CN115741761A - Variant type wire-controlled robot and wire control method thereof - Google Patents
Variant type wire-controlled robot and wire control method thereof Download PDFInfo
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Abstract
The invention discloses a variable type wire-controlled robot and a wire control method thereof, belonging to the technical field of wire-controlled robots. The method comprises the following steps: the system comprises a carrier arranged at the top in a designated space, and a plurality of wire-controlled controllers fixed at designated positions of the carrier, wherein an output shaft of each group of wire-controlled controllers is provided with an execution line; further comprising: the device comprises a primary bearing piece and a secondary bearing piece, wherein when the carrier is magnetically connected with the primary bearing piece, the attitude of a workpiece is adjusted by controlling the length of a carrying line between the primary bearing piece and the secondary bearing piece; when the primary bearing piece is magnetically connected with the secondary bearing piece, the workpiece is moved on a preset track by controlling the length of an execution line between the carrier and the primary bearing piece. According to the invention, the position movement of the grabbing piece and the workpiece on the space can be completed only by installing a magnetic large-scale carrier and a basic wire control electric control device in a specified space, so that the cost is saved and the workpiece can be transferred efficiently.
Description
Technical Field
The invention belongs to the technical field of wire-controlled robots, and particularly relates to a variant wire-controlled robot and a wire control method thereof.
Background
With the development of science and technology and production requirements, the proportion of workpieces hoisted in a specified space is heavier and heavier. However, since the workpiece is hoisted by wire control, it is necessary to arrange the actuating lines in a space long enough and to perform the position shift by controlling the lengths of the actuating lines. And therefore, the execution line has high space requirement during operation, and the process of lifting the workpiece can be directly influenced once a high obstacle or other traction influencing the execution line occurs.
In the prior art, a designated space is divided into regions, an execution line and a corresponding drive-by-wire controller are arranged in a minimum unit, and then the minimum unit moves or switches in each region to complete the final required position transfer. However, the equipment has more workpieces and high cost; and when the mobile or switching is carried out in a plurality of areas, the movement of the whole minimum unit is involved, and the engineering consumption is large.
Disclosure of Invention
The invention provides a variant type wire-controlled robot and a wire control method thereof to solve the technical problems in the background technology.
The invention is realized by adopting the following technical scheme: a variant type line control robot is arranged in a designated space; the method comprises the following steps:
a carrier fixed to a top portion within the designated space;
at least four groups of wire control controllers are fixed at the appointed positions of the carrier; an output shaft of each group of wire control controllers is provided with an actuating wire;
the primary bearing piece is arranged below the carrier; at least four groups of wire assemblies are arranged at the edge of the primary bearing piece, and the wire assemblies have a locking function;
the secondary bearing piece is arranged below the primary bearing piece; the movable end of the execution line sequentially penetrates through the corresponding wire components and is connected to the secondary bearing piece;
the grabbing piece is fixedly connected with the bottom of the secondary bearing piece; when the carrier is magnetically connected with the primary bearing piece, the posture of the workpiece is adjusted by controlling the length of a carrying line between the primary bearing piece and the secondary bearing piece; when the primary bearing piece is magnetically connected with the secondary bearing piece, the workpiece is moved on a preset track by controlling the length of an execution line between the carrier and the primary bearing piece; when the carrier, the primary bearing piece and the secondary bearing piece are all magnetically connected, the moving barrier is avoided.
In a further embodiment, a plurality of groups of iron cores are arranged at the inner bottoms of the carrier and the primary bearing piece, and coils are wound on each group of iron cores; the coil is connected to a power supply through an electric control switch;
the top of the secondary bearing piece is made of metal.
In a further embodiment, the connection relationship is mechanical connection, and then the bottoms of the carrier and the first-stage bearing member are both provided with clamps, so that the carrier is operationally connected with the first-stage bearing member and the first-stage bearing member is operationally connected with the second-stage bearing member through the clamps.
In a further embodiment, the wire assembly comprises:
one end of the mounting plate is embedded in the primary bearing piece;
the locking piece is arranged at the other end of the mounting plate;
the guide wheel is arranged at one end of the mounting plate through a universal bearing; the actuating line sequentially passes through the locking piece and the guide wheel.
In a further embodiment, the retaining member includes:
the body is internally provided with a hollow structure; two side surfaces of the body are provided with threading holes;
the ratchet wheel is elastically and rotatably arranged in the body; the ratchet wheel comprises an engaging part and a clamping part, and the clamping part is provided with a tiger mouth structure;
an electric cylinder installed outside the body; a piston rod of the electric cylinder penetrates through the body and is positioned in the body;
the pressing piece is elastically and rotatably arranged between the electric cylinder and the ratchet wheel; the pressing piece is simultaneously connected with a piston rod of the electric cylinder in a transmission way; one side of the pressing piece close to the ratchet wheel is provided with a sawtooth.
The line control method based on the variable line control robot at least comprises the following steps:
a mobile regulation mode and a posture regulation mode are created in advance: if the grabbing piece needs to finish three-dimensional movement in a designated space according to a designated posture, preferentially entering a posture regulation mode, regulating the posture of the grabbing piece into the designated posture, and then entering a movement regulation mode to finish three-dimensional movement;
otherwise, the grabbing piece does not have posture requirements during three-dimensional movement, the road condition in the designated space obtains the optimal transfer posture of the grabbing piece, the posture regulation and control mode is adjusted based on the optimal transfer posture, and then the grabbing piece enters the movement regulation and control mode to complete three-dimensional movement.
In a further embodiment, further comprising: creating an avoidance mode: when the mobile regulation mode is executed, if a temporary obstacle appears, selecting an optimal avoidance mode based on the attribute of the temporary obstacle; the avoidance mode includes at least: one or more of an adsorption avoidance mode, a route avoidance mode and a posture avoidance mode.
In a further embodiment, the workflow of the movement regulation mode is as follows:
after the posture of the grabbing piece is adjusted based on the designated posture or the optimal transfer posture, the locking piece locks and fixes the execution line, so that the length of the execution line between the first-stage bearing piece and the second-stage bearing piece is ensured not to be acted by the wire control controller;
and each group of line control controllers respectively regulates and controls the length of the corresponding execution line between the carrier and the first bearing piece to realize the position movement of the first bearing piece, the second bearing piece and the grabbing piece.
In a further embodiment, the work flow of the attitude adjustment mode is as follows:
controlling an electric control switch to enable a coil in the carrier to be electrified to generate magnetism, and starting magnetic adsorption on the primary bearing piece by the carrier until the primary bearing piece is fixed at the bottom of the carrier; the locking piece has no external force action on the execution line;
every group drive-by-wire controller regulates and control the length that corresponds the executive line respectively and hold between the carrier at one-level and the carrier at second grade, realizes the posture adjustment to grabbing the piece, and when the posture that grabs the piece accorded with required appointed posture or best transfer gesture, the retaining member was tight to the executive line, guarantees that the length of executive line between the carrier is held to one-level and the carrier is held to the second grade can not change again.
In a further embodiment, the adsorption avoidance mode is implemented as follows: controlling an electric control switch to electrify the carrier and a coil in the primary bearing piece and generate magnetism, so that the carrier adsorbs the primary bearing piece, and the primary bearing piece adsorbs the secondary bearing piece;
the route avoidance mode is realized as follows: updating the preset path to obtain an avoidance path, and entering a mobile regulation mode again based on the avoidance path;
the attitude avoidance mode is realized as follows: and acquiring a required avoidance posture, and entering a posture regulation mode based on the avoidance posture.
The invention has the beneficial effects that: the invention is different from the wire control arrangement in the prior art, and can complete the position movement of the grabbing piece and the workpiece on the space only by installing a magnetic large-scale carrier and a basic wire control electric control device in a designated space, thereby saving the cost and simultaneously realizing the high-efficiency transfer. Meanwhile, the primary bearing piece and the secondary bearing piece are added, and the interaction between the primary bearing piece and the secondary bearing piece can realize the adjustment of the posture only by adjusting the length of the execution line at the corresponding position; simple and strong in operability.
Drawings
Fig. 1 is a state diagram i of a variable type linear control robot.
Fig. 2 is a side view of the wire assembly of example 1.
Fig. 3 is a schematic view showing the structure of the locker of embodiment 1.
Fig. 4 is a second state diagram of the variant type wire-controlled robot.
Fig. 5 is a state diagram three of the variant type wire-controlled robot.
Fig. 6 is a state diagram of the variant type wire-controlled robot.
Each of fig. 1 to 6 is labeled as: the wire-controlled device comprises a carrier 1, a wire-controlled controller 2, an actuating wire 3, a primary bearing member 4, a secondary bearing member 5, a grabbing member 6, a wire guide assembly 7, a mounting plate 701, a guide wheel 702, a body 703, a wire threading hole 704, an engaging part 705, a clamping part 706, a piston rod 707, a pressing member 708 and a torsion spring 709.
Detailed Description
The invention is further described and illustrated in the following figures and examples.
Example 1
In order to simplify the existing wire-controlled hoisting and meet the requirements of position transfer and posture adjustment required in engineering, the embodiment discloses a variant type wire-controlled robot, as shown in fig. 1. The variant type line control robot is arranged in a designated space, and in the embodiment, the designated space is a warehouse or other three-dimensional storage space.
The line-controlled robot includes: the carrier 1 is fixed on the top of the designated space, further, the carrier 1 is a large-sized housing, the bottom surface of which is a smooth plane for the first carrier 1 to move when necessary. At least one group of line-control controllers 2 are arrayed at the designated position of the carrier 1, and in this embodiment, the line-control controllers 2 are available and used for adjusting and controlling the length of the released execution line 3, so the execution line 3 is arranged on the output shaft of each group of line-control controllers 2, and therefore, the details are not described herein. Correspondingly, the primary bearing part 4 is arranged below the carrier 1, at least one group of wire assemblies 7 are arranged at the edge of the primary bearing part 4, and the wire assemblies 7 have a locking function. The secondary bearing part 5 is arranged below the primary bearing part 4, so that the movable end of the actuating wire 3 sequentially passes through the corresponding wire assembly 7 and is connected to the secondary bearing part 5. Taking four groups of wire-control controllers 2 as an example, the wire-control controllers are symmetrically arranged at four top corners of the carrier 1, and fixed ends of the execution wires 3 are fixed in the outputs of the wire-control controllers 2. Correspondingly, four sets of wire assemblies 7 are likewise provided, each set being mounted at the edge of the primary carrier 4.
In order to ensure that the workpieces are gripped normally, the gripping members 6 are fixed to the bottom of the secondary carrier 5, i.e. the gripping members 6 are stationary relative to the secondary carrier 5, so that the position of the workpieces hereinafter is also the position of the gripping members 6, and likewise the position of the secondary carrier 5. Taking the gripping member 6 as a gripping jaw as an example.
In the present embodiment, the variant is realized by the following technique: if necessary, the carrier 1 is connected to the primary carrier 4, and the primary carrier 4 is connected to the secondary carrier 5. When the carrier 1 and the first-stage bearing part 4 are connected, the workpiece posture is adjusted by controlling the length of the execution line 3 between the first-stage bearing part 4 and the second-stage bearing part 5. When the primary bearing piece 4 and the secondary bearing piece 5 are connected, the workpiece is moved on a preset track by controlling the length of an execution line 3 between the carrier 1 and the primary bearing piece 4; when the carrier 1, the first-stage bearing part 4 and the second-stage bearing part 5 are connected, the moving barrier is avoided. The connection relationship here is an operational connection, that is, only the connection relationship is needed. Thus, it can be realized in various forms, such as magnetic connection, mechanical connection, and the like.
Taking the implementation of the operative connection by magnetism as an example: the inner bottoms of the carrier 1 and the primary bearing piece 4 are respectively provided with a plurality of groups of iron cores, and each group of iron cores is wound with a coil; the coil is connected to a power supply through an electric control switch; and the tops of the primary bearing piece 4 and the secondary bearing piece 5 are made of metal materials. Specifically, after the coil is energized, the corresponding iron core will have magnetism, and the metal object thereof performs magnetic adsorption. After the coil in the carrier 1 is electrified, the carrier 1 has magnetism, and the top of the primary bearing piece 4 is made of metal, so that the primary bearing piece 4 moves upwards under the action of the magnetism until being attached to the carrier 1. Similarly, if the coil of the primary bearing member 4 is energized, the primary bearing member 4 has magnetism, and the top of the secondary bearing member 5 is made of metal, so that the secondary bearing member 5 moves upwards under the action of the magnetic force until the secondary bearing member is attached to the carrier 1.
In another embodiment, taking the mechanical connection as an example: the bottom of the carrier and the bottom of the first-level bearing part are both provided with multi-degree-of-freedom clamps, and the multi-degree-of-freedom clamps are used for realizing the operational connection of the carrier to the first-level bearing part and the first-level bearing part to the second-level bearing part.
In this embodiment, the actuation wires 3 are divided into two parts, one part being located between the carrier 1 and the length of the support of the primary carrier 4, and one part being located between the primary carrier 4 and the secondary carrier 5, so that the effect of adjusting the lengths of the actuation wires 3 in different parts is different. Therefore, in order to enable independent regulation of the two portions of the actuating wire 3, in the present embodiment the wire assembly 7 comprises: the mounting plate 701 with one end embedded on the primary bearing member 4 is provided with a guide wheel 702 and a locking member from one end to the other end of the mounting plate 701. The actuation wires 3 pass through the retaining member and guide wheel 702 in sequence. The guide wheel 702 is mounted on the mounting plate 701 through a universal bearing, that is, 360-degree rotation of the guide wheel 702 is realized through the universal bearing, so that the direction requirement of the execution line 3 during operation is met. Thus, when the two parts of the actuating line 3 need to be clearly separated, the current actuating member is fixed by the locking member as a separation point. For example, the following steps are carried out: the active end of the actuation wire 3 now protrudes from the wire controller 2 and is connected to the secondary carrier 5 through the locking member, in turn, the guide wheel 702. The locking member is then free from forces acting on the actuating wire 3, which currently requires adjustment of the length of the actuating wire 3 from the carrier 1 to the secondary carrier 5. If the length of the actuating line 3 from the carrier 1 to the primary bearing part 4 needs to be adjusted currently, that is, the length between the primary bearing part 4 and the secondary bearing part 5 is not affected, so that the actuating line 3 needs to be clamped and separated by a locking part first, and the length between the primary bearing part 4 and the secondary bearing part 5 is not affected.
In a further embodiment, the locking piece is exemplified: as shown in fig. 3, the locker includes: the body 703 fixed on the mounting plate 701 has a hollow structure inside. Two side surfaces of the body 703 are provided with threading holes 704, wherein the two side surfaces are opposite surfaces of the guide wheel 702, namely the threading holes 704 are suitable for providing threading space for the executive thread 3.
The body 703 is provided with a rotatable ratchet and a pressing member 708 via a torsion spring 709, wherein the pressing wheel is disposed adjacent to the pressing member 708, and the pressing wheel may be a ratchet. And a drive member is mounted on the outer end face of the hold down member 708. In this embodiment, the driving member may be an electric cylinder, and a piston rod 707 of the electric cylinder passes through the body 703 and is located in the body 703 and is in transmission connection with the movable end of the pressing member 708. As shown in the figure, the ratchet comprises an engaging part 705 and a clamping part 706, namely, the engaging part 705 is provided with a plurality of sawtooth structures, and the clamping part 706 is provided with a tiger mouth structure. Correspondingly, the pressing member 708 has a serration on a side thereof adjacent to the ratchet.
The working principle of the locking piece is as follows: the actuating wire 3 sequentially passes through the wire threading holes 704 on two side surfaces, when the actuating wire 3 does not need to be separated, the piston rod 707 of the electric cylinder is in a compressed state, the movable end of the pressing piece 708 is far away from the meshing part 705, namely, the saw teeth on the pressing piece 708 are separated from the meshing part 705, and the tiger's jaw structure is not in contact with the actuating wire 3. Conversely, when the piston rod 707 of the electric cylinder is in the ejecting state, the movable end of the pressing member 708 approaches the engaging portion 705, the saw teeth on the pressing member 708 contact the engaging portion 705 and push the web structure to move in the opposite direction of the position of the electric cylinder under the action of the electric cylinder, press the actuating member, and generate dislocation under the action of the threading hole 704, thereby realizing locking of the actuating wire 3.
Example 2
Based on the variant type wire-controlled robot described in embodiment 1, the present embodiment discloses a wire control method of a variant type wire-controlled robot, including the following steps:
a mobile regulation mode and a posture regulation mode are created in advance: if the grabbing part 6 needs to finish three-dimensional movement in a designated space according to a designated gesture, preferentially entering a gesture regulation and control mode, regulating the gesture of the grabbing part 6 into the designated gesture, and then entering a movement regulation and control mode to finish three-dimensional movement, wherein the three-dimensional movement comprises the following steps: position transferring, taking and placing. In other words, in the process of transferring or taking and placing the workpiece, the workpiece needs to be finished according to the execution posture, the posture needs to be firstly finished through a posture regulation and control mode under the matching of the locking part, and then the position is transferred or the workpiece is taken and placed through a movable regulation and control mode under the matching of the locking part.
If the grabbing piece 6 has no posture requirement during three-dimensional movement, the road condition in the designated space obtains the optimal transfer posture of the grabbing piece 6, the posture regulation and control mode is adjusted based on the optimal transfer posture, and then the three-dimensional movement is completed in the movement regulation and control mode.
In a further embodiment, as shown in fig. 1 and 6, the work flow of the mobile regulation mode is as follows:
after the posture of the grabbing piece 6 is adjusted based on the designated posture or the optimal transfer posture, the locking piece locks and fixes the execution line 3, and the wire controller 2 is ensured not to act on the length of the execution line 3 between the first-stage bearing piece 4 and the second-stage bearing piece 5. Furthermore, in combination with the locking member described in embodiment 1, that is, the piston rod 707 of the electric cylinder is in a lifting state at this time, the tiger's mouth structure is controlled to compress and dislocate the actuating wire 3 located in the threading hole 704 to complete the separation of the two parts of the actuating wire 3.
And each group of the wire controller 2 respectively regulates and controls the length of the corresponding execution wire 3 between the carrier 1 and the first bearing part to realize the position movement of the first bearing part, the second bearing part and the grabbing part 6. In other words, the length adjustment of the execution wire 3 by the by-wire controller 2 is limited only between the carrier 1 and the first carrier at this time. Without affecting the length of the actuating line 3 between the first carrier and the second carrier, i.e. without changing the attitude of the second carrier.
In a further embodiment, the workflow of the pose adjustment mode is as follows:
controlling an electric control switch to enable a coil in the carrier 1 to be electrified to generate magnetism, and starting magnetic adsorption on the primary bearing piece 4 by the carrier 1 until the primary bearing piece 4 is fixed at the bottom of the carrier 1; the retaining member has no external force on the actuating wire 3 as shown in fig. 4.
Firstly, the execution wires 3 between the carrier 1 and the first-stage bearing part 4 are tightened to be just right through the wire-controlled controllers 2, then each group of the wire-controlled controllers 2 respectively regulate and control the length of the corresponding execution wires 3 between the first-stage bearing part 4 and the second-stage bearing part 5, posture adjustment of the grabbing parts 6 is realized, when the postures of the grabbing parts 6 accord with the required specified postures or the optimal transfer postures, the locking parts clamp the execution wires 3, and the length of the execution wires 3 between the first-stage bearing part 4 and the second-stage bearing part 5 is ensured not to be changed, namely, the postures are not changed.
If the posture is adjusted, the clamping piece clamps to ensure that the posture of the wire controller 2 is not influenced when the length of the execution wire 3 is adjusted. Then the electric control switch cuts off the circuit in the carrier 1, the magnetism between the carrier 1 and the primary bearing part 4 disappears, and the movement regulation mode is switched to: and the length of the actuating lines 3 on the wire controller 2 is independently controlled, the length at this moment is the length between the carrier 1 and the first-stage bearing part 4, and the length of each actuating line 3 is regulated and controlled according to the position requirement or the height requirement so as to complete the required position transfer or pick-and-place.
Whether the workpiece needs to be in the posture in the moving process or not is judged, the workpiece is finally switched to the moving adjusting and controlling die to complete position transferring or taking and placing, and temporary obstacles are inevitably generated. And the temporary obstacles comprise fixed or movable temporary obstacles with different forms determining the form of avoidance.
Therefore, the method further comprises the following steps of: when the movement regulation and control mode is executed, if a temporary obstacle appears, the optimal avoidance mode is selected based on the attribute of the temporary obstacle. The avoidance mode includes at least: one or more of an adsorption avoidance mode, a route avoidance mode and a posture avoidance mode.
In a further embodiment, the adsorption avoidance mode is implemented as follows: and controlling the electric control switch to electrify the coils in the carrier 1 and the primary bearing piece 4 and generate magnetism, so that the carrier 1 adsorbs the primary bearing piece 4, and the primary bearing piece 4 adsorbs the secondary bearing piece 5, as shown in fig. 5. The adsorption type avoiding mode is suitable for moving obstacles, and the height of the obstacles is lower compared with that of a pushing trolley loaded with heavy objects. In other words, the coils of the carrier 1 and the first-stage carrier 4 are both electrified, and the first-stage carrier 4 and the second-stage carrier 5 are respectively magnetically adsorbed, so that the first-stage carrier 4 and the second-stage carrier 5 are both adsorbed to the topmost part of the designated space, and the rest space is an avoidance space given to the temporary obstacle.
In another embodiment, if the primary bearing member 4 and the secondary bearing member 5 are both adsorbed to the topmost part of the designated space, the primary bearing member 4 can move on the carrier 1 with the secondary bearing member 5 by adjusting the length of the actuating line 3 through the wire controller 2, so as to realize position movement. Namely, when the adsorption mode is executed, the mobile regulation mode is started according to the requirement.
The route avoidance mode is implemented as follows: and updating the preset path to obtain an avoidance path, and entering a mobile regulation mode again based on the avoidance path. In other words, if the temporary obstacle is fixed or does not disappear in a short time, the route can be regenerated based on the current road condition, and the avoidance route can be obtained. At this time, the posture of the secondary carrier 5 does not need to be adjusted, and thus the lock is in a locked state.
The mode of realizing the posture avoiding mode is as follows: and acquiring a required avoidance posture, and entering a posture regulation mode based on the avoidance posture. In other words, if the temporary obstacle is fixed or does not disappear in a short time, and the temporary obstacle needs to be avoided only by making a slight avoidance in space, the attitude avoidance mode is activated. At this time, the above-mentioned posture adjustment mode needs to be re-entered.
Claims (8)
1. A variant type line control robot is arranged in a designated space; it is characterized by comprising the following steps:
a carrier fixed on the top of the designated space;
at least one set of wire-controlled controllers fixed at a designated position of the carrier; an output shaft of each group of wire control controllers is provided with an actuating wire;
the primary bearing piece is arranged below the carrier; at least one group of wire components are arranged at the edge of the primary bearing piece, and the wire components have a locking function;
the secondary bearing piece is arranged below the primary bearing piece; the movable end of the actuating line sequentially penetrates through the corresponding wire components and is connected to the secondary bearing part;
the grabbing piece is fixedly connected with the bottom of the secondary bearing piece; when the carrier and the primary bearing piece are connected, the attitude adjustment or the space avoidance of the workpiece is realized by controlling the length of a executive line between the primary bearing piece and the secondary bearing piece; when the first-stage bearing piece and the second-stage bearing piece are connected, the movement or space avoidance of the workpiece on the preset track is completed by controlling the length of an execution line between the carrier and the first-stage bearing piece.
2. The variable wire control robot of claim 1, wherein the wire assembly comprises:
the mounting plate, its one end is embedded in said first class bearing member;
the locking piece is arranged at the other end of the mounting plate;
the guide wheel is arranged at one end of the mounting plate through a universal bearing; the actuating line sequentially passes through the locking piece and the guide wheel.
3. The line control method of the variable line-controlled robot according to any one of claims 1 to 2, comprising at least the steps of:
a mobile regulation mode and a posture regulation mode are created in advance: if the grabbing piece needs to finish three-dimensional movement in a designated space according to a designated posture, preferentially entering a posture regulation and control mode, regulating the posture of the grabbing piece into the designated posture, and then entering a movement regulation and control mode to finish three-dimensional movement;
otherwise, the grabbing piece does not have posture requirements during three-dimensional movement, the road condition in the designated space obtains the optimal transfer posture of the grabbing piece, the posture regulation and control mode is adjusted based on the optimal transfer posture, and then the grabbing piece enters the movement regulation and control mode to complete three-dimensional movement.
4. The method for controlling a variable-type wire-controlled robot according to claim 3, further comprising: creating an avoidance mode: when the mobile regulation and control mode is executed, if a temporary obstacle appears, an optimal avoidance mode is selected based on the attribute of the temporary obstacle; the avoidance mode includes at least: one or more of an adsorption avoidance mode, a route avoidance mode and a posture avoidance mode.
5. The method for controlling a variable-type wire-controlled robot according to claim 3, wherein the operation flow of the movement control mode is as follows:
after the posture of the grabbing piece is adjusted based on the designated posture or the optimal transfer posture, the locking piece locks and fixes the execution line, so that the length of the execution line between the first-stage bearing piece and the second-stage bearing piece is ensured not to be acted by the wire control controller;
and each group of line control controllers respectively regulate and control the length of the corresponding execution line between the carrier and the first bearing part to realize the position movement of the first bearing part, the second bearing part and the grabbing part.
6. The line control method of the variable-type line-controlled robot according to claim 3, wherein the operation flow of the attitude adjustment mode is as follows:
the carrier starts to adsorb the primary bearing piece until the primary bearing piece is fixed at the bottom of the carrier; the locking piece has no external force action on the execution line;
every group drive-by-wire controller regulates and control the length that corresponds the executive line respectively and hold between the carrier at one-level and the carrier at second grade, realizes the posture adjustment to grabbing the piece, and when the posture that grabs the piece accorded with required appointed posture or best transfer gesture, the retaining member was tight to the executive line, guarantees that the length of executive line between the carrier is held to one-level and the carrier is held to the second grade can not change again.
7. The line control method of a variable-type line-controlled robot according to claim 3,
the adsorption avoiding mode is realized as follows: the carrier adsorbs the first-stage bearing piece, and the first-stage bearing piece adsorbs the second-stage bearing piece;
the route avoidance mode is realized as follows: updating the preset path to obtain an avoidance path, and entering a mobile regulation mode again based on the avoidance path;
the mode of realizing the posture avoiding mode is as follows: and acquiring a required avoidance posture, and entering a posture regulation and control mode based on the avoidance posture.
8. The line control method of the variable-type line-controlled robot according to claim 6, wherein the movement control mode is started as required while the adsorption mode is performed.
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| CN202211626112.9A CN115741761B (en) | 2022-12-15 | 2022-12-15 | Variant type wire control robot and wire control method thereof |
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| CN202211626112.9A CN115741761B (en) | 2022-12-15 | 2022-12-15 | Variant type wire control robot and wire control method thereof |
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| CN115741761B CN115741761B (en) | 2024-03-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN116553055A (en) * | 2023-06-27 | 2023-08-08 | 南京智欧智能技术研究院有限公司 | Intelligent logistics warehouse system and deployment method |
| CN116729917A (en) * | 2023-05-23 | 2023-09-12 | 南京线控机器人科技有限公司 | Modularized mobile platform and moving method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116160434A (en) * | 2023-04-24 | 2023-05-26 | 南京智欧智能技术研究院有限公司 | Linear robot with combined operation space and operation method |
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| CN116729917A (en) * | 2023-05-23 | 2023-09-12 | 南京线控机器人科技有限公司 | Modularized mobile platform and moving method thereof |
| CN116729917B (en) * | 2023-05-23 | 2024-01-30 | 南京线控机器人科技有限公司 | Modularized mobile platform and moving method thereof |
| CN116553055A (en) * | 2023-06-27 | 2023-08-08 | 南京智欧智能技术研究院有限公司 | Intelligent logistics warehouse system and deployment method |
| CN116553055B (en) * | 2023-06-27 | 2024-01-26 | 南京线控机器人科技有限公司 | Intelligent logistics warehouse system and deployment method |
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