CN105390992A - Slide robot integrated wiring method - Google Patents
Slide robot integrated wiring method Download PDFInfo
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- CN105390992A CN105390992A CN201510849568.5A CN201510849568A CN105390992A CN 105390992 A CN105390992 A CN 105390992A CN 201510849568 A CN201510849568 A CN 201510849568A CN 105390992 A CN105390992 A CN 105390992A
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- operated valve
- electromagnetically operated
- robot
- steel wire
- cable
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Abstract
The invention relates to the field of wiring, particularly to a slide robot integrated wiring method. The method comprises the steps in which, a robot brings a steel wire from a head end of an operating range of a cable to be set up to a tail end and returns back to the head end; the robot disperses, along the steel wire, a plurality of solenoid valves with a telescopic wire onto the steel wire, and opens the solenoid valves which carry a grabbing structure controlled by the solenoid valves; the robot pulls the cable, and sends out, along the steel wire, a closing command to a solenoid valve each time passing by the solenoid valve so that the cable can hang in the grabbing structures of the solenoid valves; and the robot walks to the end and puts the cable down, returns along the same route, sends out an open command to a solenoid valve each time passing by the solenoid valve so that the cable can fall in a bridge. The method provided by the invention requires the arrangement of two operators at the head and tail ends of the bridge at the same time, without repeated climbing up and down, thereby greatly improving the operating safety coefficient of workers.
Description
Technical field
The present invention relates to routing field, is particularly chute type robot comprehensive wiring method.
Background technology
Comprehensive wiring mainly adopts artificial mode of laying, and by scaffolding erecting, utilizes finer wire that transmission line is drawn from pipeline or at crane span structure." integration laying line system engineering design specification " GB50311-2007 formally implemented according on October 1st, 2007 and " comprehensive wiring system mounting process standard ", " when crane span structure level is laid; the spacing of hanging (prop up) frame is generally 1.5m ~ 3m ", this just means and an operating personnel will be arranged when wiring just to complete the task of wiring by the transmission of the cable one by one of hand and hand every 1.5m ~ 3m.Calculating accordingly, the crane span structure that 60m is long, needing 5 people just can complete for totally 6 times by constantly moving scaffold.If lay the cable of all the building, then need the manpower and materials of at substantial, efficiency is extremely low, cost of labor height enterprise.And, sometimes there is special environment, make operating personnel not easily arrive or be awkward, and then cannot routing task be completed.If building is higher or operating environment is relatively more severe, complete wiring and also have certain danger, the personal safety of operating worker cannot be guaranteed.
The present inventor application number be 201310403072.6 a kind of based in the robot comprehensive wiring method of Internet of Things, have studied the system and robot architecture that can adopt, but a blank of just research is a kind of implementation that can adopt, not concrete being disclosed in how long transmission line to carry out operate and and the control of robot.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of chute type robot comprehensive wiring method, provides a kind of more convenient and wire laying mode of strong operability.
The present invention is achieved in that provides a kind of chute type robot comprehensive wiring method, comprises following step:
Robot turns back to head end steel wire after the head end of the job area until erection cable takes tail end to;
Described Robot steel wire trend, be distributed on steel wire by multiple electromagnetically operated valve with line stretcher, electromagnetically operated valve is opened, described electromagnetically operated valve carries the crawl structure by solenoid control;
Described robot pulls cable, along steel wire trend, often by just sending close command to this electromagnetically operated valve after an electromagnetically operated valve, makes electric wire cable hang in the crawl structure of electromagnetically operated valve;
Described robot runs to terminal and after cable is unloaded, the former road of Robot returns, and often passes by electromagnetically operated valve this electromagnetically operated valve backward and sends OPEN, cable is dropped in crane span structure.
Further, each described electromagnetically operated valve has single chip machine controlling circuit, each electromagnetically operated valve is carried out unique number, and robot can automatically identify described numbering and carry out radio communication with electromagnetically operated valve, to control the action of electromagnetically operated valve corresponding to numbering as required according to numbering.
Further, described robot sets the communication distance between and electromagnetically operated valve, after ensureing to run to the communication distance with certain electromagnetically operated valve, only carries out communication with this electromagnetically operated valve.
Further, described Robot steel wire trend, is distributed on steel wire by multiple electromagnetically operated valve with line stretcher, after electromagnetically operated valve is opened, also comprises, accept the feedback information of electromagnetically operated valve, after being defined as electromagnetically operated valve open mode, carry out next step.
Further, described robot pulls cable, along steel wire trend, often by after just sending close command to this electromagnetically operated valve after an electromagnetically operated valve, also comprises, accepts the feedback information of electromagnetically operated valve, after being defined as solenoid closure state, carry out next step.
Further, described robot runs to terminal and after cable is unloaded, the former road of Robot returns, often pass by after electromagnetically operated valve this electromagnetically operated valve backward sends OPEN, also comprise, accept the feedback information of electromagnetically operated valve, after being defined as electromagnetically operated valve open mode, carry out next step.
Further, in the job area treating erection cable, arrange Internet of things node, adopt controller to carry out communicating thus the operation of control with robot by Internet of things node.
Further, described Robot steel wire trend, is distributed on steel wire by multiple electromagnetically operated valve with line stretcher, comprises: install steering gear at turning, described steering gear comprises:
What outside had a smooth semicircular structure turns to brush;
For fixing clip.
Compared with prior art, beneficial effect is in the present invention: the present invention proposes to adopt the comprehensive wiring robot of technology of Internet of things to replace manually completing comprehensive wiring task.Lay many cables, no matter crane span structure how long, two operating personnels only need be arranged simultaneously at the head and the tail two ends of crane span structure, do not need to climb up and down and repeatedly can complete, and then substantially increase the job safety coefficient of workman, and can complete and manually cannot arrive or the laying of cable in not easy-operating place, the difficult problem that the wiring personnel under particular surroundings that solve not easily arrive or are awkward.
Accompanying drawing explanation
Fig. 1 is the robot architecture's block diagram used in the present invention;
Fig. 2 is the controller architecture block diagram used in the present invention;
The field wiring mode schematic diagram that Fig. 3 provides for the embodiment of the present invention;
The schematic diagram of the installing cables line that Fig. 4 provides for the embodiment of the present invention;
The structural representation of the steering gear that Fig. 5 provides for inventive embodiments;
The wiring flow figure that Fig. 6 provides for the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
See Fig. 1, the robot adopted in the embodiment of the present invention comprises control device, running gear, draw-gear, communication device, and robot is provided with camera; Wherein control device controls the image of camera shooting working site, and by communication device, image information is passed to controller; Communication device is responsible for the communication of robot and controller.The image of robot shooting and state information are reached controller by Internet of Things.The control command that controller sends is sent to the communication device of robot again by Internet of Things.
Instruction is sent according to result to the control device of robot through process according to the image information received by a controller in the embodiment of the present invention; The control device of robot receives the instruction of controller by communication device, control device makes corresponding action according to command request controlling run device, in the front-end and back-end of robot, ultrasonic unit is installed, prevent telecontrol equipment from bumping against too soon on crane span structure wall because of advance or astern speed, cause robot to damage.And the retractable cable of draw-gear is controlled according to the instruction of controller.Draw-gear, to the pulling of finer wire in draw-gear, need meet fixation with steel wire, dismounting easily, and steel wire acts freely requirement.This robot also comprises warning device, the fault of warning device measuring robots and electricity, and reaches controller by Internet of Things.
Shown in Figure 2, the controller that the embodiment of the present invention adopts comprises image receiver module, image processing module, image display and operation control module: image receiver module receives the image information from robot communication device by Internet of things node, and will send image information to image processing module and image display simultaneously; Image processing module calculates the position of robot operation, by local information conveying to operation control module according to image information; Operation control module according to positional information to robot issuing control order.Accordingly, controller comprises alarm information processing module, and the warning message of alarm information processing module receiver device people warning device transmission also carries out alert process.
Controller has image display, and image display receives the image information of image receiver module and shows, so that staff is to the supervision of site operation.
The embodiment of the present invention, arranges material net node in the job area treating erection cable, adopts controller to carry out communicating thus the operation of control with robot by Internet of things node.
See Fig. 3 composition graphs 4 and Fig. 6, the embodiment of the present invention provides a kind of chute type robot comprehensive wiring method, adopts robot and the controller of above-mentioned mode, comprises following step:
Step 401, installs steel wire 1, and robot 6 turns back to head end steel wire 1 after the head end of the job area until erection cable takes tail end to; This process is realized by the control of robot and controller;
Step 402, the upper installation steering gear at turning is needed at steel wire 1, see Fig. 5, the steering gear adopted be outside have smooth semicircular structure turn to brush 31 and for fixing clip 32, the clip 32 of steering gear is clipped in the sidewall of crane span structure, turn to the outside of brush 31 to be smooth semicircle, the pulley 2 on steel wire can slip over to turn to brush by the outside of steering gear and reach steering gear opposite side.
Step 403, arrange and open electromagnetically operated valve, by carrying the multiple electromagnetically operated valves 3 capturing structure 4, being arranged on steel wire 1 by slide block 2, there is between electromagnetically operated valve 3 line stretcher 5, after line stretcher 5 is opened completely, suitable with head end distance with the tail end of job area, robot moves towards from head end along steel wire, is distributed on steel wire 1 by multiple electromagnetically operated valve 3 with line stretcher 5, in the process returned after reaching tail end, electromagnetically operated valve is opened;
Step 404, tow cable;
Step 405, robot pull cable, move towards along steel wire 1, often by just sending close command to this electromagnetically operated valve after an electromagnetically operated valve, make through solenoid closure, make cable hang in the crawl structure 4 of electromagnetically operated valve;
Step 406, judges whether tail end, then returns step 404 as do not arrived tail end;
Step 407, after reaching tail end, unloads cable;
Step 408, robot runs to terminal and after cable is unloaded, the former road of Robot returns;
Step 409, returns in way, often passes by electromagnetically operated valve this electromagnetically operated valve backward and send OPEN, cable is dropped in crane span structure.
The communication run through between controller of robot realizes controlling, robot is in running, and realize independent communication between electromagnetically operated valve, therefore need to arrange single chip machine controlling circuit separately on each electromagnetically operated valve, and by single-chip microcomputer, unique numbering is carried out to each electromagnetically operated valve, automatically can identify the numbering of each electromagnetically operated valve in the program of robot and carry out radio communication with electromagnetically operated valve, in running, controlling the action of electromagnetically operated valve corresponding to numbering as required according to numbering.
Communication distance in the program of robot between setting one and electromagnetically operated valve, after robot detects certain electromagnetically operated valve in communication distance, after learning that this electromagnetically operated valve is numbered accordingly by access, send the instruction for this numbering, thus the electromagnetically operated valve with this numbering can identify and fill order.
In the process run, be provided with the signal of feedback, such as in Robot steel wire trend, multiple electromagnetically operated valve with line stretcher is distributed on steel wire, after electromagnetically operated valve is opened, also set up, accept the feedback information of electromagnetically operated valve, after being defined as electromagnetically operated valve open mode, carry out next step, ensure in the approach passed through in robot like this, make electromagnetically operated valve be the state needed.
Same principle, robot pulls cable, along steel wire trend, often by after just sending close command to this electromagnetically operated valve after an electromagnetically operated valve, has also set up feedback signal, has accepted the feedback information of electromagnetically operated valve, after being defined as solenoid closure state, carried out next step.
Same principle, robot runs to terminal and after cable is unloaded, the former road of Robot returns, often pass by after electromagnetically operated valve this electromagnetically operated valve backward sends OPEN, set up feedback signal, accepted the feedback information of electromagnetically operated valve, after being defined as electromagnetically operated valve open mode, carry out next step.
Control between above-mentioned robot and electromagnetically operated valve, is all run automatically by the program be arranged in electromagnetically operated valve and robot.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a chute type robot comprehensive wiring method, is characterized in that, comprises following step:
Robot turns back to head end steel wire after the head end of the job area until erection cable takes tail end to;
Described Robot steel wire trend, be distributed on steel wire by multiple electromagnetically operated valve with line stretcher, electromagnetically operated valve is opened, described electromagnetically operated valve carries the crawl structure by solenoid control;
Described robot pulls cable, along steel wire trend, often by just sending close command to this electromagnetically operated valve after an electromagnetically operated valve, makes cable hang in the crawl structure of electromagnetically operated valve;
Described robot runs to terminal and after cable is unloaded, the former road of Robot returns, and often passes by electromagnetically operated valve this electromagnetically operated valve backward and sends OPEN, cable is dropped in crane span structure.
2. in accordance with the method for claim 1, it is characterized in that, each described electromagnetically operated valve has single chip machine controlling circuit, each electromagnetically operated valve is carried out unique number, robot can automatically identify described numbering and carry out radio communication with electromagnetically operated valve, to control the action of electromagnetically operated valve corresponding to numbering as required according to numbering.
3. according to the method described in claim 1 or 2, it is characterized in that, described robot sets the communication distance between and electromagnetically operated valve, after ensureing to run to the communication distance with certain electromagnetically operated valve, only carries out communication with this electromagnetically operated valve.
4. in accordance with the method for claim 1, it is characterized in that, described Robot steel wire trend, multiple electromagnetically operated valve with line stretcher is distributed on steel wire, after electromagnetically operated valve is opened, also comprises, accept the feedback information of electromagnetically operated valve, after being defined as electromagnetically operated valve open mode, carry out next step.
5. in accordance with the method for claim 1, it is characterized in that, described robot pulls cable, along steel wire trend, often by after just sending close command to this electromagnetically operated valve after an electromagnetically operated valve, also comprise, accept the feedback information of electromagnetically operated valve, after being defined as solenoid closure state, carry out next step.
6. in accordance with the method for claim 1, it is characterized in that, described robot runs to terminal and after cable is unloaded, the former road of Robot returns, often pass by after electromagnetically operated valve this electromagnetically operated valve backward sends OPEN, also comprise, accept the feedback information of electromagnetically operated valve, after being defined as electromagnetically operated valve open mode, carry out next step.
7. in accordance with the method for claim 1, it is characterized in that, in the job area treating erection cable, arrange Internet of things node, adopt controller to carry out communicating thus the operation of control with robot by Internet of things node.
8. in accordance with the method for claim 1, it is characterized in that, described Robot steel wire trend, is distributed on steel wire by multiple electromagnetically operated valve with line stretcher, comprises: install steering gear at turning, described steering gear comprises:
What outside had a smooth semicircular structure turns to brush;
For fixing clip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510849568.5A CN105390992B (en) | 2015-11-27 | 2015-11-27 | A kind of chute type robot comprehensive wiring method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510849568.5A CN105390992B (en) | 2015-11-27 | 2015-11-27 | A kind of chute type robot comprehensive wiring method |
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| CN105390992A true CN105390992A (en) | 2016-03-09 |
| CN105390992B CN105390992B (en) | 2017-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510849568.5A Expired - Fee Related CN105390992B (en) | 2015-11-27 | 2015-11-27 | A kind of chute type robot comprehensive wiring method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
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| CN101183779A (en) * | 2007-12-14 | 2008-05-21 | 李作河 | Overhead rail type integral moving monorail crane |
| CN102856841A (en) * | 2012-10-11 | 2013-01-02 | 山东铝业工程有限公司 | Mechanical laying method for large-section overhead cable |
| CN103457203A (en) * | 2013-09-06 | 2013-12-18 | 沈阳师范大学 | Comprehensive robot cabling method based on internet of things |
| CN203463794U (en) * | 2013-09-12 | 2014-03-05 | 苏州晓炎自动化设备有限公司 | Cable clamping mechanism |
| CN104377603A (en) * | 2014-12-04 | 2015-02-25 | 中石化胜利建设工程有限公司 | Device for laying cables in horizontal cable trays and application method of device |
| CN204190297U (en) * | 2014-11-28 | 2015-03-04 | 上海司态光纤传感技术咨询服务有限公司 | The successive trays of the built-in temperature measuring optical cable of cable |
-
2015
- 2015-11-27 CN CN201510849568.5A patent/CN105390992B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101183779A (en) * | 2007-12-14 | 2008-05-21 | 李作河 | Overhead rail type integral moving monorail crane |
| CN102856841A (en) * | 2012-10-11 | 2013-01-02 | 山东铝业工程有限公司 | Mechanical laying method for large-section overhead cable |
| CN103457203A (en) * | 2013-09-06 | 2013-12-18 | 沈阳师范大学 | Comprehensive robot cabling method based on internet of things |
| CN203463794U (en) * | 2013-09-12 | 2014-03-05 | 苏州晓炎自动化设备有限公司 | Cable clamping mechanism |
| CN204190297U (en) * | 2014-11-28 | 2015-03-04 | 上海司态光纤传感技术咨询服务有限公司 | The successive trays of the built-in temperature measuring optical cable of cable |
| CN104377603A (en) * | 2014-12-04 | 2015-02-25 | 中石化胜利建设工程有限公司 | Device for laying cables in horizontal cable trays and application method of device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737762A (en) * | 2017-03-07 | 2017-05-31 | 长春理工大学 | A kind of automatic wiring machine routing machine people |
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| CN105390992B (en) | 2017-09-29 |
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Granted publication date: 20170929 Termination date: 20201127 |