Cable parallel connection-crown block composite robot system for precise hoisting

Abstract

The invention discloses a cable parallel connection-crown block composite robot system for precise hoisting. The cable parallel connection-crown block composite robot system comprises a rack, a first sliding rail system, a second sliding rail system, a composite hoisting system and a control system. The rack is mounted at a fixed position in a plant and provides a fixed base for the whole equipment; the first sliding rail system is installed on the machine frame, the second sliding rail system is installed on the first sliding rail system, the composite lifting system is installed on the second sliding rail system, and through cooperation of the first sliding rail system, the second sliding rail system and the composite lifting system, the composite lifting system can be lifted. And finally, spatial three-degree-of-freedom large-range stable movement of the robot system terminal and local small-range six-degree-of-freedom position and posture fine adjustment movement are achieved, and the precise hoisting operation function is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of cable parallel robots, and particularly to a cable parallel-crane composite robot system for precision lifting. Background Art

[0002] A crane is a key heavy-duty logistics equipment in industrial production, widely used in fields such as steel, machinery, automotive, and logistics. It is an important link for handling bulk materials and connecting key process flows, playing an important supporting role in national economic construction. However, traditional cranes belong to under-constrained systems and cannot fully constrain the position and attitude of the terminal. During operation, there are large-amplitude swings that are difficult to suppress, which may cause the heavy objects hung by the crane to collide with surrounding objects, resulting in losses to personnel and property. Moreover, after movement, it is necessary to wait for the elimination of the terminal swing, which seriously affects the operation efficiency, accuracy, and safety.

[0003] Cable parallel robots use flexible ropes instead of rigid chains for transmission, and have advantages such as simple structure, large load-to-self-weight ratio, lightweight, and low cost. A crane uses steel cables as the transmission medium for motion and force. This structural feature gives the crane good potential for combination with cable parallel robots, providing new ideas and directions for the intelligent upgrade of cranes. Some enterprises have developed RTG anti-sway cranes using a multi-cable parallel configuration based on such design ideas. However, the lengths and tensions of their ropes cannot be adjusted individually, they cannot actively dissipate vibration energy, and they cannot accurately adjust the position and attitude of the terminal, making it difficult to meet the requirements of modern manufacturing for efficient and precise production. Summary of the Invention

[0004] In order to solve the problems existing in the above-mentioned prior art, the object of the present invention is to provide a cable parallel-crane composite robot system for precision lifting. By combining a cable parallel robot with a crane system, this robot system uses the crane hoisting cable as the main load-bearing cable to achieve heavy-load hoisting. At the same time, a cable parallel robot with multiple active ropes is introduced to realize the constraint and adjustment of the terminal, achieving efficient active anti-sway control and fine adjustment of the terminal position and attitude, and greatly increasing the accuracy, stability, and efficiency of the crane system.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A cable parallel-crane composite robot system for precision lifting, the structure of which includes a frame 1, a first slide rail system 2, a second slide rail system 3, a composite hoisting system 4, and a control system 5;

[0007] The frame 1 is responsible for providing an installation position and a fixed base for the first slide rail system 2, the second slide rail system 3, and the composite hoisting system 4;

[0008] The first slide rail system 2, including a first slider 201 and a cross beam 202, is responsible for reciprocating along the frame 1 through the first slider 201, thereby driving the movement of the cross beam 202, as well as the second slide rail system 3 and the composite lifting system 4, and adjusting the position of the composite lifting system 4 in the X-axis direction;

[0009] The second slide rail system 3 is responsible for reciprocating along the cross beam 202 of the first slide rail system 2, thereby driving the movement of the composite lifting system 4 and adjusting the position of the composite lifting system 4 in the Y-axis direction;

[0010] The composite lifting system 4, including a static platform 401, a main cable winding and unwinding system 402, a main cable 403, multiple auxiliary cable winding and unwinding systems 404, multiple auxiliary cable guiding systems 405, multiple auxiliary cables 406, a moving platform 407, a lifting tool 408 and a positioning sensor 409, is responsible for coordinately winding and unwinding the main cable 403 and the auxiliary cables 406 through the main cable winding and unwinding system 402 and the auxiliary cable winding and unwinding systems 404 respectively, thereby driving the various movements required for the moving platform 407 and the lifting tool 408 to perform precision lifting in the working space;

[0011] Among them, the auxiliary cable winding and unwinding system 404 includes a frame 4041, a cable winding motor 4042, a drum 4043, a guiding motor 4044, a screw rod guide rail 4045, a slider 4046, an encoder pulley 4047 and a cable force sensor 4048, and is responsible for driving the rotation of the drum 4043 through the cable winding motor 4042 to realize the winding and unwinding of the auxiliary cable 406, and real-time feedback of the cable force and cable length data to the control system 5 through the encoder pulley 4047 and the cable force sensor 4048;

[0012] The frame 1 is installed at a fixed position inside the factory building to provide a fixed base for the entire equipment; the first slide rail system 2 is installed on the frame 1 through the first slider 201 and can reciprocate along the frame, and its cross beam 202 is installed on the first slider 201 and moves therewith; the second slide rail system 3 is installed on the cross beam 202 of the first slide rail system 2 and can reciprocate along the cross beam; the composite lifting system 4 is installed on the second slide rail system 3;

[0013] When the robot system is running, the compound lifting system 4 translates along the X-axis by moving along the first slide rail system 2 on the frame 1, translates along the Y-axis by moving along the second slide rail system 3 on the cross beam 202, controls the retraction and extension of the main cable 403 through the main cable retraction and extension system 402 to realize the up and down movement of the moving platform 407 along the Z-axis, and outputs the pulling force required for the lifting operation to the moving platform 407; on the basis of the above movements, each auxiliary cable retraction and extension system 404 controls each auxiliary cable 406 to perform retraction and extension movements coordinated with the main cable, controls the moving platform 407 to perform small-range translation and rotation, and realizes the fine adjustment of the terminal position and attitude; through the cooperation of the first slide rail system 2, the second slide rail system 3, the main cable retraction and extension system 402, and each auxiliary cable retraction and extension system 404, finally, the three-degree-of-freedom large-range movement of the moving platform 407 in space, as well as the fine adjustment movement of the local small-range position and attitude, are realized, and the precise lifting operation function is realized.

[0014] The static platform 401 of the compound lifting system 4 is fixedly installed at the lower end of the second slide rail system 3; the main cable retraction and extension system 402 and the auxiliary cable retraction and extension system 404 are fixedly installed on the static platform 401; one end of the main cable 403 is led out from the main cable retraction and extension system 402, and the other end is connected to the moving platform 407; one end of each auxiliary cable 406 is led out from the auxiliary cable retraction and extension system 404, and the other end is connected to the moving platform 407 through the guiding of the auxiliary cable guiding system 405; the lifting tool 408 is fixedly installed on the moving platform 407; the positioning sensor 409 is fixedly installed on the lifting tool 408. The frame 4041 of the auxiliary cable retraction and extension system 404 is fixedly installed on the static platform 401; the housing of the cable winding motor 4042 is fixedly installed on the frame 4041, and the rotating shaft is connected to the drum 4043; the housing of the guiding motor 4044 is fixedly installed on the frame 4041, and the rotating shaft is connected to the screw guide rail 4045; the screw guide rail 4045 is installed on the frame 4041; the slider 4046 is installed on the screw guide rail 4045 so as to slide reciprocally along the guide rail; the cable force sensor 4048 is installed on the slider 4046; the encoder pulley 4047 is connected to the cable force sensor 4048; one end of the auxiliary cable 406 is fixedly connected and wound on the drum 4043, and the other end is guided through the encoder pulley 4047, guided by the auxiliary cable guiding system 405, and finally connected to the moving platform 407.

[0015] The number of the auxiliary cable retraction and extension systems 404 is m, and the value range of m is 2 to 12; through the cooperation of the auxiliary cable retraction and extension system 404 and the main cable 403, the terminal under-constrained degrees of freedom can be transformed into constrained and adjustable degrees of freedom, and the number thereof is related to m: when m < 6, the number of the terminal constrained and adjustable degrees of freedom is m + 1; when m ≥ 6, the number of the terminal constrained and adjustable degrees of freedom is 6.

[0016] The positioning sensor 409 uses a vision sensing module or a lidar module to achieve precise identification and positioning of the objects in its sensing area, so as to efficiently and accurately feedback the relative position between the end of the robot system and the target object and the relative position information of the external environment to the control system 5, providing a reference for the realization of precise hoisting and realizing real-time monitoring of the environmental information to avoid interference and collision; if the spreader 408 and the object to be hoisted seriously block the sensing area of the positioning sensor 409, the positioning sensor 409 can also be arranged on the static platform 401.

[0017] The type of the spreader 408 depends on the type of hoisting operation, which can be a single or multiple hooks, or a corresponding special spreader can be processed according to the shape layout of the object to be hoisted.

[0018] According to the stage of the hoisting task, the cable-parallel-crane composite robot system will operate in two operation modes: precise hoisting mode and stable lifting mode. When the cable-parallel-crane composite robot system is in the stage of mounting the end spreader to the target workpiece and in the final stage of hoisting the target workpiece to the target position with a given position and attitude, the cable-parallel-crane composite robot system operates in the precise hoisting mode. When the cable-parallel-crane composite robot system performs a large-range handling movement and is in the process of transporting the suspended workpiece to the target position, the cable-parallel-crane composite robot system operates in the stable lifting mode.

[0019] In the precise hoisting mode, the first slide rail system 2 and the second slide rail system 3 move at a low speed or remain stationary; the main cable retracting and releasing system 402 drives the retracting and releasing of the main cable 403, thereby controlling the lifting or lowering of the moving platform 407; the control objective of the control system 5 is to make the end moving platform 407 accurately move to the target pose, plan the movement trajectory of the end according to the target position and attitude of the moving platform 407 and use it as the target reference trajectory for control; the auxiliary cable retracting and releasing system 404 operates in the force-position hybrid control mode, controls the retracting and releasing of each auxiliary cable 406, and monitors the length and tension of each auxiliary cable 406 in real time through the encoder pulley 4047 and the cable force sensor 4048. The control system 5 accurately adjusts the length and tension of each cable according to the length and tension feedback data, and finally realizes the accurate tracking of the end to the reference trajectory. In this mode, the target position and attitude of the moving platform 407 are planned according to the relative pose relationship between the target object and the external environment sensed by the positioning sensor 409 and the cable-parallel-crane composite robot system. In the case where the internal environment of the factory building is regularly arranged and the pose data of all objects are known, the target position and attitude of the moving platform 407 can also be directly planned according to the known pose data of the objects, and the sensing data of the positioning sensor 409 can be used to monitor and correct it in real time during the operation.

[0020] In the stable lifting mode, the first rail system 2 and the second rail system 3 perform large-range movements according to the requirements of the lifting task; the main cable retracting and releasing system 402 remains locked to keep the length of the main cable 403 unchanged; the control objective of the control system 5 is to ensure that the terminal moving platform 407 moves with the first rail system 2 and the second rail system 3 while reducing the sway caused by inertia, ensuring the stable operation of the terminal; the auxiliary cable retracting and releasing system 404 operates in a force control mode, and the tension of each auxiliary cable 406 is monitored in real time through the cable force sensor 4048 and the cable is extended or retracted according to the tension magnitude to prevent the auxiliary cable from loosening and losing control of the terminal. At the same time, the length of each auxiliary cable 406 is monitored in real time through the encoder pulley 4047; the control system 5 estimates the vibration state of the terminal according to the length of each auxiliary cable 406, and plans the cable force distribution that enables the fastest dissipation of the vibration energy. This cable force distribution is used as the reference cable force, thereby controlling each auxiliary cable retracting and releasing system 404 to output the corresponding cable force to the terminal, and finally quickly realizing the dissipation of the terminal vibration energy and ensuring the stability of the lifting process.

[0021] The auxiliary cable retracting and releasing system 404 cooperates with the automatic overhead crane to form a composite lifting system, or can also cooperate with the manual overhead crane to form a composite lifting system, thereby supporting both the integrated transformation based on the automatic overhead crane and the integrated transformation based on the manual overhead crane;

[0022] When cooperating with the automatic overhead crane, the main cable retracting and releasing system 402 is connected to the control system 5 and is controlled by the control system 5, and cooperates with the auxiliary cable retracting and releasing system 404 to move. At this time, the control system 5 simultaneously plans the movements of the main cable retracting and releasing system 402 and the auxiliary cable retracting and releasing system 404 and sends corresponding control instructions to the two;

[0023] When cooperating with the manual overhead crane, the main cable retracting and releasing system 402 is manually operated and controlled by the operator and is not connected to the control system 5. At this time, the control system 5 predicts and analyzes the motion state of the main cable retracting and releasing system according to the feedback data of the encoder pulley 4047 and the cable force sensor 4048 in the auxiliary cable retracting and releasing system 404, thereby planning the movement of the auxiliary cable retracting and releasing system 404 and sending corresponding control instructions to it.

[0024] Compared with the prior art, the beneficial effects that can be achieved through the implementation of the present invention are:

[0025] 1. The robot system proposed by the present invention deeply integrates the cable parallel robot and the overhead crane system to form a composite operation platform with strong stability and high control precision, breaks through the problem of unstable operation caused by the under-constraint of the traditional overhead crane, realizes the integrated and efficient execution of the lifting and hoisting tasks, and innovatively constructs a new operation mode for the overhead crane system.

[0026] 2. By innovatively introducing intelligent perception and drive control means such as machine vision and cable force tracking control into traditional overhead cranes, a dual-mode collaborative architecture of "body reinforcement + intelligent control" is formed, effectively improving the operation accuracy, automation and intelligence level of the overhead crane system. It is not only applicable to the further intelligent upgrade of automatic overhead cranes, but also applicable to the automation upgrade transformation of manual overhead cranes, providing a new technical path for the application of cable-parallel equipment and intelligent overhead crane systems in complex industrial scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of the overall structure of the cable-parallel overhead crane composite robot system of the present invention.

[0028] Figure 2 is a partially enlarged schematic diagram of the cable-parallel overhead crane composite robot system of the present invention.

[0029] Figure 3 is a detailed structural schematic diagram of the composite lifting system of the robot system of the present invention.

[0030] Figure 4 is a detailed structural schematic diagram of the auxiliary cable retraction and deployment system of the robot system of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. It should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0032] As Figure 1 and Figure 2 shown, a cable-parallel overhead crane composite robot system for precision assembly includes a frame 1, a first slide rail system 2, a second slide rail system 3, a composite lifting system 4 and a control system 5;

[0033] The frame 1 is responsible for providing an installation position and a fixed base for the first slide rail system 2, the second slide rail system 3 and the composite lifting system 4;

[0034] The first slide rail system 2 includes a first slider 201 and a cross beam 202, and is responsible for reciprocating along the frame 1 through the first slider 201, thereby driving the movement of the cross beam 202, as well as the second slide rail system 3 and the composite lifting system 4, and adjusting the position of the composite lifting system 4 in the X-axis direction;

[0035] The second slide rail system 3 is responsible for reciprocating along the cross beam 202 of the first slide rail system 2, thereby driving the movement of the composite lifting system 4 and adjusting the position of the composite lifting system 4 in the Y-axis direction.

[0036] The frame 1 is installed at a fixed position inside the factory building, providing a fixed base for the entire equipment; the first slide rail system 2 is installed on the frame 1 through the first slider 201 and can reciprocate along the frame, and its cross beam 202 is installed on the first slider 201 and moves therewith; the second slide rail system 3 is installed on the cross beam 202 of the first slide rail system 2 and can reciprocate along the cross beam; the composite lifting system 4 is installed on the second slide rail system 3.

[0037] As Figure 3 shown, the composite lifting system 4 includes a static platform 401, a main cable retracting and releasing system 402, a main cable 403, multiple auxiliary cable retracting and releasing systems 404, multiple auxiliary cable guiding systems 405, multiple auxiliary cables 406, a moving platform 407, a lifting tool 408, and a positioning sensor 409, and is responsible for coordinately retracting and releasing the main cable 403 and the auxiliary cables 406 through the main cable retracting and releasing system 402 and the auxiliary cable retracting and releasing systems 404 respectively, thereby driving the moving platform 407 and the lifting tool 408 to perform various movements required for precision lifting in the working space.

[0038] Among them, the static platform 401 of the composite lifting system 4 is fixedly installed at the lower end of the second slide rail system 3; the main cable retracting and releasing system 402 and the auxiliary cable retracting and releasing systems 404 are fixedly installed on the static platform 401; one end of the main cable 403 is led out from the main cable retracting and releasing system 402, and the other end is connected to the moving platform 407; one end of each auxiliary cable 406 is led out from the auxiliary cable retracting and releasing system 404, and the other end is connected to the moving platform 407 through the guiding of the auxiliary cable guiding system 405; the lifting tool 408 is fixedly installed on the moving platform 407; the positioning sensor 409 is fixedly installed on the lifting tool 408.

[0039] The number of the auxiliary cable retracting and releasing systems 404 is m, and the value range of m is 2 to 12; by cooperating the auxiliary cable retracting and releasing systems 404 with the main cable 403, the terminal underconstrained degrees of freedom can be transformed into constrained and adjustable degrees of freedom, and the number thereof is related to m: when m < 6, the number of the terminal constrained and adjustable degrees of freedom is m + 1; when m ≥ 6, the number of the terminal constrained and adjustable degrees of freedom is 6. In Figure 3 the given embodiment, the number of the auxiliary cable retracting and releasing systems 404 is 8.

[0040] As Figure 4As shown in the figure, the auxiliary cable retracting and deploying system 404 includes a frame 4041, a cable retracting motor 4042, a drum 4043, a guiding motor 4044, a lead screw guide rail 4045, a slider 4046, an encoder pulley 4047, and a cable force sensor 4048. It is responsible for driving the rotation of the drum 4043 through the cable retracting motor 4042 to realize the retracting and deploying of the auxiliary cable 406, and feeding back the cable force and cable length data to the control system 5 in real time through the encoder pulley 4047 and the cable force sensor 4048.

[0041] When the robot system is running, the compound lifting system 4 translates along the X-axis by moving along the first slide rail system 2 on the frame 1, translates along the Y-axis by moving along the second slide rail system 3 on the cross beam 202, controls the retracting and deploying of the main cable 403 through the main cable retracting and deploying system 402 to realize the up and down movement of the moving platform 407 along the Z-axis, and outputs the pulling force required for the lifting operation to the moving platform 407; on the basis of the above movements, each auxiliary cable retracting and deploying system 404 controls each auxiliary cable 406 to perform retracting and deploying movements coordinated with the main cable, controls the moving platform 407 to perform small-range translation and rotation, and realizes the fine adjustment of the terminal position and attitude; through the cooperation of the first slide rail system 2, the second slide rail system 3, the main cable retracting and deploying system 402, and each auxiliary cable retracting and deploying system 404, finally, the three-degree-of-freedom large-range movement of the moving platform 407 in space, as well as the fine adjustment movement of the local small-range position and attitude, are realized, and the precise lifting operation function is realized.

[0042] According to the stage of the lifting task, the cable parallel-crane composite robot system includes two operation modes: the precise lifting mode and the stable lifting mode.

[0043] When the cable-parallel crane compound robot system is in the final stage of hanging the end effector on the target workpiece and lifting the target workpiece to the target position with a given position and attitude, the cable-parallel crane compound robot system operates in the precision lifting mode. In this mode, the first slide rail system 2 and the second slide rail system 3 move at a low speed or remain stationary; the main cable winding and unwinding system 402 drives the main cable 403 to wind and unwind, thereby controlling the lifting and lowering of the moving platform 407; the control objective of the control system 5 is to make the end moving platform 407 accurately move to the target pose, plan the movement trajectory of the end according to the target position and attitude of the moving platform 407 and use it as the target reference trajectory for control; the auxiliary cable winding and unwinding system 404 operates in the force-position hybrid control mode, controls the winding and unwinding of each auxiliary cable 406, and monitors the length and tension of each auxiliary cable 406 in real time through the encoder pulley 4047 and the cable force sensor 4048. The control system 5 accurately adjusts the length and tension of each cable according to the length and tension feedback data, and finally realizes the accurate tracking of the end to the reference trajectory. In this mode, the target position and attitude of the moving platform 407 are planned according to the relative pose relationship between the target object sensed by the positioning sensor 409 and the external environment and the cable-parallel crane compound robot system; when the internal environment of the workshop is arranged regularly and the pose data of all objects are known, the target position and attitude of the moving platform 407 can also be directly planned according to the known pose data of the object, and the sensing data of the positioning sensor 409 is used to monitor and correct it in real time during the operation.

[0044] When the cable-parallel crane compound robot system performs a large-range handling movement and is in the process of transporting the suspended workpiece to the target position, the cable-parallel crane compound robot system operates in the stable lifting mode. In this mode, the first slide rail system 2 and the second slide rail system 3 perform large-range movements according to the requirements of the lifting task; the main cable winding and unwinding system 402 remains locked to keep the length of the main cable 403 unchanged; the control objective of the control system 5 is to ensure that the end moving platform 407 reduces the sway caused by inertia while moving with the first slide rail system 2 and the second slide rail system 3, and ensure the stable operation of the end; the auxiliary cable winding and unwinding system 404 operates in the force control mode, monitors the tension of each auxiliary cable 406 in real time through the cable force sensor 4048 and expands and contracts according to the tension magnitude to avoid the auxiliary cable from loosening and losing control of the end, and at the same time monitors the length of each auxiliary cable 406 in real time through the encoder pulley 4047; the control system 5 estimates the vibration state of the end according to the length of each auxiliary cable 406, plans the cable force distribution that can dissipate the vibration energy fastest, takes this cable force distribution as the reference cable force, and thus controls each auxiliary cable winding and unwinding system 404 to output the corresponding cable force to the end, and finally quickly realizes the dissipation of the end vibration energy and ensures the stability of the lifting process.

[0045] It should be noted that although the technical solutions and preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, the present invention is not limited solely to the above specific embodiments. The above embodiments are merely illustrative. Those skilled in the relevant art, inspired by the present invention, can also make many forms without departing from the purpose of the present invention and the scope of protection of the claims. These all fall within the scope of protection of the present invention.

Claims

1. A cable parallel - overhead crane composite robot system for precision lifting, characterized in that: It includes a frame (1), a first slide rail system (2), a second slide rail system (3), a composite lifting system (4) and a control system (5); The frame (1) is responsible for providing an installation position and a fixed base for the first slide rail system (2), the second slide rail system (3) and the composite lifting system (4); The first slide rail system (2), including a first slider (201) and a cross beam (202), is responsible for reciprocating along the frame (1) through the first slider (201), thereby driving the movement of the cross beam (202), as well as the second slide rail system (3) and the composite lifting system (4), and adjusting the position of the composite lifting system (4) in the X - axis direction; The second slide rail system (3) is responsible for reciprocating along the cross beam (202) of the first slide rail system (2), thereby driving the movement of the composite lifting system (4), and adjusting the position of the composite lifting system (4) in the Y - axis direction; The composite lifting system (4) includes a static platform (401), a main cable winding and unwinding system (402), a main cable (403), multiple auxiliary cable winding and unwinding systems (404), multiple auxiliary cable guiding systems (405), multiple auxiliary cables (406), a moving platform (407), a lifting tool (408) and a positioning sensor (409), and is responsible for the coordinated winding and unwinding of the main cable (403) and the auxiliary cables (406) through the main cable winding and unwinding system (402) and the auxiliary cable winding and unwinding systems (404) respectively, thereby driving the moving platform (407) and the lifting tool (408) to perform various movements required for precision lifting in the working space; Among them, the auxiliary cable winding and unwinding system (404) includes a frame (4041), a cable winding motor (4042), a drum (4043), a guiding motor (4044), a screw rod guide rail (4045), a slider (4046), an encoder pulley (4047) and a cable force sensor (4048), and is responsible for driving the rotation of the drum (4043) through the cable winding motor (4042) to realize the winding and unwinding of the auxiliary cable (406), and real - time feedback of cable force and cable length data to the control system (5) through the encoder pulley (4047) and the cable force sensor (4048); The frame (1) is installed at a fixed position inside the factory building to provide a fixed base for the whole equipment; the first slide rail system (2) is installed on the frame (1) through the first slider (201) and can reciprocate along the frame, and its cross beam (202) is installed on the first slider (201) and moves therewith; the second slide rail system (3) is installed on the cross beam (202) of the first slide rail system (2) and can reciprocate along the cross beam; the composite lifting system (4) is installed on the second slide rail system (3); When the robot system is running, the compound lifting system (4) moves translationally along the X-axis through the movement of the first slide rail system (2) along the frame (1), moves translationally along the Y-axis through the movement of the second slide rail system (3) along the cross beam (202), and controls the retraction and extension of the main cable (403) through the main cable retraction and extension system (402) to achieve the up and down movement of the moving platform (407) along the Z-axis, and outputs the pulling force required for the lifting operation to the moving platform (407); on the basis of the above movements, each auxiliary cable retraction and extension system (404) controls each auxiliary cable (406) to perform the retraction and extension movement coordinated with the main cable, controls the moving platform (407) to perform small-range translation and rotation, and realizes the fine adjustment of the terminal position and posture; through the cooperation of the first slide rail system (2), the second slide rail system (3), the main cable retraction and extension system (402), and each auxiliary cable retraction and extension system (404), finally, the three-degree-of-freedom large-range movement of the moving platform (407) in space, as well as the fine adjustment movement of the local small-range position and posture, are realized, and the precise lifting operation function is realized.

2. The cable parallel - crane composite robot system for precision hoisting according to claim 1, characterized in that: The static platform (401) of the compound lifting system (4) is fixedly installed at the lower end of the second slide rail system (3); the main cable retraction and extension system (402) and the auxiliary cable retraction and extension system (404) are fixedly installed on the static platform (401); one end of the main cable (403) is led out from the main cable retraction and extension system (402), and the other end is connected to the moving platform (407); one end of each auxiliary cable (406) is led out from the auxiliary cable retraction and extension system (404), and the other end is connected to the moving platform (407) through the guiding of the auxiliary cable guiding system (405); the lifting tool (408) is fixedly installed on the moving platform (407); the positioning sensor (409) is fixedly installed on the lifting tool (408).

3. A cable parallel - overhead crane composite robot system for precision hoisting according to claim 1, characterized in that: The frame (4041) of the auxiliary cable retraction and extension system (404) is fixedly installed on the static platform (401); the housing of the cable winding motor (4042) is fixedly installed on the frame (4041), and the rotating shaft is connected to the drum (4043); the housing of the guiding motor (4044) is fixedly installed on the frame (4041), and the rotating shaft is connected to the screw guide rail (4045); the screw guide rail (4045) is installed on the frame (4041); the slider (4046) is installed on the screw guide rail (4045) to slide reciprocally along the guide rail; the cable force sensor (4048) is installed on the slider (4046); the encoder pulley (4047) is connected to the cable force sensor (4048); one end of the auxiliary cable (406) is fixedly connected and wound on the drum (4043), and the other end is guided through the encoder pulley (4047), guided by the auxiliary cable guiding system (405), and finally connected to the moving platform (407).

4. A cable parallel - overhead crane composite robot system for precision hoisting according to claim 1, characterized in that: The number of the auxiliary cable retracting and releasing systems (404) is m, where m ranges from 2 to 12; the terminal underconstrained degrees of freedom are transformed into constrained and adjustable degrees of freedom through the cooperation of the auxiliary cable retracting and releasing systems (404) and the main cable (403), and the number thereof is related to m: when m < 6, the number of the terminal constrained and adjustable degrees of freedom is m + 1; when m ≥ 6, the number of the terminal constrained and adjustable degrees of freedom is 6.

5. The cable parallel - overhead crane composite robot system for precision lifting according to claim 1, characterized in that: The positioning sensor (409) adopts a vision sensing module or a lidar module to achieve precise recognition and positioning of the objects in its sensing area, so as to efficiently and highly accurately feedback the relative positions of the terminal of the robot system and the target object and the relative position information of the external environment to the control system (5), provide a reference for the realization of precise hoisting, and realize real-time monitoring of the environmental information to avoid interference and collision; if the spreader (408) and the object to be hoisted seriously block the sensing area of the positioning sensor (409), the positioning sensor (409) is arranged on the static platform (401).

6. The cable parallel - overhead crane composite robot system for precision hoisting according to claim 1, wherein: The type of the spreader (408) depends on the type of the hoisting operation, and is a single or multiple hook, or a corresponding special spreader is processed according to the shape layout of the object to be hoisted.

7. A cable parallel - overhead crane composite robot system for precision hoisting according to claim 1, characterized in that: According to the stage of the hoisting task, the cable parallel-crane composite robot system operates in two operation modes: the precise hoisting mode and the stable hoisting mode: when the cable parallel-crane composite robot system is in the final stage of hanging the terminal spreader on the target workpiece and hoisting the target workpiece to the target position at a given position and attitude, the cable parallel-crane composite robot system operates in the precise hoisting mode; when the cable parallel-crane composite robot system performs a large-range handling movement and is in the process of transporting the suspended workpiece to the target position, the cable parallel-crane composite robot system operates in the stable hoisting mode.

8. The cable parallel - overhead crane composite robot system for precision hoisting according to claim 7, characterized in that: In the precise hoisting mode, the first slide rail system (2) and the second slide rail system (3) move at a low speed or remain stationary; the main cable retracting and releasing system (402) drives the retracting and releasing of the main cable (403), and further controls the rising or falling of the moving platform (407); the control target of the control system (5) is to make the terminal moving platform (407) accurately move to the target pose, plan the movement trajectory of the terminal according to the target position and attitude of the moving platform (407) and use it as the target reference trajectory for control; the auxiliary cable retracting and releasing system (404) operates in a force-position hybrid control mode, controls the retracting and releasing of each auxiliary cable (406), monitors the length and tension of each auxiliary cable (406) in real time through the encoder pulley (4047) and the cable force sensor (4048), and the control system (5) precisely adjusts the length and tension of each cable according to the length and tension feedback data, and finally realizes the accurate tracking of the terminal to the reference trajectory; The target position and attitude of the moving platform (407) are planned according to the relative pose relationship between the target object sensed by the positioning sensor (409) and the external environment and the cable-parallel-crane composite robot system; in the case where the internal environment of the workshop is regular and the pose data of all objects are known, the target position and attitude of the moving platform (407) are directly planned according to the known pose data of the objects, and the sensing data of the positioning sensor (409) is used to monitor and correct it in real time during operation.

9. The cable parallel - overhead crane composite robot system for precision hoisting according to claim 7, wherein: In the stable lifting mode, the first slide rail system (2) and the second slide rail system (3) perform large-range movements according to the requirements of the lifting task; the main cable winding system (402) remains locked to keep the length of the main cable (403) unchanged; the control objective of the control system (5) is to ensure that the terminal moving platform (407) moves with the first slide rail system (2) and the second slide rail system (3) while reducing the sway caused by inertia and ensuring the stable operation of the terminal; the auxiliary cable winding system (404) operates in the force control mode, and the tension of each auxiliary cable (406) is monitored in real time through the cable force sensor (4048) and the length of each auxiliary cable (406) is monitored in real time through the encoder pulley (4047), and the length of each auxiliary cable (406) is monitored in real time through the encoder pulley (4047). The control system (5) estimates the vibration state of the terminal according to the length of each auxiliary cable (406), and plans the cable force distribution that dissipates the vibration energy fastest, and uses this cable force distribution as the reference cable force, so as to control each auxiliary cable winding system (404) to output the corresponding cable force to the terminal, and finally quickly dissipate the vibration energy of the terminal and ensure the stability of the lifting process.

10. A cable parallel - overhead crane composite robot system for precision hoisting according to claim 1, characterized in that: The auxiliary cable winding system (404) cooperates with the automatic crane to form a composite lifting system, or cooperates with the manual crane to form a composite lifting system, so as to support both the integrated transformation based on the automatic crane and the integrated transformation based on the manual crane; When cooperating with the automatic crane, the main cable winding system (402) is connected to the control system (5) and is controlled by the control system (5), and cooperates with the auxiliary cable winding system (404) to move. At this time, the control system (5) plans the movements of the main cable winding system (402) and the auxiliary cable winding system (404) at the same time and sends corresponding control instructions to the two; When cooperating with the manual crane, the main cable winding system (402) is manually operated and controlled by the operator and is not connected to the control system (5). At this time, the control system (5) predicts and analyzes the motion state of the main cable winding system according to the feedback data of the encoder pulley (4047) and the cable force sensor (4048) in the auxiliary cable winding system (404), so as to plan the motion of the auxiliary cable winding system (404) and send corresponding control instructions to it.

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