Linear positioning transfer robot and control method
A technology of handling robots and control methods, applied in the field of automation, can solve the problems of inconvenient operation, high production cost, and inability to accurately locate
Pending Publication Date: 2021-08-27
上海有誉机电科技有限公司
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Problems solved by technology
The invention can overcome the defects of complex structure, bulky inflexibility, high production cost, inconvenient operation, inability to walk in all directions, need to lay guide rails, and inability to accurately locate in existing machines, thereby improving work efficiency and reducing labor costs
Method used
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Embodiment Construction
[0024] Step 1: Put the object into the mobile platform (13), and add the slurry to the smearing mechanism (9), install the plane laser transmitter on the plane to be positioned, so that the plane light emitted by the laser transmitter is parallel to the positioning plane; The two ends of the wire ropes (18) of the two stay wire sensors (14) on the mobile platform (13) are pulled to the two ends of the required positioning plane respectively.
[0025] Step 2: Start the controller (16), and the robot will drive the retractable longitudinal walking mechanism (2) forward or backward according to the position and deviation fed back by the cable sensor (14) until the robot is parallel to the laser plane and makes The lines of the two pull wire sensors are the same straight line; and the mobile platform (13) is driven to the initial position.
[0026] Step 3: The propeller (10) pushes the object into the bottom of the coating mechanism (9) through the cylinder, and the slurry falls o...
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The invention relates to a linear positioning transfer robot and a control method. The linear positioning transfer robot comprises a telescopic transverse walking mechanism, a telescopic longitudinal walking mechanism, a servo lifting mechanism, lifting universal wheels, a rodless air cylinder, grabbing and releasing mechanisms, telescopic mechanisms, a lifting mechanism, a smearing mechanism, a propeller, lifting guide rails, synchronous wheels, a moving platform, pull wire sensors, synchronous belts, a controller, a laser plane, steel wire ropes and proximity sensors. Proximity switches are mounted on the two sides of a steel wire rope of a pull rope sensor, and positioning is performed through distance signals fed back by the pull rope sensor. Four lifting driving structures which are vertically and horizontally separated are adopted at the bottom of the moving platform, and therefore accurate and ideal linear positioning control, automatic leveling on the uneven ground, automatic object pushing, automatic slurry smearing, object placing or taking at any height and automatic positioning are achieved. The robot is simple and flexible in structure, low in manufacturing cost, convenient to operate, capable of walking in all directions and free of guide rails, working efficiency is improved, and labor cost is reduced.
Description
technical field [0001] The invention belongs to the technical field of automation, in particular to a handling robot used in construction industry and automatic storage industry. Background technique [0002] The aging of the labor force and the past demographic dividend have shown us that the initial low cost of labor no longer exists. Labor prices have formed an upward trend. In today's society, industrial automation is developing rapidly, but most of the wall-building and warehousing operations are still manual operations. Although there are many wall-building robots and warehousing robots, due to complex mechanical structures, high manufacturing costs, or single functions, requiring Various factors such as the installation of guide rails, especially the most difficult positioning, have not been widely used in on-site operations. Therefore, in the current construction industry, there is an urgent need for a linear positioning and handling robot and a control method to c...
Claims
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IPC IPC(8): E04G21/22E04F21/02
CPCE04F21/023E04G21/22
Inventor 黄永玖李恒
Owner 上海有誉机电科技有限公司