CN109676581A - A kind of truss robot and its control method - Google Patents
A kind of truss robot and its control method Download PDFInfo
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- CN109676581A CN109676581A CN201710979957.9A CN201710979957A CN109676581A CN 109676581 A CN109676581 A CN 109676581A CN 201710979957 A CN201710979957 A CN 201710979957A CN 109676581 A CN109676581 A CN 109676581A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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Abstract
The invention discloses a kind of truss robots, including sequentially connected central control system, drive system and mechanical execution system, wherein the mechanical execution system includes support frame, mobile component truss and carries component.The support device includes column and variable section；The mobile component truss includes X-axis component truss, Y-axis component truss, Z axis component truss；The carrying component includes vertical movement apparatus, horizontally rotates device and clamping device.Have many advantages, such as that strong lifting capacity, without motion dead angle and positioning accuracy are high.Its control method can accurately control mechanical execution system by central control system, drive system, realize automation, can apply to rugged environment and convenient for operation maintenance.
Description
Technical field
The invention belongs to automatic material flows to carry technical field, and in particular to a kind of truss robot and its control method.
Background technique
In modern production line, more and more exquisite is Flexible Production.Mechanical equipment automation is this century system
The main trend of industry development is made, Robot industry will be a sunshine industry, and following century is that robot technology extremely develops
Century, the mankind will free from dull many and diverse manual labor, be engaged in more creative work.Automatic assembly line
Have become an inexorable trend of manufacturing works from now on the process equipment of high degree of automation.Single and common is dedicated
Machining tool is more and more substituted by omnipotent, standardization lathe and flexible automation production line when high-volume is processed.
Currently, truss-like manipulator is carried in high-precision logistics to play very important effect, truss robot is as purlin
Important component in frame type mechanical arm technology, its technological innovation will provide for manufacturing industry to intelligence transition strong
It supports and helps.
However there is a large amount of movement dead angle, so cannot since moveable dimension is limited in current truss robot
Accurately positions and transport goods.Some truss robots by database-located (i.e. in the database typing goods information and
Position) realize accurate position and carrying, but since placement location changes or typing misalignment, can also cause to carry mistake.This
Outside, for present high-precision truss robot due to complicated in mechanical structure, lifting capacity is limited, is not able to satisfy existing logistic industry
Needs.
Summary of the invention
In view of the above shortcomings of the prior art, strong, without motion that the purpose of the present invention is to provide a kind of lifting capacities
Dead angle and the high truss robot of positioning accuracy, and corresponding provide its control method.
To achieve the goals above, The technical solution adopted by the invention is as follows:
A kind of truss robot, including sequentially connected central control system, drive system and mechanical execution system.
The mechanical execution system includes support frame, mobile component truss and carries component:
The support device includes column and variable section；The variable section is horizontally disposed, in the rectangle frame
The lower part at four angles set a roof beam in place respectively is fixed with a root post, and the upper end of the column is fixed on the variable section, under
Ground is fixed at end, is used to support the variable section.
The mobile component truss includes X-axis component truss, Y-axis component truss, Z axis component truss；The X-axis truss
Component includes two Pin X-axis truss, and X-axis truss described in two Pin is separately fixed at the lower part of one group of opposite side of the variable section,
So that level is oppositely arranged and is parallel to each other X-axis truss described in two Pin in its longitudinal direction, it is arranged on the X-axis truss
There is X-axis slide rail, so that the Y-axis component truss moves on it.
The Y-axis component truss includes two Pin Y-axis truss, Y-axis servo motor and X-axis traveling wheel；Y-axis truss described in two Pin
It is parallel to each other and is oppositely arranged, one end that Y-axis truss described in two Pin is located at the same side passes through the connection vertical with the Y-axis truss
Interal fixation forms frame structure, for moving integrally；The X-axis traveling wheel shares two groups, and every group of number is equal, and two groups
The X-axis traveling wheel is separately positioned on the lower end surface of junction steel plate, and is set up in matching X-axis slide rail；The X-axis
Traveling wheel is connect by rack-and-pinion with the Y-axis servo motor, under the drive of Y-axis servo motor in X-axis truss
It walks on component；It is provided with Y-axis sliding rail on the Y-axis truss, so that the Z axis component truss moves on it.
The Z axis component truss includes two Pin Z axis truss, Z axis servo motor and Y-axis traveling wheel；Z axis purlin described in two Pin
Frame is parallel to each other and relatively vertically arranged, and the upper end of Z axis truss described in two Pin is fixed on one piece of raising-plate normal thereto, under
End is rectangular by two horizontal connection beams connections, so that Z axis truss described in two Pin constitutes the joist body of cuboid；Described
The corresponding position of one group of opposite side of joist body is respectively fixed with one block of side plate；The Y shares two groups, every group of number phase
Deng, Y-axis traveling wheel described in two groups be separately positioned on side plate etc. upper level positions, and be set up on matching Y-axis sliding rail；
The Y-axis traveling wheel is connect by rack-and-pinion with the Z axis servo motor, under the drive of Z axis servo motor in Y
It walks on axis component truss.
The carrying component includes vertical movement apparatus, horizontally rotates device and clamping device；Described vertically moves dress
It sets and is mounted under the raising-plate, lower end is connect with the device that horizontally rotates, and described is horizontally rotated for driving
Device ascending, descending；The clamping device be mounted on it is described horizontally rotate device lower part and be located at below the joist body, can
Horizontally rotate under the drive for horizontally rotating device.
Further, the vertical movement apparatus is elevator.
Further, the vertical movement apparatus is to drag turbine, twines on wheel draging draging for turbine and has tied up wirerope, the wirerope
One end be fixed on it is described drag on wheel, the other end, which is fixed on, described to horizontally rotate on device.
Further, the turbine that drags is three, distribution in equilateral triangle.
Further, the device that horizontally rotates is speed reducer for servo motor, for driving the clamping device each
Turn to 90 degree.
Further, positioning device is additionally provided on device in described horizontally rotating, the positioning device includes camera shooting
Head and infrared range-measurement system.
It further, further include auxiliary strut, between two adjacent upright, the upper end is fixed on described the auxiliary strut
Variable section, ground is fixed in lower end.
Further, skewed horizontal load muscle is additionally provided between the auxiliary strut, column and variable section, for strong
Change connection, resists deformation.
Further, the central control system includes control server and database server, the database server,
Camera and infrared range-measurement system are connect with control server respectively；The camera is for obtaining cargo image and being transferred to institute
Control server is stated, the infrared range-measurement system is for obtaining cargo range information and being transferred to the control server；Described
Database server is for dynamic memory goods information and is transferred to control server, and control server is used for the cargo of cargo
The information stored in image and cargo range information and the database server is constantly compared to determine cargo to be grabbed
And its current location, and the current location of cargo to be grabbed and target position are compared, will take, send distance information transmission to
The drive system executes, while the database server that target position deposit is described；The drive system includes movement
Decomposition operation device, Y-axis move device, Z axis move device, rotates horizontally instruction device, folds up instruction X-axis move device
Device；The Kinematic Decomposition arithmetic unit is connected with control server, takes for reception, send range information and is broken down into X-axis
Move, Z axis move, rotates horizontally instruction and folds up instruction Y-axis move；The X-axis move device, Y-axis
Move device, Z axis move device, rotate horizontally instruction device and fold up the input terminal of instruction device respectively with the Kinematic Decomposition
The input terminal of arithmetic unit is connected, and is respectively used to receive X-axis move, Y-axis move, Z axis move, rotates horizontally and refer to
Enable and fold up instruction；The output end of the X-axis move device is connected with Y-axis servo motor, exists for controlling Y-axis component truss
Moving distance and direction on X-axis component truss；The output end of Y-axis move device is connected with Z axis servo motor, for controlling
Moving distance and direction of the Y-axis component truss on Z axis component truss；The output end of Z axis move device and vertically move dress
Set it is connected, for controlling clamping device moving distance in the height direction and direction；Rotate horizontally instruction device output end with
It is described horizontally rotate device be connected, for controlling clamping device in angle and direction；The output end for folding up instruction device and institute
It states clamping device to be connected, folds up movement for control clamping device.
A kind of control method of above-mentioned truss robot, comprising the following steps:
1) information and the target position of cargo to be grabbed are inputted to computer.
2) start the camera and infrared range-measurement system, to obtain cargo image and cargo range information and be transferred to described
Control server.
3) control server in the cargo image of cargo and cargo range information and the database server for will deposit
The information of storage constantly compare to determine cargo to be grabbed and its current location, and by the current location of cargo to be grabbed and mesh
Cursor position is compared, and will take, distance information transmission is sent to execute to the drive system, while described in target position is stored in
Database server.
4) the Kinematic Decomposition arithmetic unit reception of the drive system takes, send range information, then range information will be taken to decompose
At X-axis move, Y-axis move, Z axis move, instruction and clamping instruction are rotated horizontally, and is transferred to corresponding X
Axis move device, Z axis move device, rotates horizontally instruction device, folds up instruction device Y-axis move device, to control clamping
Device is moved to the current location of cargo to be grabbed and completes clamping operation.
5) the Kinematic Decomposition arithmetic unit of the drive system will send range information to resolve into X-axis move, Y-axis movement again
Instruction, Z axis move rotate horizontally instruction and put instruction, and be transferred to corresponding X-axis move device, Y-axis move
Device, rotates horizontally instruction device, folds up instruction device Z axis move device, is moved to target position to control clamping device and completes
Placement operation.
6) step 1) is repeated to 5), is completed until all cargos are carried.
Compared with prior art, the invention has the following beneficial effects:
1, multifreedom motion, the space angle between each freedom of motion is right angle, has both solved without motion dead angle
The problem of, it is also beneficial to be accurately positioned and carry.
2, automation control is realized, the movement of all cargos can be realized in input target position.
3, main body uses truss structure, and high reliablity, bearing capacity is strong, most heavy to carry the cargo that weight is 10T.
4, central control system, drive system can be separated with carrying scene, and mechanical execution system is hardly damaged, and can be used for severe
Environment, can long-term work, convenient for operation maintenance.
5, rolling wheel guide rails can be used in each shaft assembly, have can high-speed cruising, installation and debugging are convenient, and suitable long stroke is answered
With.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the line frame graph of central control system and drive system of the invention.
Specific embodiment
Invention is further described in detail combined with specific embodiments below.
A kind of truss robot, including sequentially connected central control system, drive system and mechanical execution system.
The mechanical execution system includes support frame, mobile component truss and carries component:
The support device includes column 11 and variable section 12；The variable section 12 is horizontally disposed, described
The lower part at four angles of variable section 12 is respectively fixed with a root post 11, and the upper end of the column 11 is fixed on the rectangle
On Vierendeel girder 12, ground is fixed in lower end, is used to support the variable section 12.
The mobile component truss includes X-axis component truss 21, Y-axis component truss 22, Z axis component truss 23；The X
Axis component truss 21 includes two Pin X-axis truss, and X-axis truss described in two Pin is separately fixed at one group pair of the variable section 12
The lower part on side, so that level is oppositely arranged and is parallel to each other X-axis truss described in two Pin in its longitudinal direction, in the X-axis
X-axis slide rail is provided on truss, so that the Y-axis component truss 22 moves on it.
The Y-axis component truss 22 includes two Pin Y-axis truss, y-axis stepper motor and X-axis traveling wheel；Y-axis purlin described in two Pin
Frame is parallel to each other and is oppositely arranged, and one end that Y-axis truss described in two Pin is located at the same side passes through the company vertical with the Y-axis truss
Interal fixation is connect, frame structure is formed, for moving integrally；The X-axis traveling wheel shares two groups, and every group of number is equal, and two
The group X-axis traveling wheel is separately positioned on the lower end surface of junction steel plate, and is set up in matching X-axis slide rail；The X
Axis traveling wheel is connect by rack-and-pinion with the Y-axis servo motor, under the drive of Y-axis servo motor in X-axis purlin
It walks on frame component 21；It is provided with Y-axis sliding rail on the Y-axis truss, so that the Z axis component truss 23 moves on it
It is dynamic.
The Z axis component truss 23 includes two Pin Z axis truss, Z axis servo motor and Y-axis traveling wheel；Z axis described in two Pin
Truss is parallel to each other and relatively vertically arranged, and the upper end of Z axis truss described in two Pin is fixed on one piece of raising-plate normal thereto,
Lower end is rectangular by two horizontal connection beams connections, so that Z axis truss described in two Pin constitutes the joist body of cuboid；Institute
The corresponding position for stating one group of opposite side of joist body is respectively fixed with one block of side plate；The Y shares two groups, every group of number phase
Deng, Y-axis traveling wheel described in two groups be separately positioned on side plate etc. upper level positions, and be set up on matching Y-axis sliding rail；
The center of the Y-axis traveling wheel is connect by shaft coupling with the Z axis stepper motor, to the drive in Z axis stepper motor
Under walk on Y-axis component truss 22.
The carrying component includes vertical movement apparatus, horizontally rotates device 24 and clamping device；Described vertically moves
Device is mounted under the raising-plate, and lower end is connect with the device 24 that horizontally rotates, for driving the level
24 ascending, descending of rotating device；The clamping device, which is mounted on, described to horizontally rotate 24 lower part of device and is located at the joist body
Lower section can horizontally rotate under the drive for horizontally rotating device 24.
Further, the vertical movement apparatus is elevator.
Further, the vertical movement apparatus is to drag turbine, twines on wheel draging draging for turbine and has tied up wirerope, the wirerope
One end be fixed on it is described drag on wheel, the other end, which is fixed on, described to horizontally rotate on device 24.
Further, the turbine that drags is three, distribution in equilateral triangle.
Further, the device 24 that horizontally rotates is speed reducer for servo motor, for driving the clamping device every
It is secondary to turn to 90 degree.
Further, positioning device is additionally provided on device 24 in described horizontally rotating, the positioning device includes taking the photograph
As head and infrared range-measurement system.
It further, further include auxiliary strut 13, the auxiliary strut 13 between two adjacent upright 11, fix by the upper end
In the variable section 12, ground is fixed in lower end.
Further, skewed horizontal load muscle is additionally provided between the auxiliary strut 13, column 11 and variable section 12
14, for strengthening connection, resist deformation.
Accurate in order to what is moved and position, X-axis slide rail, Y-axis sliding rail can be designed as spur rack, and X-axis traveling wheel, Y-axis
Traveling wheel may be designed as matched spur gear wheel.
Further, the central control system includes control server and database server, the database server,
Camera and infrared range-measurement system are connect with control server respectively；The camera is for obtaining cargo image and being transferred to institute
Control server is stated, the infrared range-measurement system is for obtaining cargo range information and being transferred to the control server；Described
Database server is for dynamic memory goods information and is transferred to control server, and control server is used for the cargo of cargo
The information stored in image and cargo range information and the database server is constantly compared to determine cargo to be grabbed
And its current location, and the current location of cargo to be grabbed and target position are compared, will take, send distance information transmission to
The drive system executes, while the database server that target position deposit is described；The drive system includes movement
Decomposition operation device, Y-axis move device, Z axis move device, rotates horizontally instruction device, folds up instruction X-axis move device
Device；The Kinematic Decomposition arithmetic unit is connected with control server, takes for reception, send range information and is broken down into X-axis
Move, Z axis move, rotates horizontally instruction and folds up instruction Y-axis move；The X-axis move device, Y-axis
Move device, Z axis move device, rotate horizontally instruction device and fold up the input terminal of instruction device respectively with the Kinematic Decomposition
The input terminal of arithmetic unit is connected, and is respectively used to receive X-axis move, Y-axis move, Z axis move, rotates horizontally and refer to
Enable and fold up instruction；The output end of the X-axis move device is connected with Y-axis servo motor, for controlling Y-axis component truss 22
Moving distance and direction on X-axis component truss 21；The output end of Y-axis move device is connected with Z axis servo motor, is used for
Control moving distance and direction of the Y-axis component truss 22 on Z axis component truss 23；The output end of Z axis move device and hang down
Straight mobile device is connected, for controlling clamping device moving distance in the height direction and direction；Rotate horizontally instruction device
Output end horizontally rotates device 24 and is connected with described, for controlling clamping device in angle and direction；The instruction device of folding up
Output end is connected with the clamping device, folds up movement for control clamping device.
The Kinematic Decomposition arithmetic unit, X-axis move device, Y-axis move device, Z axis move device, horizontal rotation
Turn instruction device, fold up instruction device the controllers such as DVP-ES2 series, DVP-EX2 series, DVP-ES2-C series can be used.
A kind of control method of above-mentioned truss robot, comprising the following steps:
1) information and the target position of cargo to be grabbed are inputted to computer.
2) start the camera and infrared range-measurement system, to obtain cargo image and cargo range information and be transferred to described
Control server.
3) control server in the cargo image of cargo and cargo range information and the database server for will deposit
The information of storage constantly compare to determine cargo to be grabbed and its current location, and by the current location of cargo to be grabbed and mesh
Cursor position is compared, and will take, distance information transmission is sent to execute to the drive system, while described in target position is stored in
Database server.
4) the Kinematic Decomposition arithmetic unit reception of the drive system takes, send range information, then range information will be taken to decompose
At X-axis move, Y-axis move, Z axis move, instruction and clamping instruction are rotated horizontally, and is transferred to corresponding X
Axis move device, Z axis move device, rotates horizontally instruction device, folds up instruction device Y-axis move device, to control clamping
Device is moved to the current location of cargo to be grabbed and completes clamping operation.
5) the Kinematic Decomposition arithmetic unit of the drive system will send range information to resolve into X-axis move, Y-axis movement again
Instruction, Z axis move rotate horizontally instruction and put instruction, and be transferred to corresponding X-axis move device, Y-axis move
Device, rotates horizontally instruction device, folds up instruction device Z axis move device, is moved to target position to control clamping device and completes
Placement operation.
6) step 1) is repeated to 5), is completed until all cargos are carried.
The above embodiment of the present invention is only example to illustrate the invention, and is not to implementation of the invention
The restriction of mode.For those of ordinary skill in the art, other can also be made not on the basis of the above description
With the variation and variation of form.Here all embodiments can not be exhaustive.It is all to belong to technical solution of the present invention
Changes and variations that derived from are still in the scope of protection of the present invention.
Claims (10)
1. a kind of truss robot, including sequentially connected central control system, drive system and mechanical execution system, feature exist
In the mechanical execution system includes support frame, mobile component truss and carries component；
The support device includes column and variable section；The variable section is horizontally disposed, in the variable section
The lower part at four angles be respectively fixed with a root post, the upper end of the column is fixed on the variable section, and lower end is solid
Due to ground, it is used to support the variable section；
The mobile component truss includes X-axis component truss, Y-axis component truss, Z axis component truss；The X-axis component truss
Including two Pin X-axis truss, X-axis truss described in two Pin is separately fixed at the lower part of one group of opposite side of the variable section, so that
Level is oppositely arranged and is parallel to each other X-axis truss described in two Pin in its longitudinal direction, is provided with X on the X-axis truss
Axis sliding rail, so that the Y-axis component truss moves on it；
The Y-axis component truss includes two Pin Y-axis truss, Y-axis servo motor and X-axis traveling wheel；Y-axis truss described in two Pin is mutual
It in parallel and is oppositely arranged, one end that Y-axis truss described in two Pin is located at the same side passes through the junction steel plate vertical with the Y-axis truss
It is fixed, frame structure is formed, for moving integrally；The X-axis traveling wheel shares two groups, and every group of number is equal, described in two groups
X-axis traveling wheel be separately positioned on the lower end surface of junction steel plate, and be set up in matching X-axis slide rail；The X-axis walking
Wheel is connect by rack-and-pinion with the Y-axis servo motor, under the drive of Y-axis servo motor in X-axis component truss
Upper walking；It is provided with Y-axis sliding rail on the Y-axis truss, so that the Z axis component truss moves on it；
The Z axis component truss includes two Pin Z axis truss, Z axis servo motor and Y-axis traveling wheel；Z axis truss phase described in two Pin
Mutually parallel and relatively vertically arranged, the upper end of Z axis truss described in two Pin is fixed on one piece of raising-plate normal thereto, and lower end is logical
It is rectangular to cross two horizontal connection beam connections, so that Z axis truss described in two Pin constitutes the joist body of cuboid；In the truss
The corresponding position of one group of opposite side of body is respectively fixed with one block of side plate；The Y shares two groups, and every group of number is equal, and two
The group Y-axis traveling wheel be separately positioned on side plate etc. upper level positions, and be set up on matching Y-axis sliding rail；The Y
Axis traveling wheel is connect by rack-and-pinion with the Z axis servo motor, under the drive of Z axis servo motor in Y-axis purlin
It walks on frame component；
The carrying component includes vertical movement apparatus, horizontally rotates device and clamping device；The vertical movement apparatus peace
Under the raising-plate, lower end is connect with the device that horizontally rotates, and described horizontally rotates device for driving
Ascending, descending；The clamping device be mounted on it is described horizontally rotate device lower part and be located at below the joist body, can be in water
Horizontally rotate under the drive of flat rotating device.
2. truss robot according to claim 1, which is characterized in that the vertical movement apparatus is elevator.
3. truss robot according to claim 1, which is characterized in that the vertical movement apparatus is to drag turbine,
Draging for turbine is draged to twine on wheel and tied up wirerope, one end of the wirerope be fixed on it is described drag on wheel, the other end is fixed on described
Horizontally rotate on device.
4. truss robot according to claim 3, which is characterized in that the turbine that drags is three, is in equilateral triangle
Shape distribution.
5. truss robot according to claim 1, which is characterized in that the device that horizontally rotates subtracts for servo motor
Fast machine rotation, for driving the clamping device to turn to 90 degree every time.
6. truss robot according to claim 1, which is characterized in that be additionally provided on device in described horizontally rotating
Positioning device, the positioning device include vision camera and infrared range-measurement system.
7. truss robot according to claim 1, which is characterized in that it further include auxiliary strut, the auxiliary strut position
Between two adjacent upright, the upper end is fixed on the variable section, and ground is fixed in lower end.
8. truss robot according to claim 7, which is characterized in that in the auxiliary strut, column and rectangle frame
It is additionally provided with skewed horizontal load muscle between setting a roof beam in place, for strengthening connection, resists deformation.
9. truss robot according to claim 6, which is characterized in that the central control system include control server and
Database server, the database server, camera and infrared range-measurement system are connect with control server respectively；Described
Camera is for obtaining cargo image and being transferred to the control server, and the infrared range-measurement system is for obtaining cargo distance letter
It ceases and is transferred to the control server；The database server is for dynamic memory goods information and is transferred to middle control clothes
It is engaged in device, letter of the control server for will store in the cargo image of cargo and cargo range information and the database server
Breath constantly compare to determine cargo to be grabbed and its current location, and by the current location and target position of cargo to be grabbed
It is compared, will take, distance information transmission is sent to execute to the drive system, while the data that target position deposit is described
Library server；
The drive system include Kinematic Decomposition arithmetic unit, X-axis move device, Y-axis move device, Z axis move device,
It rotates horizontally instruction device, fold up instruction device；The Kinematic Decomposition arithmetic unit is connected with control server, takes, send for reception
Range information is simultaneously broken down into X-axis move, Y-axis move, Z axis move, rotates horizontally instruction and fold up finger
It enables；The X-axis move device, Z axis move device, rotates horizontally instruction device and folds up instruction device Y-axis move device
Input terminal is connected with the input terminal of the Kinematic Decomposition arithmetic unit respectively, is respectively used to reception X-axis move, Y-axis movement refers to
It enables, Z axis move, rotate horizontally instruction and fold up instruction；The output end and y-axis stepper motor of the X-axis move device
It is connected, for controlling moving distance and direction of the Y-axis component truss on X-axis component truss；The output end of Y-axis move device
It is connected with Z axis servo motor, for controlling moving distance and direction of the Y-axis component truss on Z axis component truss；Z axis is mobile
The output end of instruction device is connected with vertical movement apparatus, for controlling clamping device moving distance in the height direction and side
To；The output end for rotating horizontally instruction device horizontally rotates device and is connected with described, for controlling clamping device in angle and direction；
The output end for folding up instruction device is connected with the clamping device, folds up movement for control clamping device.
10. a kind of control method of truss robot as claimed in claim 9, which comprises the following steps:
1) information and the target position of cargo to be grabbed are inputted to computer；
2) start the camera and infrared range-measurement system, to obtain cargo image and cargo range information and be transferred to the middle control
Server；
3) control server is used to store in the cargo image of cargo and cargo range information and the database server
Information constantly compare to determine cargo to be grabbed and its current location, and by the current location of cargo to be grabbed and target position
It sets and is compared, will take, distance information transmission is sent to execute to the drive system, while the number that target position deposit is described
According to library server；
4) the Kinematic Decomposition arithmetic unit reception of the drive system takes, send range information, then range information will be taken to resolve into X-axis
Move, Z axis move, rotates horizontally instruction and clamping instruction at Y-axis move, and it is mobile to be transferred to corresponding X-axis
Instruction device, Z axis move device, rotates horizontally instruction device, folds up instruction device Y-axis move device, to control clamping device shifting
It moves the current location of cargo to be grabbed and completes clamping operation；
5) the Kinematic Decomposition arithmetic unit of the drive system will send range information to resolve into X-axis move again, Y-axis moves and refers to
It enables, Z axis move, rotate horizontally instruction and put instruction, and be transferred to corresponding X-axis move device, Y-axis move
Device, rotates horizontally instruction device, folds up instruction device Z axis move device, is moved to target position to control clamping device and completes
Placement operation；
6) step 1) is repeated to 5), is completed until all cargos are carried.
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| CN201710979957.9A CN109676581A (en) | 2017-10-19 | 2017-10-19 | A kind of truss robot and its control method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110040156A (en) * | 2019-05-28 | 2019-07-23 | 上海电气泰雷兹交通自动化***有限公司 | Train positioning system static tester and static test |
| CN110399001A (en) * | 2019-06-26 | 2019-11-01 | 康美药业股份有限公司 | A kind of Chinese medicine automation decoction system based on truss robot |
| CN110530159A (en) * | 2019-08-30 | 2019-12-03 | 横店集团东磁股份有限公司 | A kind of octal kiln push plate automatic charging & discharging machine and its implementation |
| CN110902382A (en) * | 2019-12-13 | 2020-03-24 | 安徽瑞祥工业有限公司 | High-precision three-dimensional large-space heavy-load material conveying mechanism and using method thereof |
| CN111546370A (en) * | 2020-04-29 | 2020-08-18 | 沈阳清林机械有限公司 | Coupler disassembling and assembling manipulator |
| CN111604892A (en) * | 2020-06-28 | 2020-09-01 | 江苏博信机器人科技有限公司 | Heavy-load assembly robot |
| CN112025676A (en) * | 2020-04-10 | 2020-12-04 | 中创智造(苏州)智能装备科技有限公司 | Double-truss long-stroke heavy-load high-precision multi-angle truss hybrid robot |
| CN113548357A (en) * | 2021-07-28 | 2021-10-26 | 国网江苏省电力有限公司物资分公司 | Automatic vertical storage mode of power cable protection pipe |
| CN113618773A (en) * | 2021-08-30 | 2021-11-09 | 安徽人和智能制造有限公司 | Feeding and discharging mechanical arm based on visual positioning |
| CN114043465A (en) * | 2021-12-09 | 2022-02-15 | 山东建筑大学 | Dynamic building real-time simulation and verification system |
| CN114290019A (en) * | 2021-12-30 | 2022-04-08 | 南京金棠仓储设备制造有限公司 | Preparation method of storage shelf based on cold rolling forming |
| CN114310891A (en) * | 2021-12-30 | 2022-04-12 | 中联重科建筑机械(江苏)有限责任公司 | Control method, processor, control device and production line for truss manipulator |
| CN114472993A (en) * | 2021-12-29 | 2022-05-13 | 江苏隆宝重工科技有限公司 | Truss automatic control mechanism of edge milling machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110040156A (en) * | 2019-05-28 | 2019-07-23 | 上海电气泰雷兹交通自动化***有限公司 | Train positioning system static tester and static test |
| CN110399001A (en) * | 2019-06-26 | 2019-11-01 | 康美药业股份有限公司 | A kind of Chinese medicine automation decoction system based on truss robot |
| CN110530159A (en) * | 2019-08-30 | 2019-12-03 | 横店集团东磁股份有限公司 | A kind of octal kiln push plate automatic charging & discharging machine and its implementation |
| CN110902382A (en) * | 2019-12-13 | 2020-03-24 | 安徽瑞祥工业有限公司 | High-precision three-dimensional large-space heavy-load material conveying mechanism and using method thereof |
| CN112025676A (en) * | 2020-04-10 | 2020-12-04 | 中创智造(苏州)智能装备科技有限公司 | Double-truss long-stroke heavy-load high-precision multi-angle truss hybrid robot |
| CN111546370A (en) * | 2020-04-29 | 2020-08-18 | 沈阳清林机械有限公司 | Coupler disassembling and assembling manipulator |
| CN111604892A (en) * | 2020-06-28 | 2020-09-01 | 江苏博信机器人科技有限公司 | Heavy-load assembly robot |
| CN113548357A (en) * | 2021-07-28 | 2021-10-26 | 国网江苏省电力有限公司物资分公司 | Automatic vertical storage mode of power cable protection pipe |
| CN113618773A (en) * | 2021-08-30 | 2021-11-09 | 安徽人和智能制造有限公司 | Feeding and discharging mechanical arm based on visual positioning |
| CN114043465A (en) * | 2021-12-09 | 2022-02-15 | 山东建筑大学 | Dynamic building real-time simulation and verification system |
| CN114472993A (en) * | 2021-12-29 | 2022-05-13 | 江苏隆宝重工科技有限公司 | Truss automatic control mechanism of edge milling machine |
| CN114290019A (en) * | 2021-12-30 | 2022-04-08 | 南京金棠仓储设备制造有限公司 | Preparation method of storage shelf based on cold rolling forming |
| CN114310891A (en) * | 2021-12-30 | 2022-04-12 | 中联重科建筑机械(江苏)有限责任公司 | Control method, processor, control device and production line for truss manipulator |
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