CN116729917B - Modularized mobile platform and moving method thereof - Google Patents
Modularized mobile platform and moving method thereof Download PDFInfo
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- CN116729917B CN116729917B CN202310584966.3A CN202310584966A CN116729917B CN 116729917 B CN116729917 B CN 116729917B CN 202310584966 A CN202310584966 A CN 202310584966A CN 116729917 B CN116729917 B CN 116729917B
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- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000003032 molecular docking Methods 0.000 claims description 3
- 230000003190 augmentative effect Effects 0.000 claims 1
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- 238000010586 diagram Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 4
- 239000000969 carrier Substances 0.000 description 4
- 239000000470 constituent Substances 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
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- 230000003247 decreasing effect Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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Abstract
The invention discloses a modularized mobile platform and a mobile method thereof, and belongs to the technical field of wire control robots. Comprising the following steps: a modularized execution terminal and a modularized control terminal. The modularized execution terminal can adopt the classification and the transportation of the connector and the connecting piece in the transportation process, and is assembled after reaching the operation site, so that the difficulty and the cost of carrier processing are reduced, and simultaneously, the same transportation difficulty and the transportation cost are also reduced. Meanwhile, the device can be disassembled, classified and managed, transferred and reassembled after being used, and can be reused. The modularized control terminal realizes the push-type splicing and transfer of the empty space, and achieves the extensible effect of the empty space. And the operation length of each working execution line is effectively controlled, so that the space avoidance is facilitated.
Description
Technical Field
The invention belongs to the technical field of a drive-by-wire robot, and particularly relates to a modularized mobile platform and a mobile method thereof.
Background
The existing wire control robot extends from a manipulator wire control of a comparatively scene to a large wire control robot, and can be understood as a wire controller, a guide piece, an execution wire and a carrier connected with the execution wire which are arranged on a truss, and the transfer and the position adjustment of the carrier are realized by controlling the length of the execution wire and the connection point between the execution wire and the carrier.
However, the size and shape of the existing carrier need to be customized according to the product or actual requirement, and the application range is small. And when the volume is larger, certain difficulty exists in carrying the carrier, and the difficulty in configuring hardware facilities is increased.
In addition, since both the wire controller and the guide are installed at a fixed position of the truss before use, the moving space of the carrier is relatively fixed, in other words, can move only in a designated space or a common space. When the empty space is required to be within the designated space or outside the common space in special cases, transfer or amplification of the required empty space cannot be achieved.
Disclosure of Invention
The invention provides a moving method of a modularized moving platform for solving the technical problems in the background technology, which at least comprises the following steps:
arranging hanging points on the truss according to the requirement, wherein guide elements are arranged at the hanging points, and each group of guide elements is provided with at least one group of execution lines; constructing a carrier with a required size and shape according to the requirement;
determining a plurality of connection points on the carrier to obtain a connection point set P, P= { P i Each connecting point is connected with at least one group of execution lines, and the guide pieces corresponding to the execution lines in the connected state are classified into a guide piece set D, D= { j h H represents a truss, j is the number of a guide piece on the truss h, and i is the number of a connection point with a connection relation;
integrated mobile platform { P > based on carrier, connection point set P and guide set D i (D) The carrier is positioned in an empty space generated by the mobile platform, and the required displacement adjustment and/or posture adjustment is realized by controlling the operation length of the corresponding execution line;
when the empty space needs to be transferred or extended, at least one connection point in the connection point set P is connected with a guide execution line, and a guide piece corresponding to the guide execution line is positioned in the space in the transfer or extension direction; updating the guide set D based on the guide execution line to obtain a new guide set D', and updating to obtain a new mobile platform { P } i (D') pushing to complete splicing or transferring of empty space.
In a further embodiment, the steering execution line is accessed in an alternate, or incremental, form;
if the guide element set D exists in an increased form, if the guide element execution line is accessed based on the connection points in the connection point set P, updating the guide element set D; if a new connection point is added in the connection point set P, the access guide execution line of the new connection point further includes the following steps: updating the connection point set P results in a new connection point set P'.
In a further embodiment, the points in the connection point set P are part or all of the connection points on the carrier, and are selectively added and/or removed according to the functional requirement, so as to correspondingly update the connection point set P; the functional requirements include at least: one or more of attitude adjustment and intensity adjustment.
In a further embodiment, among the execution lines connected to the connection points in the connection point set P, other execution lines than the guided execution line are replaced in a specified space and a specified direction according to space requirements;
the specified space includes: empty space and space outside the empty space;
the specified direction includes: the same direction of transfer or extension and the opposite direction of transfer or extension.
In a further embodiment, the mobile platform { P } based i (D) And acquiring the size of the current empty space, presetting a length threshold corresponding to an execution line of the carrier in the current empty space, and if the operation length of the execution line is greater than the length threshold, replacing the execution line to update the guide piece set D.
A modular mobile platform for implementing a method of moving a modular mobile platform as described above, comprising:
at least one group of trusses which are arranged in the air according to the requirement;
the guide pieces are distributed on the truss according to the requirements; at least one group of execution wires is arranged on each group of guide members;
a carrier having a plurality of connection points; the connecting end is selectively connected with the output end of the required execution line; the carrier is formed by splicing a plurality of connecting pieces through specified connectors, wherein any end of each connecting piece and any end of each connector are matched.
In a further embodiment, at least one group of the execution lines shares one line controller; the wire controller is arranged to control the length of the execution wire in connection with the wire controller respectively, and the displacement adjustment and/or the pose adjustment of the carrier are completed by adjusting the length of the execution wire.
In a further embodiment, the connector comprises: the body is provided with a length according to the requirement; the two ends of the body are provided with butt joint parts;
the connector includes: the connector is provided with the shape and the number of the connecting ends according to the requirements; each connecting end is provided with a connecting part; the butt joint part is matched with the connecting part.
In a further embodiment, the controller includes:
the driving gear is rotatably arranged at a designated position of the truss; the driving gear is connected with a power source in a transmission way;
at least one set of mounts having a degree of freedom of reciprocal movement in a designated direction; the mounting piece is sequentially provided with a driven gear and a wire spool, wherein after the mounting piece approaches to the position of the driving gear, the driven gear on the corresponding mounting piece is meshed with the driving gear, and the wire spool rotates forwards/reversely to finish the constant-speed or non-constant-speed winding/unwinding of the execution wire.
In a further embodiment, the docking portion comprises:
a connecting shaft, one end of which is fixed to the body;
a protruding part arranged at the other end of the body; the convex part is a block body which expands outwards in the radial direction and extends in the axial direction along the reverse direction of the connecting shaft by a preset thickness.
In a further embodiment, the connection portion includes:
the connecting cavity is connected with the connecting body at one end; the side surface and the other end surface of the connecting cavity are hollow structures to form a containing cavity with two openings; one of the openings is for receiving a corresponding connecting shaft and the other opening is for providing empty space for the boss.
The invention has the beneficial effects that: the invention firstly improves the carrier of the large-scale wire-controlled robot in the prior art, and is provided with connecting pieces and connectors which can be assembled at will, so that a firm and reliable carrier can be temporarily built according to the product or operation requirements. Solves the problem that the prior art needs to specially manufacture corresponding carriers according to different products or different operations, not only improves the economic benefit, but also is convenient for transportation. The carriers in the prior art also need to be transported to an operation site after customization is completed, so that the carriers are difficult to transport when the size is large. The modularized integrated carrier can be classified and carried by adopting the connectors and the connecting pieces in the carrying process, and then is assembled after being carried out on the operation site, so that the difficulty and cost of carrier processing are reduced, and meanwhile, the difficulty and the carrying cost of the carrier are reduced. Meanwhile, the device can be disassembled, classified and managed, transferred and reassembled after being used, and can be reused.
In addition, the execution lines of the large-scale wire-controlled robot in the prior art are at least four, are distributed at four vertex angles of a designated space, and then each execution line is connected with a carrier for simultaneous operation. Therefore, the required empty space is limited in one space, and the operation length of the execution line is too long during operation, so that the space avoidance cannot be well realized. Therefore, the space required by the empty load of the invention is modularized, namely, the push type splicing and transferring of the empty load space are realized by switching the execution line with the connection relation with the carrier according to the requirement, and the extensible effect of the empty load space is achieved. And the operation length of each working execution line is effectively controlled, so that the space avoidance is facilitated.
Drawings
FIG. 1 is a schematic diagram showing the combination of carriers in example 1.
Fig. 2 is a schematic structural diagram of a right-angle dual-head connector in embodiment 1.
Fig. 3 is a schematic structural diagram of a straight double-ended connector in embodiment 1
Fig. 4 is a schematic structural view of the connector in embodiment 1.
Fig. 5 is a schematic view of the butt joint of the connector and the connector in embodiment 1.
Fig. 6 is a schematic structural diagram of a wire controller in embodiment 1.
Fig. 7 is a schematic diagram of the update of the carrier connection point in embodiment 2.
Fig. 8 is a schematic diagram of determining an empty space based on a guide in embodiment 2.
Fig. 9 is a schematic diagram of space splicing or space transfer in embodiment 2.
Each labeled in fig. 1-9 is: the first truss 1, the second truss 2, the execution line 12, the carrier 13, the connection member 301, the straight double-headed connection head 302, the right-angle double-headed connection head 303, the body 301-a, the butt joint portion 301-b, the connection shaft 301-c, the protruding portion 301-d, the connection body 302-a, the connection portion 302-b, the connection cavity 302-c, the driving gear 401, and the driven gear 402.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Example 1
The embodiment discloses a modularized mobile platform, wherein an execution terminal and a control terminal of the modularized mobile platform belong to modularized integration. The execution terminal may be a carrier for carrying, or may be a carrier for providing a work platform for a job.
Wherein, the mobile platform includes: truss in the sky is laid according to the demand, and the quantity of truss is according to the demand. A plurality of guides are disposed on each truss set, and at least one set of actuator wires 12 is disposed on each guide set. In this embodiment, the guide member may be a fixed pulley, and the interval between two adjacent fixed pulleys is determined according to actual requirements. In other words, the connection end of the execution wire 12 is connected to the wire controller, and the movable end passes through the fixed pulley for connecting to the carrier.
When movement in only one direction is required, then the number of trusses may be a set. If the carrier 13 is required to be adjusted in posture or to be moved in at least two directions, the number of trusses is required to be two or more. In this embodiment, two sets of parallel trusses are taken as an example, that is, the carrier 13 can move along the length direction of the trusses, and the back and forth movement between the two trusses can also be realized. Meanwhile, attitude adjustment of the carrier 13 can be achieved by configuring at least three sets of the execution lines 12, and the connection points of the three sets of the execution lines 12 are non-collinear.
In order to realize modularization of the execution terminal, the carrier 13 in the embodiment is a carrier with a predetermined size and a predetermined shape formed by splicing a plurality of connecting pieces 301 through specified connectors 302, and any end parts of the connecting pieces 301 and any end parts of the connectors 302 are adapted. And the connector 302 and the connecting piece 301 are respectively provided with a connecting ring used for being connected with the execution line 12, and the connecting rings, the connector 302 and the connecting piece 301 are integrally formed.
Illustrating: when the required carrier 13 is a clamping mechanism, the connecting pieces 301 with required lengths are selected according to the size of the product to be clamped, and are spliced through the connectors 302 to form a carrier with a predetermined shape, and the carrier can be a bearing frame, a three-dimensional frame with a hollowed-out structure, and the like. Then, a clamping mechanism, which can be a mechanical claw or a magnetic adsorption piece, is arranged on the built bearing frame. Or when in construction, the three-dimensional frame is formed around the edge of the product, so that the product is positioned in the three-dimensional frame. Furthermore, the output end of the execution line 12 is connected to a hook or other connection 301, which is adapted to the connection ring, so that the output end of the execution line 12 is connected to the carrier.
Thus, the shape required of the carrier determines the shape of the connector 302 and the number of connector ends. For example, if the currently desired carrier is a plane, such as a rectangle; in addition to the basic straight double-ended connector 302 being required to complete the splice of the desired length and desired width, the right-angle double-ended connector 303 is required to complete the splice at the desired right angle. Thus, the required connection head 302 comprises: right angle dual-headed connector 303 and straight dual-headed connector 302 are shown in fig. 2 and 3. Or if the currently required carrier is a solid rack, such as a hexahedron; then in addition to the basic straight double-ended connector 302 being required to complete the splice of the desired length and desired width, a tri-angular connector is required to complete the desired triaxial X, Y, Z splice. Or the included angle between the connection ends of the connection head 302 is set to be an obtuse angle, an acute angle, or the like according to the requirement, which is not illustrated. But whatever the shape of the connector 302, the structure at its connection end is the same and is adapted to the connection of the connector 301. The flexibility of assembling is realized, and the problem of suitability is not required to be considered. In other words, the connection structure of both ends of the connection member 301 is the same regardless of the length thereof.
For better understanding, this embodiment is illustrated in fig. 4, and the connector 301 includes: body 301-a, the length of body 301-a may be as desired. The bodies 301-a of different lengths can be pre-configured, and the bodies 301-a in fig. 2 are tubular structures. In other embodiments, other configurations of body 301-a are also contemplated. The body 301-a is provided with a butt joint 301-b at both ends, and the butt joint 301-b specifically includes: one end of the connecting shaft 301-c is fixedly connected to the body 301-a, and the other end of the connecting shaft 301-c is provided with a boss 301-d. The boss 301-d is a block that expands radially outwardly and extends axially in a reverse direction of the connecting shaft 301-c by a predetermined thickness. In this embodiment, the body 301-a, the connecting shaft 301-c and the protruding portion 301-d are integrally formed, so that the strength can be increased.
Correspondingly, the connector 302 includes: the connector 302-a, the shape of the connector 302-a and the number of the connecting ends are set according to the requirement; each connecting end is provided with a connecting part 302-b; the docking portion 301-b is adapted to the connection portion 302-b. The shape and attachment ends of the connector 302-a are described above by way of example and will not be repeated. Wherein the connection portion 302-b includes: a connection cavity 302-c having one end connected to the connection body 302-a; the side surface and the other end surface of the connecting cavity 302-c are hollow structures to form a containing cavity with two openings; one of which is adapted to receive a corresponding connection shaft 301-c and the other of which is adapted to provide empty space for the boss 301-d.
Based on the connection member 301 and the connection head 302 of fig. 4, when constructing the planar frame shown in fig. 5 or constructing the carrier of another shape, it should be noted that: if the connector 302 and the connector 301 are horizontally abutted, if the hook of the wire 12 is abutted with the connection ring on the connector 302, the hollow structure on the side surface of the connection cavity 302-c on the connector 302 must not face downward, so as to avoid the connector 302 and the connector 301 from falling off, and the preferential arrangement should be upward. If the hook of the wire 12 is engaged with the connecting ring of the connecting member 301, the hollow structure of the side surface of the connecting cavity 302-c of the connecting head 302 must not be upward, so as to avoid the falling off of the connecting head 302 and the connecting member 301, and the preferential arrangement should be downward.
The above-mentioned adaptor and the adaptor are adopted for adapting in the present embodiment mainly considers the following reasons: because the carrier is closed, if the existing threaded butt joint or other rotary butt joints are adopted in the assembly process, a reserved space is needed for rotation or locking of the carrier, but no matter how each butt joint is locked, the later butt joint is more difficult to realize, because a certain reserved space is needed for each splicing, and the reserved space cannot be eliminated. Therefore, it is difficult to realize a closed assembly, which further leads to instability of the carrier and reduces the stress intensity thereof.
In the butt joint process of the butt joint head and the butt joint piece in the embodiment, the corresponding connecting shaft 301-c passes through the other end face of the connecting cavity 302-c to complete positioning and clamping only by placing the protruding portion 301-d of the connecting piece 301 in the accommodating cavity from the side face through the hollow structure of the side face of the connecting cavity 302-c. No space is required and no space is created, i.e. the spliced carrier is quite firm, each adjacent abutment is mutually constrained by the abutment. Meanwhile, under the condition that other accessories are not needed to assist in assembly, simple installation and disassembly are realized, as shown in fig. 5.
In a further embodiment, each execution line 12 may be correspondingly configured with a set of line controllers, so as to implement separate control over the execution lines 12. But from the economic point of view, this embodiment also discloses: at least one group of execution lines 12 share one line controller; the wire controllers are arranged to control the length of the execution wires 12 in connection therewith, respectively, and the displacement adjustment and/or the pose adjustment of the carrier 13 is accomplished by adjusting the length of the execution wires 12. In other words, a single controller can alternatively, partially or simultaneously control the execution lines 12 in connection therewith, reducing the number of controllers required and also reducing the truss load.
Taking one line controller as an example to control two execution lines 12, referring to fig. 6, the controller includes: a driving gear 401 rotatably installed at a designated position of the truss, the driving gear 401 being drivingly connected to a power source; the power source in this embodiment is a forward and reverse motor.
The periphery of the drive gear 401 is provided with two sets of mounts: a first mount and a second mount. Each set of mounting members has a degree of freedom to reciprocate in a given direction under the influence of external force. Wherein the designated direction is toward or away from the driving gear 401, and the external force may be an electronically controlled cylinder. The mounting piece is provided with a driven gear 402 and a wire spool, wherein when the mounting piece approaches to the position of the driving gear 401 under the action of the electric control cylinder, the driven gear 402 on the corresponding mounting piece is meshed with the driving gear 401, so that the retraction and the retraction of the execution line 12 on the corresponding mounting piece are realized, if the driving gear 401 rotates positively, the execution line 12 is retracted; in contrast, the driving gear 401 is reversed, and the execution line 12 is released.
If the first mounting member approaches the position of the driving gear 401, the executing wire 12 on the first mounting member is controlled to be retracted and extended, and the executing wire 12 on the second mounting member is not controlled to be in a rest state, i.e. alternatively controlled.
If the current two sets of mounting members approach to the position of the driving gear 401, the execution line 12 on the two sets of mounting members can be retracted and extended simultaneously. I.e. all control. If the outer diameters of the driven gears 402 on the two sets of mounting members are equal, the constant speed winding and unwinding of the corresponding two sets of execution lines 12 are realized, and if the outer diameters of the driven gears 402 on the two sets of mounting members are different, the winding and unwinding of the corresponding two sets of execution lines 12 at different speeds are realized.
Example 2
Based on the modularly integrated mobile platform disclosed in embodiment 1, the embodiment discloses a method for operating the modularly integrated mobile platform, comprising the following steps:
carrying out platform arrangement on the truss according to the requirement, and constructing a carrier with a required size and a required shape through the connecting piece and the connector, wherein the carrier is used as a carrier; wherein, any end of the connecting piece and any end of the connector are matched. Further, the size and shape of the carrier depend on the application scenario, and may be a carrying frame, a three-dimensional frame with a hollowed-out structure, or the like, which is described in embodiment 1.
Further comprises: determining a plurality of connection points on the carrier to obtain a connection point set P, P= { P i Each connection point is connected with at least oneGroup execution lines, classifying the guides corresponding to the execution lines in the connection state into a guide set D, D= { j h H represents a truss, j is the number of a guide piece on the truss h, and i is the number of a connection point with a connection relation; integrated mobile platform { P > based on carrier, connection point set P and guide set D i (D) The carrier is in the empty space generated by the moving platform, and the required displacement adjustment and/or posture adjustment is realized by controlling the operation length of the corresponding execution line.
It should be noted that: the points in the connection point set P are part or all of the connection points on the carrier, and are selectively added and/or removed according to functional requirements, where the functional requirements at least include: one or more of attitude adjustment and intensity adjustment. The connection piece and the connection head described in connection with example 1 are provided with connection rings, so that the connection points on the carrier are adjustable. Wherein the points in the set of connection points P depend mainly on the object of action of the current carrier, and the shape of the current build carrier, the carrier is self-built according to the description in embodiment 1. Thus, the shape of the carrier in fig. 7-9 may be different and is not shown in the figures.
In a further embodiment, the points in the connection point set P are part or all of the connection points on the carrier, and the connection point set P is selectively added and/or removed according to the functional requirement and updated; the functional requirements include at least: one or more of attitude adjustment and intensity adjustment.
As shown in fig. 7 (a), the current connection point set p= { P 1 ,P 2 ,P 3 ,P 4 }. If the current carrier posture needs to be further adjusted, the point P is connected 1 、P 2 、P 3 And P 4 If the requirements cannot be met, connecting point P therein 2 Change to P 5 I.e. selectively increases the point of attachment P 5 The connection point set P is updated to { P 1 ,P 3 ,P 4 ,P 5 }. As shown in FIG. 7 (b), when the weight of the carrier or the object to be carried is increased and the strength is to be enhanced, the wire connection is required to be increased, and if the wire connection is to be performed at an existing connection point, such as a newly added wire connection point P 2 On the contrary, the existing connection point set P is maintained unchanged; if the newly added execution line is connected to a new connection point, such as connection point P, as shown in FIG. 7 (c) 6 Then at the connection point P 1 、P 2 、P 3 And P 4 On the basis of (1), the connecting point P is increased 6 The connection point set P is updated to { P 1 ,P 2 ,P 3 ,P 4 ,P 6 }。
Based on the above description, at least one group of execution lines is respectively configured for each connection point, and the mobile platform { P } is integrated based on the carrier, the connection point set P and the guide set D i (D) And (3) is performed. P-based i (j h ) Determining the size and the position of the current empty space; the carrier is in the current empty space, and the position adjustment and/or the posture adjustment of the carrier is realized by controlling the operation length of the execution line in the working mode.
In this embodiment, the determination of the size and position of the empty space is based on the guide determination rather than the implementation line, mainly considering that in the case of the operating mode: the number of connection points is different from the number of guide members, i.e. two or more execution lines on one guide member are simultaneously in an operating mode, or two execution lines on different guide members are present on one connection point.
Examples: there are a first truss 1 and a second truss 2 parallel to each other, each truss being provided with four sets of guides, each set of trusses being numbered in a predetermined sequence. In connection with FIG. 8 (a), the current connection point P 1 、P 2 、P 3 And P 4 There is one and only one execution line, and each execution line corresponds to a respective guide, denoted as d= {1 1 ，1 2 ，2 1 ，2 2 }. The current form of attachment of the guide to the carrier is expressed as: { P 1 (1 1 ),P 2 (1 2 ),p 3 (2 1 ),P 4 (1 2 ) The size of the current empty space is 1 in the horizontal direction 1 、1 2 、2 1 And 2 2 The size of the quadrangle formed.
Referring to fig. 8 (b), the current connection point P 1 、P 2 、P 3 With only one execution line, the corresponding guide is 1 1 、1 2 、2 1 The method comprises the steps of carrying out a first treatment on the surface of the Connection point P 4 And a connection point P 7 The corresponding execution lines share one guide 2 2 I.e. the number of connection points is not equal to the number of guides, the current form of connection of the guides to the carrier is expressed as: { P 1 (1 1 ),P 2 (1 2 ),P 3 (2 1 ),P 4 (1 2 ),P 7 (1 2 ) }. But the size of the empty space is still 1 in the horizontal direction 1 、1 2 、2 1 And 2 2 The size of the quadrangle formed.
Referring to FIG. 8 (c), the current connection point P 1 、p 2 、P 3 With only one execution line, the corresponding guide is 1 1 、1 2 、2 1 The method comprises the steps of carrying out a first treatment on the surface of the Connection point P 4 There are two execution lines, corresponding guides are: 2 2 And 2 3 The method comprises the steps of carrying out a first treatment on the surface of the Also the number of connection points is not equal to the number of guides. The connection of the guide to the carrier is now shown as: { P 1 (1 1 ),P 2 (1 2 ),P 3 (2 1 ),P 4 (1 2 ),P 4 (2 3 ) }. The size of the current empty space is 1 in the horizontal direction in combination with the illustration 1 、1 2 、2 1 、2 2 And 2 3 The size of the constituent polygons.
Referring to FIG. 8 (d), the current connection point P 1 、p 2 、P 3 、P 4 And P 9 There is one and only one execution line, and each execution line corresponds to a respective guide, respectively: 1 1 、1 2 、1 3 、2 1 And 2 2 . The current form of attachment of the guide to the carrier is expressed as: { P 1 (1 1 ),P 2 (1 2 ),P 9 (1 3 ),P 3 (2 1 ),P 4 (1 2 ) The size of the current empty space is 1 in the horizontal direction 1 、1 2 、1 3 、2 1 And 2 2 The size of the constituent polygons.
Based on the above description, when the empty space needs to be transferred or extended (i.e. the moving range of the carrier is larger than the current size of the empty space), at least one connection point in the connection point set P is connected to a guiding execution line, and a guiding element corresponding to the guiding execution line should be located in the space in the transferring or extending direction; updating the guide set D based on the guide execution line to obtain a new guide set D', and updating to obtain a new mobile platform { P } i (D') pushing to complete splicing or transferring of empty space.
As shown in FIG. 9 (a), the current empty space has a size of 1 in the horizontal direction 1 、1 2 、2 1 And 2 2 The size of the quadrangle is correspondingly, and the connection point set of the current carrier is P= { P 1 ,P 2 ,P 3 ,P 4 }. When the carrier needs to be transferred to a space other than the current empty space, the current mobile platform cannot meet the requirement obviously, and the mobile platform needs to be adjusted appropriately. In connection with fig. 9 (b), the direction in which the end point of the carrier is located is defined as the advancing direction, and two connection points (P 2 And P 4 ) For accessing the pilot-operated line, i.e. previously connected to P 2 And P 4 Is replaced by a guide 1 respectively 3 And 2 3 The corresponding execution line is used as a guiding execution line. Since the substitution pattern is adopted to access the guide execution line, the guide set D, D' = {1 is updated 1 ,2 1 ,1 3 ,2 3 Correspondingly obtain a new mobile platform { P } 1 (1 1 ),P 2 (1 3 ),p 3 (2 1 ),P 4 (2 3 ) The size of the current empty space is 1 in the horizontal direction 1 、2 1 、1 3 And 2 3 The size of the constituent polygons is similar to that of fig. 9 (a), and the empty space is extended. With reference to fig. 9 (c), the empty space continues to extend in the current direction, at the connection point P 2 The guide execution line is accessed in a new form, and the corresponding guide piece is 1 4 I.e. the guide wire that previously had a connection relationship with the connection point has not changed. Then the connection point set PNo update is required, but the new mobile platform is correspondingly updated to { P ] 1 (1 2 ),P 2 (1 3 ),P 2 (1 4 ),P 3 (2 2 ) }. Referring again to fig. 9 (c), a new connection point P is added 8 For the connection-oriented execution line, the corresponding connection point set P is updated as: { P 1 ,P 2 ,P 3 ,P 8 Corresponding mobile platform is updated to { P }, corresponding 1 (1 2 ),P 2 (1 3 ),P 2 (1 4 ),P 3 (2 2 ),P 8 (2 4 ) It is clear that the operating space is extended at the same time as the transfer.
Among the execution lines connected with the connection points in the connection point set P, other execution lines are replaced in a specified space and a specified direction according to space requirements except for the guide execution line; the specified space includes: empty space and space outside the empty space; the specified direction includes: the same direction of transfer or extension and the opposite direction of transfer or extension.
In other words, at least one group of guide execution lines in the execution lines currently in connection with the connection point can be selectively replaced by other execution lines after the execution lines meet the transfer or extension requirements of the empty space. Such as by being replaced with an execution line in the same direction as the transfer or extension, for assisting in the spatial transfer. Instead of an execution line located in the opposite direction of the transfer or extension, for extending the operating space from the direction. Or when the alternative execution line is located in the empty space, the execution line belongs to space avoidance requirements, strength requirements, pose requirements and the like.
Correspondingly, the replacement of the execution line also needs to consider whether the length of the execution line is suitable for scene arrangement in the current operation space in actual operation, and if the operation length is too long, the stability is low and the avoidance is difficult. Thus based on the mobile platform { P } i (D) And acquiring the size of the current empty space, presetting a length threshold corresponding to an execution line of the carrier in the current empty space, and if the operation length of the execution line is greater than the length threshold, replacing the execution line to update the guide piece set D. In other words, the execution line having an excessively long operation length is replaced.
In summary, the empty space disclosed in this embodiment is also modularized, and the required empty space is obtained by selecting the connection point and the execution line according to the requirement, so that the push-type splicing and transferring of the empty space are realized, and the extendable effect of the empty space is achieved. The switching and increasing/decreasing of the connection points and the switching and increasing/decreasing of the execution lines are operated in a state where the carrier is stationary.
The application scenario of the embodiment may be that in an ultra-long transport warehouse, if a robot by wire in the prior art is adopted, that is, an execution line is set at a designated position of the transport warehouse, where the designated position includes each corner of the transport warehouse. If the handling warehouse is too long, the execution line of each corner needs to be long enough to meet the handling requirement in the handling warehouse, the following problems exist: performing a avoidance problem for the wire; and when only a part of the space operation is required therein, the other execution lines themselves become space barriers for other institutions or persons. In this case, therefore, the method of the present embodiment can be used to perform operations in a frequently used empty space as required, and if necessary, to perform space transfer or extension by guiding the execution line. Or after the corresponding working procedure is executed in the current empty space, when the next working procedure is needed to be transferred to the next space, the carrier is rebuilt and the guide wire is introduced to complete the transfer of the space.
Claims (10)
1. A method of moving a modular mobile platform, comprising at least the steps of:
arranging hanging points on the truss according to the requirement, wherein guide elements are arranged at the hanging points, and each group of guide elements is provided with at least one group of execution lines; constructing a carrier with a required size and shape according to the requirement;
determining a plurality of connection points on the carrier to obtain a connection point set P, P= { P i Each connecting point is connected with at least one group of execution lines, and the guide pieces corresponding to the execution lines in the connected state are classified into a guide piece set D, D= { j h And h represents the truss, j is the number of the guide on truss h,i is the number of the connection point with the connection relation;
integrated mobile platform { P > based on carrier, connection point set P and guide set D i (D) The carrier is positioned in an empty space generated by the mobile platform, and the required displacement adjustment and/or posture adjustment is realized by controlling the operation length of the corresponding execution line;
when the empty space needs to be transferred or extended, at least one connection point in the connection point set P is connected with a guide execution line, and a guide piece corresponding to the guide execution line is positioned in the space in the transfer or extension direction; updating the guide set D based on the guide execution line to obtain a new guide set D', and updating to obtain a new mobile platform { P } i (D') pushing to complete splicing or transferring of empty space.
2. A method of moving a modular mobile platform according to claim 1, wherein the steering execution lines are accessed in a substituted or augmented form;
if the guide element set D exists in an increased form, if the guide element execution line is accessed based on the connection points in the connection point set P, updating the guide element set D; if a new connection point is added in the connection point set P, the access guide execution line of the new connection point further includes the following steps: updating the connection point set P results in a new connection point set P'.
3. The method for moving a modular mobile platform according to claim 1, wherein the points in the connection point set P are part or all of the connection points on the carrier, and are selectively added and/or removed according to the functional requirement, and the connection point set P is updated correspondingly; the functional requirements include at least: one or more of attitude adjustment and intensity adjustment.
4. The method according to claim 1, wherein among the execution lines connected to the connection points in the connection point set P, other execution lines than the guided execution line are replaced in a specified space and a specified direction according to space requirements;
the specified space includes: empty space and space outside the empty space;
the specified direction includes: the same direction of transfer or extension and the opposite direction of transfer or extension.
5. The method of claim 1, wherein the mobile platform { P }, is based on i (D) And acquiring the size of the current empty space, presetting a length threshold corresponding to an execution line of the carrier in the current empty space, and if the operation length of the execution line is greater than the length threshold, replacing the execution line to update the guide piece set D.
6. Modular mobile platform for implementing a method of moving a modular mobile platform according to any of claims 1 to 5, comprising:
at least one group of trusses which are arranged in the air according to the requirement;
the guide pieces are distributed on the truss according to the requirements; at least one group of execution wires is arranged on each group of guide members;
the carrier is provided with a plurality of connecting ends; the connecting end is selectively connected with the output end of the required execution line; the carrier is formed by splicing a plurality of connecting pieces through specified connectors, wherein any end of each connecting piece and any end of each connector are matched.
7. The modular mobile platform of claim 6, wherein at least one group of the execution lines share a single drive-by-wire; the wire controller is arranged to control the length of the execution wire in connection with the wire controller respectively, and the displacement adjustment and/or the pose adjustment of the carrier are completed by adjusting the length of the execution wire.
8. The modular mobile platform of claim 6, wherein the connector comprises: the body is provided with a length according to the requirement; the two ends of the body are provided with butt joint parts;
the connector includes: the connector is provided with the shape and the number of the connecting ends according to the requirements; each connecting end is provided with a connecting part; the butt joint part is matched with the connecting part.
9. The modular mobile platform of claim 8, wherein the docking portion comprises:
a connecting shaft, one end of which is fixed to the body;
a protruding part arranged at the other end of the body; the convex part is a block body which expands outwards in the radial direction and extends in the axial direction along the reverse direction of the connecting shaft by a preset thickness.
10. The modular mobile platform of claim 8, wherein the connection portion comprises:
the connecting cavity is connected with the connecting body at one end; the side surface and the other end surface of the connecting cavity are hollow structures to form a containing cavity with two openings; one of the openings is for receiving a corresponding connecting shaft and the other opening is for providing empty space for the boss.
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