CN115741761B - Variant type wire control robot and wire control method thereof - Google Patents
Variant type wire control robot and wire control method thereof Download PDFInfo
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- CN115741761B CN115741761B CN202211626112.9A CN202211626112A CN115741761B CN 115741761 B CN115741761 B CN 115741761B CN 202211626112 A CN202211626112 A CN 202211626112A CN 115741761 B CN115741761 B CN 115741761B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a variant type wire control robot and a wire control method thereof, and belongs to the technical field of wire control robots. Comprising the following steps: a carrier installed at the top in the designated space, a plurality of wire controllers fixed at designated positions of the carrier, and an output shaft of each group of wire controllers is provided with an execution wire; further comprises: when the carrier is magnetically connected with the primary bearing piece, the attitude of the workpiece is adjusted by controlling the length of a execution line between the primary bearing piece and the secondary bearing piece; when the primary bearing piece and the secondary bearing piece are magnetically connected, the workpiece is moved on a preset track by controlling the length of an execution line between the carrier and the primary bearing piece. The invention can complete the position movement of the grabbing piece and the workpiece in space by only installing a large-scale carrier with magnetism and a basic wire control electric control device in the appointed space, thereby saving the cost and simultaneously realizing high-efficiency transfer.
Description
Technical Field
The invention belongs to the technical field of wire control robots, and particularly relates to a variant type wire control robot and a wire control method thereof.
Background
With the development of technology and production requirements, the duty ratio of completing workpiece hoisting in a designated space is increasingly heavy. However, since the work is lifted by the wire control operation, it is necessary to arrange a sufficiently long execution wire in the space and to perform the position transfer by controlling the mutual length of the execution wires. Also, as a result, the space requirements for the execution line are high during operation, and the progress of the lifting of the workpiece is directly affected once a high obstacle or other traction affecting the execution line occurs.
There is also a prior art that performs a final required position transfer by dividing a designated space into areas and setting execution lines and corresponding line control controllers in minimum units and then performing a movement or switching in each area by the minimum units. However, such equipment has a large number of work pieces and high cost; and the movement of the whole minimum unit is involved when the movement or the switching is carried out in a plurality of areas, so that the engineering consumption is high.
Disclosure of Invention
The invention provides a variant type wire control robot and a wire control method thereof for solving the technical problems in the background art.
The invention is realized by adopting the following technical scheme: a variant type line-controlled robot which is arranged in a designated space; comprising the following steps:
a carrier fixed on the top in the designated space;
at least four sets of line control controllers fixed at designated positions of the carrier; an output shaft of each group of wire control controllers is provided with an execution wire;
the first-stage 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 second-level bearing piece is arranged below the first-level bearing piece; the movable end of the execution wire sequentially passes through the corresponding wire assembly and is connected with 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 gesture of the workpiece is adjusted by controlling the length of the execution line between the primary bearing piece and the secondary bearing piece; when the primary bearing piece and the secondary bearing piece are magnetically connected, the workpiece is moved on a preset track by controlling the length of an execution line between the carrier and the primary bearing piece; and when the carrier, the primary bearing piece and the secondary bearing piece are all magnetically connected, avoiding of movement barriers is realized.
In a further embodiment, the inner bottoms of the carrier and the primary bearing piece are 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;
the top of the secondary bearing piece is made of metal.
In a further embodiment, the connection relationship is mechanical connection, and the bottoms of the carrier and the primary carrier are respectively provided with a clamp, and the operative connection of the carrier to the primary carrier and the primary carrier to the secondary carrier is realized through the clamps.
In a further embodiment, the wire assembly includes:
one end of the mounting plate is embedded on 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 execution line sequentially passes through the locking piece and the guide wheel.
In a further embodiment, the locking member comprises:
the body is internally provided with a hollowed-out structure; threading holes are formed in two side surfaces of the body;
a ratchet wheel elastically rotatably installed in the body; the ratchet comprises a meshing part and a clamping part, and the clamping part is provided with a tiger mouth structure;
the electric cylinder is arranged outside the body; the piston rod penetrating body of the electric cylinder is positioned in the body;
the compressing piece is elastically and rotatably arranged between the electric cylinder and the ratchet wheel; the compressing piece is simultaneously connected with a piston rod of the electric cylinder in a transmission way; the compressing piece is provided with a saw tooth at one side close to the ratchet wheel.
The drive-by-wire method based on the variant drive-by-wire robot at least comprises the following steps:
creating a movement regulation mode and a gesture regulation mode in advance: if the grabbing piece needs to complete three-dimensional movement in the appointed space according to the appointed gesture, preferentially entering a gesture regulation mode, adjusting the gesture of the grabbing piece to the appointed gesture, and then entering a movement regulation mode to complete three-dimensional movement;
otherwise, the grabbing piece does not have gesture requirements when moving in three dimensions, the road conditions in the designated space acquire the optimal transfer gesture of the grabbing piece, the gesture regulation mode is adjusted based on the optimal transfer gesture, and then the three-dimensional movement is completed by entering the movement regulation mode.
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 an attitude avoidance mode.
In a further embodiment, the workflow of the mobile regulatory mode is as follows:
after the gesture of the grabbing piece is adjusted based on the appointed gesture or the optimal transfer gesture, the locking piece locks and fixes the execution line, so that the length of the execution line between the primary bearing piece and the secondary bearing piece is ensured not to be acted by the line control controller;
and each group of wire control controllers respectively regulate and control the length of the corresponding execution wire between the carrier and the first carrier to realize the position movement of the first carrier, the second carrier and the grabbing piece.
In a further embodiment, the workflow of the posture adjustment mode is as follows:
controlling an electric control switch to enable a coil in the carrier to be electrified to generate magnetism, and enabling the carrier to start magnetic adsorption on the first-stage carrier until the first-stage carrier is fixed at the bottom of the carrier; the locking piece has no external force on the execution line;
and each group of wire control controllers respectively regulate and control the length of the corresponding execution wires between the primary bearing piece and the secondary bearing piece, realize posture adjustment on the grabbing piece, and clamp the execution wires by the locking piece when the posture of the grabbing piece accords with the required designated posture or the optimal transfer posture, so that the length of the execution wires between the primary bearing piece and the secondary bearing piece is ensured not to be changed any more.
In a further embodiment, the implementation manner of the adsorption avoidance mode is as follows: the electric control switch is controlled to enable the carrier and the coils in the first-stage bearing piece to be electrified and generate magnetism, so that 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 implemented as follows: updating a preset path to obtain an avoidance path, and re-entering a mobile regulation mode based on the avoidance path;
the mode of implementing the gesture avoidance mode is as follows: acquiring a required avoidance gesture, and entering a gesture regulation mode based on the avoidance gesture.
The invention has the beneficial effects that: the invention is different from the wire control arrangement in the prior art, and the position movement of the grabbing piece and the workpiece in space can be completed only by installing a large-scale carrier with magnetism and a basic wire control electric control device in a designated space, thereby saving the cost and simultaneously realizing efficient transfer. Meanwhile, the primary bearing piece, the secondary bearing piece and the interaction between the primary bearing piece and the secondary bearing piece can be used for realizing the adjustment of the gesture only by adjusting the length of the execution line at the corresponding position; simple and has strong operability.
Drawings
Fig. 1 is a state diagram of a modified drive-by-wire robot.
Fig. 2 is a side view of the wire assembly of embodiment 1.
Fig. 3 is a schematic structural view of the locking member in embodiment 1.
Fig. 4 is a state diagram two of a variant type robot by wire.
Fig. 5 is a state diagram three of a variant type robot by wire.
Fig. 6 is a state diagram four of a variant type robot by wire.
Each labeled in fig. 1-6 is: carrier 1, drive-by-wire controller 2, execution wire 3, primary carrier 4, secondary carrier 5, gripping member 6, wire assembly 7, mounting plate 701, guide wheel 702, body 703, threading hole 704, engagement portion 705, clamping portion 706, piston rod 707, pressing member 708, torsion spring 709.
Detailed Description
The invention is further described and illustrated below with reference to the drawings and examples of the specification.
Example 1
In order to simplify the existing wire-controlled hoisting and simultaneously meet the requirement of position transfer and posture adjustment in engineering, the embodiment discloses a variant type wire-controlled robot, as shown in fig. 1. The modified drive-by-wire robot is disposed in a designated space, which in this embodiment is a warehouse or other stereoscopic storage space.
The robot-by-wire includes: the carrier 1 fixed on the top in the designated space, further, the carrier 1 is a large shell, and the bottom surface of the carrier 1 is a smooth plane for the first carrier 1 to move when necessary for adsorption. At least one group of wire control controllers 2 are arranged at the designated position of the carrier 1, in this embodiment, the wire control controllers 2 only need to be existing, and are used for realizing the regulation and control of the length of the released execution wire 3, so that the output shaft of each group of wire control controllers 2 is provided with the execution wire 3, and therefore, the description is omitted here. Correspondingly, a primary bearing piece 4 is arranged below the carrier 1, at least one group of wire assemblies 7 are arranged at the edge of the primary bearing piece 4, and the wire assemblies 7 have a locking function. A secondary carrier 5 is disposed below the primary carrier 4, so that the movable end of the execution wire 3 sequentially passes through the corresponding wire assembly 7 and is connected to the secondary carrier 5. Taking four groups of wire control controllers 2 as an example, the four wire control controllers are symmetrically arranged at four vertex angles of the carrier 1, and the fixed ends of the execution wires 3 are fixed in the output of the wire control controllers 2. Correspondingly, the wire assemblies 7 are likewise provided with four groups, each mounted at the edge of the primary carrier 4.
In order to ensure that the workpiece is gripped normally, the gripping element 6 is fixed to the bottom of the secondary carrier 5, i.e. the gripping element 6 is stationary with respect to the secondary carrier 5, so that the attitude of the workpiece below is also the attitude of the gripping element 6 and likewise the attitude of the secondary carrier 5. Taking the gripping member 6 as a gripping jaw for example.
In the present embodiment, the modification is realized by the following technique: if necessary, the carrier 1 has a connection relationship with the primary carrier 4, and the primary carrier 4 has a connection relationship with the secondary carrier 5. When the carrier 1 and the primary carrier 4 are in connection, the posture of the workpiece is adjusted by controlling the length of the execution line 3 between the primary carrier 4 and the secondary carrier 5. When the primary bearing piece 4 and the secondary bearing piece 5 have a connection relationship, the workpiece moves 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 primary bearing piece 4 and the secondary bearing piece 5 are in connection, the avoidance of movement barriers is realized. The connection relationship is an operative connection, that is, a connection relationship is only required. Thus, it may be realized in various forms, such as magnetic connection, mechanical connection, etc.
Taking the example of an operative connection by magnetism: 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, when the coil is electrified, the corresponding iron core has magnetism, and an object made of metal material of the iron core is magnetically adsorbed. When the coil in the carrier 1 is electrified, the carrier 1 has magnetism, and the top of the primary carrier 4 is made of metal, so that the primary carrier 4 moves upwards under the action of the magnetic force until being attached to the carrier 1. Similarly, if the coil of the primary carrier 4 is energized, the primary carrier 4 has magnetism, and the top of the secondary carrier 5 is made of metal, so that the secondary carrier 5 moves upwards under the action of the magnetic force until being attached to the carrier 1.
In another embodiment, taking a mechanical connection as an example: the bottoms of the carrier and the primary bearing piece are respectively provided with a clamp with multiple degrees of freedom, and the carrier is in operative connection with the primary bearing piece and the secondary bearing piece through the clamps with multiple degrees of freedom.
In this embodiment, the execution line 3 is divided into two parts, one part is located at the length of the support of the carrier 1 and the primary carrier 4, and the other part is located between the primary carrier 4 and the secondary carrier 5, so that the effect of adjusting the lengths of the different parts corresponding to the execution line 3 is different. Thus, in order to enable independent regulation of the two-part execution line 3, in the present embodiment the wire assembly 7 comprises: the mounting plate 701 with one end embedded on the primary carrier 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 wire 3 is sequentially passed through the locker and the guide wheel 702. Wherein the guide wheel 702 is mounted on the mounting plate 701 through a universal bearing, namely 360-degree rotation of the guide wheel 702 is realized through the universal bearing, so that the direction requirement of the execution line 3 in operation is met. Thus, when it is desired to separate the two parts of the actuating wire 3 definitely, the current actuating element is fixed as a separation point by means of the locking element. Illustrating: the movable end of the actuating wire 3 extends from the drive-by-wire controller 2 and is connected to the secondary carrier 5 sequentially through a locking member, a guide wheel 702. It is currently necessary to adjust the length of the execution wire 3 from the carrier 1 to the secondary carrier 5, the locking member having no effect on the execution wire 3. If the length of the execution wire 3 from the carrier 1 to the primary carrier 4 is required to be adjusted, that is, the length between the primary carrier 4 and the secondary carrier 5 is not affected, the execution wire 3 needs to be clamped and separated by the locking member, so that the length between the primary carrier 4 and the secondary carrier 5 is not affected.
In a further embodiment, a locking member is illustrated: as shown in fig. 3, the locking member includes: the body 703 fixed on the mounting plate 701 has a hollow structure inside. Threading holes 704 are formed in two side surfaces of the body 703, wherein the two side surfaces are opposite to the guide wheel 702, i.e. the threading holes 704 are suitable for providing threading space for the execution thread 3.
The body 703 is provided with a rotatable ratchet wheel and a pressing member 708 by a torsion spring 709, wherein the pressing wheel is disposed adjacent to the pressing member 708, and the pressing wheel may be a ratchet wheel. And a driving member is installed on the outer end surface where the pressing member 708 is located. In this embodiment, the driving member may use an electric cylinder, and a piston rod 707 of the electric cylinder penetrates through the body 703, is located in the body 703, and is in driving connection with the movable end of the pressing member 708. As shown, the ratchet includes an engagement portion 705 and a gripping portion 706, i.e., the engagement portion 705 has a plurality of saw tooth formations thereon, and the gripping portion 706 has a tiger-mouth formation. Correspondingly, the pressing member 708 has a saw tooth on a side close to the ratchet.
The working principle of the locking piece is as follows: the execution line 3 sequentially passes through the threading holes 704 on the two side surfaces, when the execution line 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, that is, the saw teeth on the pressing piece 708 are separated from the meshing part 705, and the tiger mouth structure is not contacted with the execution line 3. When the piston rod 707 of the electric cylinder is in the ejection state, the movable end of the pressing member 708 approaches to the meshing part 705, the saw teeth on the pressing member 708 are contacted with the meshing part 705 and push the tiger mouth structure to move in the opposite direction of the position of the electric cylinder under the action of the electric cylinder, the executing member is pressed, dislocation is generated under the action of the threading hole 704, and locking of the executing wire 3 is achieved.
Example 2
Based on the variant type wire-controlled robot of embodiment 1, the embodiment discloses a wire-controlled method of the variant type wire-controlled robot, comprising the following steps:
creating a movement regulation mode and a gesture regulation mode in advance: if the grabbing piece 6 needs to complete three-dimensional movement in the specified space according to the specified gesture, preferentially entering a gesture regulation mode, adjusting the gesture of the grabbing piece 6 to the specified gesture, and then entering a movement regulation mode to complete three-dimensional movement, wherein the three-dimensional movement comprises: transferring, taking and placing the position. In other words, when the workpiece is transferred or fetched and placed in the position, the workpiece needs to be completed according to the execution gesture, the gesture needs to be completed by the gesture matching regulation mode preferentially under the cooperation of the locking piece, and then the position transfer or fetching and placing is completed by the movement regulation mode under the cooperation of the locking piece.
If the grabbing piece 6 has no gesture requirement during three-dimensional movement, the road condition in the designated space obtains the optimal transfer gesture of the grabbing piece 6, the gesture regulation mode is adjusted based on the optimal transfer gesture, and then the three-dimensional movement is completed by entering the movement regulation mode.
In a further embodiment, as shown in fig. 1 and 6, the workflow of the mobile regulatory mode is as follows:
after the gesture adjustment of the grabbing piece 6 is completed based on the appointed gesture or the optimal transfer gesture, the locking piece locks and fixes the execution line 3, so that the wire control controller 2 is ensured not to act on the length of the execution line 3 between the primary bearing piece 4 and the secondary bearing piece 5. Further, in combination with the locking member described in embodiment 1, i.e., the piston rod 707 of the electric cylinder is in the raised state at this time, the tiger mouth structure is controlled to compress and dislocate the execution thread 3 located in the threading hole 704 to complete the separation of the two parts of the execution thread 3.
Each group of wire control controllers 2 respectively regulate and control the length of the corresponding execution wire 3 between the carrier 1 and the first carrier to realize the position movement of the first carrier, the second carrier and the grabbing piece 6. In other words, the length adjustment of the execution line 3 by the drive-by-wire controller 2 is limited to between the carrier 1 and the first carrier. Without affecting the length of the execution line 3 between the first and second carriers, i.e. without changing the attitude of the second carrier.
In a further embodiment, the workflow of the posture adjustment mode is as follows:
the electric control switch is controlled to enable the coil in the carrier 1 to be electrified to generate magnetism, and the carrier 1 starts to magnetically adsorb the primary carrier 4 until the primary carrier 4 is fixed at the bottom of the carrier 1; the locking member has no external force on the actuating wire 3 as shown in fig. 4.
Firstly, the execution lines 3 between the carrier 1 and the primary bearing piece 4 are contracted to be just good through the wire control controllers 2, then each group of wire control controllers 2 respectively regulate and control the lengths of the corresponding execution lines 3 between the primary bearing piece 4 and the secondary bearing piece 5, posture adjustment is achieved on the grabbing pieces 6, when the postures of the grabbing pieces 6 accord with required appointed postures or optimal transfer postures, the locking pieces clamp the execution lines 3, and the length of the execution lines 3 between the primary bearing piece 4 and the secondary bearing piece 5 is guaranteed not to be changed any more, namely the postures are not changed any more.
If the posture is adjusted, the clamping piece clamps the wire control controller 2, so that the posture 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 carrier 4 disappears, and the mobile regulation mode is switched to: and then the length of the execution line 3 on the wire control controller 2 is independently controlled, the length at the moment is the length between the carrier 1 and the primary bearing piece 4, and the length of each execution line 3 is regulated and controlled according to the position requirement or the height requirement so as to finish the required position transfer or picking and placing.
Whether the workpiece has a requirement on the gesture in the moving process or not, the workpiece is finally switched to the moving regulation and control die to finish position transfer or picking and placing, but temporary barriers are inevitably generated. And the temporary obstacle includes fixed or movable temporary obstacles of different forms that determine the form of avoidance.
Thus, creating the avoidance pattern also includes: when the movement regulation 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 an attitude avoidance mode.
In a further embodiment, the adsorption avoidance mode is implemented as follows: and the electric control switch is controlled to electrify the coils in the carrier 1 and the primary carrier 4 and generate magnetism, so that the carrier 1 adsorbs the primary carrier 4, and the primary carrier 4 adsorbs the secondary carrier 5, as shown in fig. 5. The adsorption avoidance mode is suitable for movable barriers, and the height of the barriers is lower than that of a pushing trolley loaded with heavy-weight objects. In other words, the coils of the carrier 1 and the primary carrier 4 are all energized and magnetically adsorb the primary carrier 4 and the secondary carrier 5 respectively, so that the primary carrier 4 and the secondary carrier 5 are both adsorbed to the top of the designated space, and the remaining space is an avoidance space given to the temporary obstacle.
In another embodiment, if the primary carrier 4 and the secondary carrier 5 are both adsorbed to the top of the designated space, the primary carrier 4 moves on the carrier 1 with the secondary carrier 5 by adjusting the length of the execution line 3 through the wire controller 2, so as to realize the 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: updating the preset path to obtain an avoidance path, and reentering the mobile regulation mode based on the avoidance path. In other words, if the temporary obstacle is stationary or does not disappear in a short time, the route can be regenerated based on the current road condition to obtain the avoidance route. At this time, the posture of the secondary carrier 5 does not need to be adjusted, and therefore the lock member is in a locked state.
The mode of implementing the gesture avoidance mode is as follows: acquiring a required avoidance gesture, and entering a gesture regulation mode based on the avoidance gesture. In other words, if the temporary obstacle is stationary or does not disappear in a short time, and only a slight spatial avoidance is required to avoid, the posture avoidance mode is activated. At this point, it is necessary to re-enter the posture adjustment mode mentioned above.
Claims (8)
1. A variant type line-controlled robot which is arranged in a designated space; characterized by comprising the following steps:
a carrier fixed on the top in the designated space;
at least one group of wire control controllers fixed at the appointed position of the carrier; an output shaft of each group of wire control controllers is provided with an execution wire;
the first-stage bearing piece is arranged below the carrier; at least one group of wire assemblies are arranged at the edge of the primary bearing piece, and the wire assemblies have a locking function;
the second-level bearing piece is arranged below the first-level bearing piece; the movable end of the execution wire sequentially passes through the corresponding wire assembly and is connected with the secondary bearing piece;
the grabbing piece is fixedly connected with the bottom of the secondary bearing piece; when the carrier and the primary bearing piece are in a connection relationship, the attitude adjustment or the space avoidance of the workpiece is realized by controlling the length of the execution line between the primary bearing piece and the secondary bearing piece; when the primary bearing piece and the secondary bearing piece are in connection, the workpiece moves on a preset track or is spatially avoided by controlling the length of an execution line between the carrier and the primary bearing piece.
2. A variant robot as defined in claim 1, wherein the wire assembly comprises:
one end of the mounting plate is embedded on 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 execution line sequentially passes through the locking piece and the guide wheel.
3. A drive-by-wire method based on a variant drive-by-wire robot according to any of claims 1 to 2, characterized in that it comprises at least the following steps:
creating a movement regulation mode and a gesture regulation mode in advance: if the grabbing piece needs to complete three-dimensional movement in the appointed space according to the appointed gesture, preferentially entering a gesture regulation mode, adjusting the gesture of the grabbing piece to the appointed gesture, and then entering a movement regulation mode to complete three-dimensional movement;
otherwise, the grabbing piece does not have gesture requirements when moving in three dimensions, the road conditions in the designated space acquire the optimal transfer gesture of the grabbing piece, the gesture regulation mode is adjusted based on the optimal transfer gesture, and then the three-dimensional movement is completed by entering the movement regulation mode.
4. A method of controlling a modified robot-by-wire as claimed in claim 3, 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 an attitude avoidance mode.
5. A method of controlling a robot-by-wire as claimed in claim 3, wherein the workflow of the movement control mode is as follows:
after the gesture of the grabbing piece is adjusted based on the appointed gesture or the optimal transfer gesture, the locking piece locks and fixes the execution line, so that the length of the execution line between the primary bearing piece and the secondary bearing piece is ensured not to be acted by the line control controller;
and each group of wire control controllers respectively regulate and control the length of the corresponding execution wire between the carrier and the first carrier to realize the position movement of the first carrier, the second carrier and the grabbing piece.
6. A method of controlling a modified robot-by-wire as claimed in claim 3, wherein the workflow of the attitude adjustment mode is as follows:
the carrier starts to absorb the first-stage bearing piece until the first-stage bearing piece is fixed at the bottom of the carrier; the locking piece has no external force on the execution line;
and each group of wire control controllers respectively regulate and control the length of the corresponding execution wires between the primary bearing piece and the secondary bearing piece, realize posture adjustment on the grabbing piece, and clamp the execution wires by the locking piece when the posture of the grabbing piece accords with the required designated posture or the optimal transfer posture, so that the length of the execution wires between the primary bearing piece and the secondary bearing piece is ensured not to be changed any more.
7. The method of driving a modified robot as claimed in claim 4, wherein,
the adsorption avoiding mode is realized as follows: the carrier adsorbs the first-level bearing piece, and the first-level bearing piece adsorbs the second-level bearing piece;
the route avoidance mode is implemented as follows: updating a preset path to obtain an avoidance path, and re-entering a mobile regulation mode based on the avoidance path;
the mode of implementing the gesture avoidance mode is as follows: acquiring a required avoidance gesture, and entering a gesture regulation mode based on the avoidance gesture.
8. The method according to claim 6, wherein the movement control mode is activated as required when the adsorption mode is performed.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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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| CN115741761A CN115741761A (en) | 2023-03-07 |
| CN115741761B true CN115741761B (en) | 2024-03-22 |
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| CN116160434B (en) * | 2023-04-24 | 2023-07-14 | 南京智欧智能技术研究院有限公司 | Wire control robot with combined operation space and operation method |
| 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 |
| 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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| CN115741761A (en) | 2023-03-07 |
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