A slip drive device for a cable-driven construction robot and a control method thereof

Abstract

The application belongs to the technical field of robots, and particularly relates to a sliding driving device for a cable-driven building robot and a control method thereof, which comprises an I-shaped guide rail and a sliding trolley device; the I-shaped guide rail is single-rail type and is connected at the head and tail to form a closed loop; the sliding trolley device is composed of a cross beam, a driving assembly and a driven assembly; the driving assembly and the driven assembly are movably installed at the top of both ends of the cross beam, and the sliding trolley device is movably installed below the I-shaped guide rail through the driving assembly and the driven assembly; the application has simple structure, can be quickly disassembled and assembled, is easy to turn over, and in addition, the stability of the whole device can be ensured through the torsion-resistant design of the sliding trolley device and the track and the clamping design of the sliding trolley device and the track, so that the precision of the robot operation is ensured.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically a sliding drive device and its control method for cable-driven construction robots. Background Technology

[0002] Cable-driven robots, also known as rope-driven robots, are a type of robot with a parallel structure that uses ropes as the driving unit. They are mainly used in fields such as stacking and photography, and have advantages such as simple structure, large workspace, and good environmental adaptability. Compared with the construction industry, stacking and photography have certain advantages in terms of working environment and fixed workspace, which is conducive to the application of cable-driven robots.

[0003] However, the above technologies often have the following drawbacks: existing cable-driven robots are prone to shaking during use, which leads to insufficient accuracy when the robot is working. In addition, it is not easy to stably pause at a designated position according to the usage requirements.

[0004] Therefore, the present invention provides a sliding drive device and its control method for a cable-driven construction robot. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a sliding drive device for cable-driven construction robots, comprising an I-beam guide rail and a sliding trolley device. The I-beam guide rail is a single rail type, and the ends are connected to form a closed loop; The sliding trolley device consists of a crossbeam, a drive assembly, and a driven assembly. The drive assembly and the driven assembly are movably mounted at the top two ends of the crossbeam, and the sliding trolley device is movably mounted below the I-beam guide rail through the drive assembly and the driven assembly. The drive assembly includes a mounting plate disposed above the crossbeam. Side plates are symmetrically mounted on both sides of the mounting plate. A servo motor is fixedly mounted on the outer wall of one side of the side plate. A reducer is fixedly mounted on the output end of the servo motor. The output shaft of the reducer extends movably through to the inner side of the side plate and a drive wheel is fixedly mounted on its end. Wheels are symmetrically mounted on both sides of the drive wheel. The two wheels are evenly driven to abut against each other. A support wheel is rotatably mounted on the top center of the mounting plate. The top of the support wheel abuts against the lower end face of the I-beam guide rail. The driven component includes a mounting plate two disposed above the crossbeam, with side plates two symmetrically mounted on both sides of the mounting plate two, and wheels two rotatably mounted on the middle of the opposite side walls of the side plates two on both sides, and a support wheel two rotatably mounted on the middle of the top of the mounting plate two, with the top of the support wheel two abutting against the lower end face of the I-beam guide rail.

[0007] Preferably, it also includes a sliding contact line and a current collector; The sliding contact line is composed of aluminum conductors, and multiple rows of the sliding contact line are fixedly installed on the side of the I-beam guide rail with equal spacing. The current collector is fixedly installed on one side of the side plate. There are multiple sets of current collectors, each corresponding to a sliding contact line. The current collector is slidably connected to the sliding contact line to provide power to the sliding trolley device.

[0008] Preferably, the assembly also includes a brake assembly, which includes a fixing plate that is laterally fixed to the top of a crossbeam. Bearing seats are symmetrically fixed to both sides of the top of the fixing plate, and a lead screw is rotatably mounted between the bearing seats on both sides. The threads at both ends of the lead screw have opposite directions, and limit plates are threaded to both ends of the lead screw. A dovetail groove is formed at the bottom of the limit plate, and a dovetail guide rail is fixedly connected to the middle of the upper surface of the fixing plate. The dovetail guide rail is slidably disposed in the dovetail groove. Slots are formed on the opposite sidewalls of the limit plates on both sides, and these slots are adapted to the bottom edge of the I-beam guide rail. A second servo motor is fixedly mounted on one side of the bottom of the fixing plate, and the end of the lead screw is connected to the output end of the second servo motor via a transmission belt and a transmission wheel.

[0009] Preferably, contact plates are fixedly connected to the top two side walls of the I-beam guide rail, and multiple sets of reinforcing ribs are fixedly connected at intervals between the inner wall of the contact plate and the side wall of the I-beam guide rail.

[0010] Preferably, a limiting wheel is rotatably installed at the top center of the side plate, the limiting wheel abutting against the contact plate, and two limiting wheels are rotatably installed on both sides of the middle of the side plate, the limiting wheels abutting against the bottom edge of the I-beam guide rail.

[0011] Preferably, a positioning device is fixedly installed on the side wall of the side plate away from the servo motor.

[0012] Preferably, the driving assembly and the driven assembly are movably mounted on the crossbeam via mounting assemblies. The mounting assemblies include movable plates arranged in pairs. The bottoms of two side plates are symmetrically fixedly connected to movable plates. A circular hole is provided in the middle of each movable plate, and a disc is movably mounted in the center of the hole. A mounting rod is fixedly connected vertically through the center of the disc. The top ends of the mounting rods are rotatably connected to mounting plates one and two, respectively. Mounting grooves are symmetrically formed in the middle of each movable plate, and mounting rods are fixedly mounted in the mounting grooves. A magnetic block one is fixedly installed, and magnetic blocks two are symmetrically fixedly installed inside the side wall of the disc. A pull rod is fixedly connected to the side wall of one side of the movable plate, and a receiving cavity is opened inside the adjacent side of the other side of the movable plate. The pull rod is movably disposed in the receiving cavity. A spring two is installed inside the receiving cavity. The two ends of the spring two are fixedly connected to the pull rod and the inner wall of the receiving cavity, respectively. The bottom end of the mounting rod passes through the mounting hole on the crossbeam. A baffle is fixedly connected to the lower part of the mounting rod. An anti-detachment sleeve is installed at the bottom of the mounting rod. The baffle and the anti-detachment sleeve are respectively set on the upper and lower sides of the crossbeam.

[0013] Preferably, a turntable is fixedly connected to the bottom of the disc, and through holes are symmetrically opened on both sides of the turntable. The through holes on both sides correspond to the mounting grooves on both sides. A limiting rod is movably installed in the through hole. The limiting rod and a magnetic block are attracted to each other. The thickness of the magnetic block is less than the depth of the mounting groove. The bottom end of the limiting rod extends to the outer side of the bottom of the turntable and a connecting rod is fixedly connected to the end. The connecting rod is slidably sleeved on the mounting rod. A spring is provided between the connecting rod and the baffle. A sliding groove is opened on the side wall of the mounting rod. A locking block is fixedly connected to the inner wall of the middle hole of the connecting rod. The locking block is adapted to the sliding groove and is slidably disposed in the sliding groove.

[0014] Preferably, sliding cavities are respectively formed inside the side walls of the first and second mounting plates, and guide rods are respectively fixedly connected to the inner walls of the first and second side plates, and the guide rods are slidably disposed in the sliding cavities.

[0015] A control method for a cable-driven construction robot, the method employing the aforementioned sliding drive device for a cable-driven construction robot, includes the following steps: S1. The servo motor is controlled by the controller to rotate the drive wheel, which in turn drives the wheels on both sides to roll along the I-beam guide rail, thus pushing the sliding trolley device to move along the I-beam guide rail. S2. When it is necessary to pause the sliding trolley device, the servo motor one is paused by the controller, so that the sliding trolley loses power and stops moving. S3. The positioning device transmits signals at the starting and stopping positions of the sliding trolley to locate the position of the moving device in real time. S4. After the sliding trolley device stops moving, the second servo motor is controlled to work. The second servo motor drives the lead screw to rotate through the transmission belt and transmission wheel, which in turn drives the limit plates on both sides of the lead screw to move towards the middle synchronously. The slots of the limit plates on both sides are engaged with the bottom edge of the I-beam guide rail, clamping the sliding trolley device on the I-beam guide rail.

[0016] The beneficial effects of this invention are as follows: 1. The present invention discloses a sliding drive device and its control method for a cable-driven construction robot. The first and second wheels of the drive assembly and the driven assembly are both convex to engage with the bottom edges of the I-beam guide rail, preventing lateral movement. Simultaneously, the first and second support wheels abut against the bottom of the I-beam guide rail, enabling the sliding trolley device to move stably along the guide rail. When it is necessary to pause the sliding trolley device, the controller pauses the first servo motor, causing the sliding trolley to lose power and stop moving. The first servo motor has a braking function to ensure the moving device stops stably and reliably in the designated area.

[0017] 2. The sliding drive device and its control method for a cable-driven construction robot described in this invention, by setting a brake assembly, makes the sliding trolley device more stable during temporary movement. After the sliding trolley device stops moving, the second servo motor is controlled to work. The second servo motor drives the lead screw to rotate through the transmission belt and transmission wheel, which in turn drives the limit plates on both sides of the lead screw to move towards the middle synchronously. The slots of the limit plates on both sides are engaged with the bottom edge of the I-beam guide rail, clamping the sliding trolley device on the I-beam guide rail, ensuring the stability of the entire device, thereby ensuring the accuracy of the robot's operation. Attached Figure Description

[0018] The invention will now be further described with reference to the accompanying drawings.

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 This is a bottom view of the present invention; Figure 3 This is a partial structural schematic diagram of the present invention; Figure 4 This is a front view of the brake assembly of the present invention; Figure 5 This is a partial cross-sectional view of the present invention; Figure 6 This is a schematic diagram of the installation components of the present invention; Figure 7 yes Figure 6 Enlarged view of a portion of point A in the middle; Figure 8 This is a three-dimensional schematic diagram of the driven component of the present invention; Figure 9 This is a flowchart illustrating the control method of the present invention.

[0020] In the diagram: 1. I-beam guide rail; 2. Sliding contact line; 3. Sliding trolley device; 4. Crossbeam; 5. Drive assembly; 51. Side plate one; 52. Servo motor one; 53. Reducer; 54. Wheel one; 55. Drive wheel; 56. Limit wheel one; 57. Limit wheel two; 58. Mounting plate one; 59. Support wheel one; 6. Driven assembly; 61. Side plate two; 62. Wheel two; 63. Support wheel two; 64. Mounting plate two; 7. Brake assembly; 71. Fixing plate; 72. Servo motor two; 73. Silk... 74. Rod; 75. Limiting plate; 76. Slot; 77. Dovetail guide rail; 8. Mounting assembly; 81. Moving plate; 82. Mounting slot; 83. Magnetic block one; 84. Disc; 85. Mounting rod; 86. Spring one; 87. Baffle; 88. Anti-disengagement sleeve; 89. Connecting rod; 810. Limiting rod; 811. Pull rod; 812. Spring two; 813. Guide rod; 814. Slide cavity; 815. Turntable; 816. Magnetic block two; 9. Reinforcing rib; 10. Contact plate; 11. Positioning device; 12. Current collector. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0022] Example 1: As Figures 1 to 8 As shown in the figure, a sliding drive device for a cable-driven construction robot according to an embodiment of the present invention includes an I-beam guide rail 1 and a sliding trolley device 3. The I-beam guide rail 1 is a single rail type, and the ends are connected to form a closed loop; The sliding trolley device 3 consists of a crossbeam 4, a drive assembly 5, and a driven assembly 6. The drive assembly 5 and the driven assembly 6 are respectively movably installed at the top two ends of the crossbeam 4, and the sliding trolley device 3 is movably installed below the I-beam guide rail 1 through the drive assembly 5 and the driven assembly 6. The drive assembly 5 includes a mounting plate 58 disposed above the crossbeam 4. Side plates 51 are symmetrically mounted on both sides of the mounting plate 58. A servo motor 52 is fixedly mounted on the outer wall of one side of the side plate 51. A reducer 53 is fixedly mounted on the output end of the servo motor 52. The output shaft of the reducer 53 extends movably through to the inner side of the side plate 51 and a drive wheel 55 is fixedly mounted on its end. Wheels 54 are symmetrically mounted on both sides of the drive wheel 55. The two wheels 54 drive the drive wheel 55 to abut against each other. A support wheel 59 is rotatably mounted on the top center of the mounting plate 58. The top of the support wheel 59 abuts against the lower end face of the I-beam guide rail 1. The driven component 6 includes a mounting plate 64 disposed above the crossbeam 4. Side plates 61 are symmetrically mounted on both sides of the mounting plate 64. Wheels 62 are rotatably mounted on the middle of the opposite side walls of the side plates 61. A support wheel 63 is rotatably mounted on the middle of the top of the mounting plate 64. The top of the support wheel 63 abuts against the lower end face of the I-beam guide rail 1.

[0023] It also includes the sliding contact line 2 and the current collector 12; The sliding contact line 2 is composed of aluminum conductors, and the sliding contact line 2 is fixedly installed on the side of the I-beam guide rail 1 in multiple rows with equal spacing. The current collector 12 is fixedly installed on the side of the side plate 51. The current collector 12 is provided in multiple sets and corresponds one-to-one with the sliding contact line 2. The current collector 12 is slidably connected to the sliding contact line 2 to provide power to the sliding trolley device 3. During operation, the current collector 12 provides power to the sliding trolley device 3 through a sliding connection between it and the sliding contact line 2. The current-connecting contact rod of the current collector 12 is rotatably mounted on the mounting bracket and is always slidably positioned in the groove at the bottom of the sliding contact line 2, making sliding contact with the sliding contact line 2. The sliding contact line 2 is energized, and the output end of the current collector 12 is connected to the power-consuming equipment to achieve power transmission. The controller controls the servo motor 52 to work, driving the drive wheel 55 to rotate, which in turn drives the wheels 54 on both sides to roll along the I-beam guide rail 1, pushing the sliding trolley device 3 to move along the I-beam guide rail 1. The driven component 6's second wheel 62 rolls along the I-beam guide rail 1. Both the first wheel 54 and the second wheel 62 are convex to engage with the bottom edges of the I-beam guide rail 1, preventing left and right movement. At the same time, the first support wheel 59 and the second support wheel 63 abut against the bottom of the I-beam guide rail 1, allowing the sliding trolley device 3 to move stably along the guide rail. When it is necessary to stop the sliding trolley device 3, the controller stops the first servo motor 52, causing the sliding trolley to lose power and stop moving. The first servo motor 52 has a braking function to ensure that the moving device stops stably and reliably in the designated area.

[0024] It also includes a brake assembly 7, which includes a fixing plate 71. The fixing plate 71 is horizontally fixedly connected to the top of the crossbeam 4. Bearing seats are symmetrically fixedly connected to both sides of the top of the fixing plate 71. A lead screw 73 is rotatably installed between the two bearing seats. The two ends of the lead screw 73 have opposite thread directions. Limiting plates 74 are threadedly connected to both ends of the lead screw 73. A dovetail groove is formed at the bottom of the limiting plate 74. A dovetail guide rail 76 is fixedly connected to the middle of the upper surface of the fixing plate 71. The dovetail guide rail 76 is slidably disposed in the dovetail groove. The two limiting plates 74 have slots 75 on their opposite sidewalls. The slots 75 are connected to the I-beam guide rail. The bottom edge of the track 1 is adapted, and a servo motor 72 is fixedly installed on one side of the bottom of the fixed plate 71. The end of the lead screw 73 is connected to the output end of the servo motor 72 through a transmission belt and a transmission wheel. During operation, after the sliding carriage device 3 stops moving, the servo motor 72 is controlled to work. The servo motor 72 drives the lead screw 73 to rotate through the transmission belt and the transmission wheel, which in turn drives the limiting plates 74 on both sides of the lead screw 73 to move towards the middle synchronously. The slots 75 of the limiting plates 74 on both sides are engaged with the bottom edge of the I-beam guide rail 1, clamping the sliding carriage device 3 onto the I-beam guide rail 1 to ensure the stability of the entire device and thus ensure the accuracy of the robot operation.

[0025] Contact plates 10 are fixedly connected to the top two side walls of the I-beam guide rail 1, and multiple sets of reinforcing ribs 9 are fixedly connected between the inner wall of the contact plate 10 and the side wall of the I-beam guide rail 1 at intervals. During operation, the reinforcing ribs 9 are designed on the I-beam guide rail 1 to enhance the overall torsional resistance of the rail.

[0026] A limiting wheel 56 is rotatably mounted on the top center of the side plate 51, and the limiting wheel 56 abuts against the contact plate 10. Two limiting wheels 57 are rotatably mounted on both sides of the middle of the side plate 51, and the two limiting wheels 57 abut against the bottom edge of the I-beam guide rail 1. During operation, the limiting wheel 56 contacts the contact plate 10, effectively transmitting the bending moment exerted by the cable-driven robot on the moving device, thus improving the stability of the moving device during cable-driven robot operation. Furthermore, the abutment between the two limiting wheels 57 and the bottom edge of the I-beam guide rail 1 further enhances the above-mentioned effect.

[0027] A positioning device 11 is fixedly installed on the side wall of the side plate 51 away from the servo motor 52. During operation, the positioning device 11 adopts an optical positioning system and transmits signals at the starting position and the stopping position of the sliding trolley device 3 respectively to locate the position of the moving device in real time. The positioning accuracy reaches the millimeter level. Even in rainy, dusty, dark and other environments, the position can still be reliably detected.

[0028] The driving assembly 5 and the driven assembly 6 are respectively movably mounted on the crossbeam 4 via the mounting assembly 8. The mounting assembly 8 includes movable plates 81, which are arranged in pairs. The bottoms of the two side plates 51 and 61 are symmetrically fixedly connected to the movable plates 81. The two side plates 81 have a circular hole in the middle, and a disc 84 is movably mounted in the middle of the circular hole. A mounting rod 85 is fixedly connected vertically through the center of the disc 84. The top of the mounting rod 85 is rotatably connected to the mounting plate 58 and the mounting plate 64 respectively. The two side plates 81 have symmetrically opened mounting grooves 82 in the middle, and a magnetic block is fixedly mounted in each of the mounting grooves 82. 83. Magnetic blocks 816 are symmetrically fixedly installed inside the side wall of the disc 84. A pull rod 811 is fixedly connected to the side wall of the movable plate 81 on one side. An accommodating cavity is opened inside the adjacent side of the movable plate 81 on the other side. The pull rod 811 is movably disposed in the accommodating cavity. A spring 812 is installed inside the accommodating cavity. The two ends of the spring 812 are fixedly connected to the pull rod 811 and the inner wall of the accommodating cavity, respectively. The bottom end of the mounting rod 85 passes through the mounting hole on the crossbeam 4. A baffle 87 is fixedly connected to the lower part of the mounting rod 85. An anti-detachment sleeve 88 is installed at the bottom of the mounting rod 85. The baffle 87 and the anti-detachment sleeve 88 are respectively disposed on the upper and lower sides of the crossbeam 4. During operation, the drive assembly 5 and the driven assembly 6 are mounted on the crossbeam 4 using the mounting rod 85, baffle 87, and anti-detachment sleeve 88. Before mounting the sliding trolley device 3 onto the I-beam guide rail 1, the mounting rod 85 is rotated. The mounting rod 85 drives the disc 84 to rotate, causing the second magnetic block 816 in the side wall of the disc 84 to rotate to a position opposite to the first magnetic block 83. At this time, the magnetic properties of the opposing surfaces of the first magnetic block 83 and the second magnetic block 816 are the same, generating a repulsive force, which in turn pushes the two moving plates 81 to move in opposite directions. This, in turn, pushes the side plates 51 on both sides to move through the moving plates 81. At the same time, the pull rod 811 moves towards the outside of the receiving cavity, and the second spring 812 is stretched, causing the side plates 51 to move. While moving, the wheel 54 moves to both sides, which allows the side plate 51 to be installed upwards from the bottom of the I-beam guide rail 1. When the support wheel 59 contacts the bottom of the I-beam guide rail 1, the disc 84 moves in the opposite direction, causing the magnetic block 83 and the magnetic block 816 to be misaligned. Under the rebound of the spring 812, the side plates 51 on both sides move towards the middle, which in turn causes the wheel 54 to engage with the bottom edge of the I-beam guide rail 1. Similarly, the driven component 6 can be installed at the bottom of the I-beam guide rail 1 in the same way. The operation is simple, the installation efficiency is improved, it can be quickly disassembled and assembled, it is easy to reuse, it avoids the temperature stress generated by welding, eliminates the heat deformation of the track, and does not damage the original structure.

[0029] The bottom of the disc 84 is fixedly connected to a turntable 815. The turntable 815 has symmetrical through holes on both sides, which correspond to the mounting grooves 82 on both sides. A limiting rod 810 is movably installed in the through hole. The limiting rod 810 and a magnetic block 83 are attracted to each other. The thickness of the magnetic block 83 is less than the depth of the mounting groove 82. The bottom end of the limiting rod 810 extends to the outer side of the bottom of the turntable 815 and a connecting rod 89 is fixedly connected to the end. The connecting rod 89 is slidably sleeved on the mounting rod 85. A spring 86 is provided between the connecting rod 89 and the baffle 87. The spring 86 fits against the connecting rod 89 and limits the connecting rod 89. A sliding groove is opened on the side wall of the mounting rod 85. A locking block is fixedly connected to the inner wall of the middle hole of the connecting rod 89. The locking block is adapted to the sliding groove and is slidably disposed in the sliding groove. During operation, the turntable 815 drives the disc 84 to rotate. When the first magnetic block 83 and the second magnetic block 816 are aligned, the limiting rod 810 moves upward along the through hole under the attraction of the first magnetic block 83, and the top of the limiting rod 810 is inserted into the mounting groove 82. This limits the turntable 815 and the disc 84, fixing the position of the disc 84 and keeping the first magnetic block 83 and the second magnetic block 816 in a relative position. This maintains the position of the first side plate 51 and the second side plate 61, allowing the sliding trolley device 3 and the I-beam guide rail 1 to be aligned and installed, reducing the difficulty of operation and improving the installation efficiency. In addition, the locking block and the sliding groove work together to restrict the movement direction of the connecting rod 89, so that the connecting rod 89 can only move in a straight line along the mounting rod 85.

[0030] Example 2: Figure 7 As shown in the comparative embodiment one, another embodiment of the present invention is as follows: sliding cavities 814 are respectively provided inside the side walls of the first mounting plate 58 and the second mounting plate 64, and guide rods 813 are respectively fixedly connected to the inner walls of the first side plate 51 and the second side plate 61. The guide rods 813 are slidably disposed in the sliding cavities 814. During operation, the cooperation between the guide rods 813 and the sliding cavities 814 enables the first mounting plate 58 and the second mounting plate 64 to move laterally in a stable manner, and increases the connection strength between the first mounting plate 58, the second mounting plate 64 and the moving plate 81.

[0031] like Figure 9 As shown, a control method for a cable-driven construction robot, the method employing the aforementioned sliding drive device for cable-driven construction robots, includes the following steps: S1. The servo motor 52 is controlled by the controller to drive the drive wheel 55 to rotate, which in turn drives the wheels 54 on both sides to roll along the I-beam guide rail 1, and pushes the sliding trolley device 3 to move along the I-beam guide rail 1. S2. When it is necessary to pause the sliding trolley device 3, the servo motor 52 is paused by the controller, so that the sliding trolley loses power and stops moving. S3. The positioning device 11 transmits signals at the starting position and the stopping position of the sliding trolley device 3 respectively to locate the position of the moving device in real time. S4. After the sliding trolley device 3 stops moving, the second servo motor 72 is controlled to work. The second servo motor 72 drives the lead screw 73 to rotate through the transmission belt and transmission wheel, which in turn drives the limit plates 74 on both sides of the lead screw 73 to move towards the middle synchronously. The slots 75 of the limit plates 74 on both sides are engaged with the bottom edge of the I-beam guide rail 1, clamping the sliding trolley device 3 onto the I-beam guide rail 1.

[0032] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on the perspective of the observer, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0033] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A sliding drive device for a cable-driven construction robot, characterized in that: It includes an I-beam guide rail (1) and a sliding trolley device (3); The I-beam guide rail (1) is a single rail type, and the ends are connected to form a closed loop; The sliding trolley device (3) consists of a crossbeam (4), a drive assembly (5) and a driven assembly (6). The drive assembly (5) and the driven assembly (6) are respectively movably installed at the top two ends of the crossbeam (4). The sliding trolley device (3) is movably installed below the I-beam guide rail (1) through the drive assembly (5) and the driven assembly (6). The drive assembly (5) includes a mounting plate (58) set above the crossbeam (4), with side plates (51) symmetrically mounted on both sides of the mounting plate (58). A servo motor (52) is fixedly mounted on the outer wall of one side of the side plate (51), and the servo motor (52) has a braking function. A reducer (53) is fixedly mounted on the output end of the servo motor (52). The output shaft of the reducer (53) extends movably through to the inner side of the side plate (51) and a drive wheel (55) is fixedly mounted on the end. Wheels (54) are symmetrically mounted on both sides of the drive wheel (55), and both wheels (54) abut against the drive wheel (55). A support wheel (59) is rotatably mounted in the middle of the top of the mounting plate (58), and the top of the support wheel (59) abuts against the lower end face of the I-beam guide rail (1). The driven component (6) includes a mounting plate two (64) disposed above the crossbeam (4), with side plates two (61) symmetrically mounted on both sides of the mounting plate two (64), and wheels two (62) rotatably mounted on the middle of the opposite side walls of the side plates two (61) on both sides. Both wheels one (54) and wheels two (62) are convex. A support wheel two (63) is rotatably mounted on the middle of the top of the mounting plate two (64), and the top of the support wheel two (63) abuts against the lower end face of the I-beam guide rail (1). Meanwhile, the sliding drive device also includes a brake assembly (7), and contact plates (10) are fixedly connected to the top two side walls of the I-beam guide rail (1); a limit wheel (56) is rotatably installed in the middle of the top of the side plate (51), and the limit wheel (56) abuts against the contact plate (10); A positioning device (11) is fixedly installed on the side wall of the side plate (51) away from the servo motor (52). The driving assembly (5) and the driven assembly (6) are respectively movably mounted on the crossbeam (4) via the mounting assembly (8). The mounting assembly (8) includes a movable plate (81). The movable plates (81) are arranged in pairs. The bottom of the side plate one (51) and the side plate two (61) on both sides are symmetrically fixedly connected to the movable plates (81). The movable plates (81) on both sides have a circular hole in the middle. A disc (84) is movably mounted in the middle of the circular hole. An installation rod (85) is fixedly connected vertically through the center of the disc (84). The top of the installation rod (85) is rotatably connected to the mounting plate one (58) and the mounting plate two (64) respectively. The movable plates (81) on both sides have symmetrically opened mounting grooves (82) in the middle. The mounting grooves (82) on both sides are respectively fixedly installed with Magnetic block one (83), magnetic block two (816) are symmetrically fixedly installed inside the side wall of the disk (84), a pull rod (811) is fixedly connected to the side wall of the moving plate (81) on one side, and a receiving cavity is opened inside the adjacent side of the moving plate (81) on the other side. The pull rod (811) is movably set in the receiving cavity. A spring one (86) is installed inside the receiving cavity. The two ends of the spring one (86) are fixedly connected to the pull rod (811) and the inner wall of the receiving cavity, respectively. The bottom end of the mounting rod (85) passes through the mounting hole on the crossbeam (4). A baffle (87) is fixedly connected to the lower part of the mounting rod (85). An anti-detachment sleeve (88) is installed at the bottom of the mounting rod (85). The baffle (87) and the anti-detachment sleeve (88) are respectively set on the upper and lower sides of the crossbeam (4). The bottom of the disc (84) is fixedly connected to a turntable (815). The turntable (815) has symmetrical through holes on both sides. The through holes on both sides correspond to the mounting grooves (82) on both sides. A limit rod (810) is movably installed in the through hole. The limit rod (810) and the first magnetic block (83) attract each other. The thickness of the first magnetic block (83) is less than the depth of the mounting groove (82). The bottom end of the limit rod (810) extends to the outside of the bottom of the turntable (815) and is fixedly connected to the end by a connecting rod (89). The connecting rod (89) is slidably sleeved on the mounting rod (85). A second spring (812) is provided between the connecting rod (89) and the baffle (87). A sliding groove is opened on the side wall of the mounting rod (85). A locking block is fixedly connected to the inner wall of the middle hole of the connecting rod (89). The locking block is adapted to the sliding groove and is slidably set in the sliding groove. The mounting plate one (58) and mounting plate two (64) have sliding cavities (814) respectively inside their side walls. Guide rods (813) are fixedly connected to the inner walls of the side plate one (51) and side plate two (61) respectively. The guide rods (813) are slidably disposed in the sliding cavities (814).

2. The sliding drive device for a cable-driven construction robot according to claim 1, characterized in that: It also includes a sliding contact line (2) and a current collector (12); The sliding contact line (2) is composed of aluminum conductors, and the sliding contact line (2) is provided with multiple rows of equally spaced fixed installations on the side of the I-beam guide rail (1); The current collector (12) is fixedly installed on the side of the side plate (51). The current collector (12) is provided in multiple sets and corresponds one-to-one with the sliding contact line (2). The current collector (12) is slidably connected to the sliding contact line (2) to provide power to the sliding trolley device (3).

3. A sliding drive device for a cable-driven construction robot according to claim 2, characterized in that: It also includes a brake assembly (7), which includes a fixing plate (71). The fixing plate (71) is horizontally fixedly connected to the top of the crossbeam (4). The top two sides of the fixing plate (71) are symmetrically fixedly connected to bearing seats. A lead screw (73) is rotatably installed in the middle of the bearing seats on both sides. The threads of the lead screw (73) are opposite at both ends. Limiting plates (74) are threaded to both ends of the lead screw (73). A dovetail groove is provided at the bottom of the limiting plate (74). A dovetail guide rail (76) is fixedly connected to the middle of the upper surface of the fixing plate (71). The dovetail guide rail (76) is slidably arranged in the dovetail groove. A slot (75) is provided on the opposite side wall of the limiting plates (74) on both sides. The slot (75) is adapted to the bottom edge of the I-beam guide rail (1). A servo motor II (72) is fixedly installed on one side of the bottom of the fixing plate (71). The end of the lead screw (73) is connected to the output end of the servo motor II (72) through a transmission belt and a transmission wheel.

4. A sliding drive device for a cable-driven construction robot according to claim 3, characterized in that: Contact plates (10) are fixedly connected to the top two side walls of the I-beam guide rail (1), and multiple sets of reinforcing ribs (9) are fixedly connected between the inner wall of the contact plate (10) and the side wall of the I-beam guide rail (1) at intervals.

5. A sliding drive device for a cable-driven construction robot according to claim 4, characterized in that: The first side plate (51) is rotatably mounted with a first limiting wheel (56) at the top center. The first limiting wheel (56) abuts against the contact plate (10). The second limiting wheel (57) is rotatably mounted on both sides of the middle part of the first side plate (51). The second limiting wheel (57) abuts against the bottom edge of the I-beam guide rail (1).

6. A control method for a cable-driven construction robot, the method employing the sliding drive device for a cable-driven construction robot as described in claim 5, characterized in that: Includes the following steps: S1. The servo motor (52) is controlled by the controller to work, which drives the drive wheel (55) to rotate, thereby driving the wheels (54) on both sides to roll along the I-beam guide rail, and pushing the sliding trolley device (3) to move along the I-beam guide rail (1). S2. When it is necessary to pause the sliding trolley device (3), the servo motor (52) is paused by the controller, so that the sliding trolley loses power and stops moving. S3. The positioning device (11) transmits signals at the starting position and the stopping position of the sliding trolley device (3) respectively to locate the position of the sliding trolley device (3) in real time. S4. After the sliding trolley device (3) stops moving, the second servo motor (72) is controlled to work. The second servo motor (72) drives the lead screw (73) to rotate through the transmission belt and transmission wheel, thereby driving the limit plates (74) on both sides of the lead screw (73) to move towards the middle synchronously. The slots (75) of the limit plates (74) on both sides are engaged with the bottom edge of the I-beam guide rail (1), clamping the sliding trolley device (3) on the I-beam guide rail (1).

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