the device, so that the indoor robot is positioned.
The flow chart is shown in fig. 7.
Wherein, the motor that receive and releases the rope device and put has embedded encoder and torque sensor.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. An indoor robot positioning device based on a parallel rope mechanism is characterized by comprising upright post groups with variable relative positions, wherein each upright post group comprises a weighted base connected with the ground and a supporting rod connected on the base; the rope winding/unwinding device comprises a seat support plate, and a motor, a 3D disc, a screw rod, a wheel set and a winding wheel which are arranged on the upper part of the seat support plate;
the device also comprises a positioning trolley in the motion space, wherein the positioning trolley comprises a fixed pulley arranged at the lower part and a composite pulley structure arranged at the upper part, one end of a rope is fixed on the composite pulley structure, clockwise sequentially bypasses the composite pulley structure, a wheel set and a winding wheel, a rope winding and unwinding device is started, and the rope is wound and unwound in a matching manner to realize the movement of the positioning trolley in the motion space.
2. The indoor robot positioning apparatus based on parallel rope mechanism of claim 1, wherein: the base and the seat supporting plate of the rope winding and unwinding equipment are fixed by welding, and the weighting base is fixed with the ground by using bolts.
3. The indoor robot positioning apparatus based on parallel rope mechanism of claim 1, wherein: the motor is internally provided with an encoder, the motor rotates at a high speed under the driving of a power supply, the 3D disc is driven to reel and reel the steel wire through driving the screw rod to rotate, and the length of the steel wire is recorded while the steel wire is reeled and reeled.
4. The indoor robot positioning apparatus based on parallel rope mechanism of claim 1, wherein: the relative position of the composite pulley structure arranged on the upper part of the positioning trolley and the universal wheel on the lower part is variable, and the intersection point of the connecting lines of the diagonal arrangement structure passes through the center of the positioning trolley.
5. The indoor robot positioning apparatus based on parallel rope mechanism of claim 4, wherein: the composite pulley structure comprises a fixed central rod piece connected with the positioning trolley, a pulley bearing surrounding the rod piece, a sleeve sleeved outside the central rod piece and the pulley bearing and fixedly connected with the pulley bearing, and a fixed pulley arranged at the upper part and fixed with the sleeve; one end of the rope is fixed on the composite pulley mechanism and sequentially passes through the fixed pulley, the wheel set and the reel.
6. The indoor robot positioning apparatus based on parallel rope mechanism of claim 4, wherein: the fixed central rod piece and the universal wheel of the composite pulley mechanism are connected with the positioning trolley through bolts, and the sleeve is connected with the fixed central rod piece through a pulley bearing; the sleeve is connected with the fixed central rod piece through a bearing seat.
7. The indoor robot positioning apparatus based on parallel rope mechanism of claim 1, wherein: the bracing piece nestification of stand group sets up, and inside is provided with the telescopic link, adjusts length through the screens piece, and the screens piece is fixed through the bolt.
8. The method of any preceding claim, wherein the method comprises: when the positioning trolley is used, after the to-be-positioned position is selected, the motor is started, the motor shaft drives the reel to take up/pay off the rope, the rope passes through the composite pulley structure of the positioning trolley, the positioning trolley is driven to move in the motion platform, and finally the positioning trolley reaches the positioning position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210274392.5A CN114955909A (en) | 2022-03-18 | 2022-03-18 | Indoor robot positioning device and positioning method based on parallel rope mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210274392.5A CN114955909A (en) | 2022-03-18 | 2022-03-18 | Indoor robot positioning device and positioning method based on parallel rope mechanism |
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| Publication Number | Publication Date |
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| CN114955909A true CN114955909A (en) | 2022-08-30 |
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| CN202210274392.5A Pending CN114955909A (en) | 2022-03-18 | 2022-03-18 | Indoor robot positioning device and positioning method based on parallel rope mechanism |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207078954U (en) * | 2017-09-04 | 2018-03-09 | 东北林业大学 | Cable type drive device |
| CN109109017A (en) * | 2018-09-12 | 2019-01-01 | 华南农业大学 | A kind of structured automatical thread-arranging-winding machine structure for cable traction machine people |
| CN109909978A (en) * | 2019-04-15 | 2019-06-21 | 中国计量大学 | A kind of rope drives the remote operating device of three free translation parallel robots |
| CN110155758A (en) * | 2019-06-06 | 2019-08-23 | 中国计量大学 | The intelligent parallel robot of closing a position of rope driving |
| CN111425733A (en) * | 2020-03-31 | 2020-07-17 | 合肥工业大学 | Unmanned agricultural robot driven by parallel flexible cables and control method thereof |
| US20210387351A1 (en) * | 2020-06-16 | 2021-12-16 | Hefei University Of Technology | Rope traction type grinding, cleaning, and coating integrated operation robot |
-
2022
- 2022-03-18 CN CN202210274392.5A patent/CN114955909A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207078954U (en) * | 2017-09-04 | 2018-03-09 | 东北林业大学 | Cable type drive device |
| CN109109017A (en) * | 2018-09-12 | 2019-01-01 | 华南农业大学 | A kind of structured automatical thread-arranging-winding machine structure for cable traction machine people |
| CN109909978A (en) * | 2019-04-15 | 2019-06-21 | 中国计量大学 | A kind of rope drives the remote operating device of three free translation parallel robots |
| CN110155758A (en) * | 2019-06-06 | 2019-08-23 | 中国计量大学 | The intelligent parallel robot of closing a position of rope driving |
| CN111425733A (en) * | 2020-03-31 | 2020-07-17 | 合肥工业大学 | Unmanned agricultural robot driven by parallel flexible cables and control method thereof |
| US20210387351A1 (en) * | 2020-06-16 | 2021-12-16 | Hefei University Of Technology | Rope traction type grinding, cleaning, and coating integrated operation robot |
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Application publication date: 20220830 |
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