Working space releasing method of drive-by-wire robot

Abstract

The invention discloses a work space releasing method of a drive-by-wire robot, and belongs to the technical field of self-control. The working space releasing method is preferentially applied to a specified space of a rope system and a truss vehicle, and the height of a rope threading device of the rope system is higher than that of the truss vehicle; and according to the space release requirement, the corresponding rope gathering mode is selected to gather the specified ropes together, and the gathering point is transferred to the required position by controlling the length of the ropes. When the space of the rope system needs to be completely released, the movable ends of the ropes are directly connected and gathered or the movable ends of the ropes are connected and gathered through connecting pieces; and the convergent point is higher than the truss. The situation that the reserved height of an operation space is low due to the fact that an existing robot is arranged below a joist barrow or the lifting height is limited due to the fact that a rope cannot be straightened when the robot is arranged above the joist barrow is changed, the problem of space conflict when the robot and the joist barrow share the working space is effectively solved, and the space utilization rate is remarkably increased.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic control, and in particular relates to a method for releasing a workspace of a wire-controlled robot. Background Art

[0002] In the field of industrial automation, with the expansion of production scale and the increasing complexity of production processes, scenarios involving multiple robots working together are becoming increasingly common. Wire-controlled robots, with their unique operating methods, play a vital role in tasks such as material handling and equipment installation. They often collaborate with cranes or handling robots to complete complex production tasks, as demonstrated in patent CN116553055B, "An Intelligent Logistics Warehouse System and Deployment Method."

[0003] However, this collaborative operation mode faces severe space management challenges. Wire-controlled robots rely on ropes to achieve motion control and operation execution, and when sharing a workspace with gantry trucks, handling robots, rail cars, and other obstacles on the ground, etc. Taking the gantry truck and the wire-controlled robot as an example, the gantry truck is generally positioned at a specified height within the operating space. If the wire-controlled robot is placed below the gantry truck, the reserved height of the wire-controlled robot's operating space will be too low, and the operating space will be very limited and unable to be properly dispatched. If the wire-controlled robot is placed above the gantry truck, the rope of the wire-controlled robot will not be straightened due to the size and weight of the end effector, so the rising height is limited, and it is impossible to provide the required avoidance for the gantry truck. Summary of the Invention

[0004] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a method for releasing the workspace of a wire-controlled robot.

[0005] The present invention adopts the following technical solution: a method for releasing the workspace of a wire-controlled robot, comprising the following steps: Lay out the rope system and the gantry crane in the designated space, wherein the rope threader of the rope system is located at a higher height than the gantry crane; According to the space release requirements, select the corresponding rope convergence mode to gather the specified ropes together, and move the convergence point to the desired position by controlling the length of the ropes.

[0006] In a further embodiment, when the space of the rope system needs to be completely released, the movable ends of the ropes are directly connected and gathered together or the movable ends of the ropes are connected and gathered together through a connecting piece; The height of the convergence point is higher than the height of the trusses.

[0007] In a further embodiment, when the space of the rope system needs to be partially released, an adapted actuator is selected / replaced; the movable ends of the ropes are connected and gathered via the actuator.

[0008] In further embodiments, the executor is a variable model, and the configuration parameters of the variable model at least include: morphology, volume, weight, and connection mode.

[0009] In further embodiments, it is defined that there are currently N ropes gathered together, and when a rope needs to perform a task, the following steps are further included: selecting a suitable at least one rope from the N ropes, adjusting the length of the rope, wherein N is an integer greater than or equal to 2; controlling the gathering point to approach the location of the task executor, and approaching the corresponding execution point of the rope closer to the task executor first, until the connecting member of the rope is connected to the task executor; the rope is separated from the gathering point, and the length of a suitable rope is adjusted according to the demand, and the gathering point is transferred.

[0010] In further embodiments, it is defined that there are currently M ropes gathered together, and when a rope needs to pause a task, the following steps are further included: selecting a suitable at least one rope from the M ropes, adjusting the length of the rope, wherein M is an integer greater than or equal to 2; controlling the gathering point to approach the connecting member of the rope , and approaching the connecting member of the rope closer to the idle rope collecting member first, until the rope is connected to the gathering point; adjusting the length of a suitable rope according to the demand, and transferring the gathering point.

[0011] In further embodiments, the transfer process of the gathering point includes: adjusting the corresponding lengths of the ropes gathered together according to the demand or a predetermined trajectory, updating the spatial position of the gathering point, wherein are three-axis coordinate values of the gathering point, respectively.

[0012] The present invention overcomes the spatial limitations of traditional wire-controlled robots and other equipment by arranging the rope system and gantry within a designated space, with the rope threader located at a higher level than the gantry. This overcomes the previous situation where wire-controlled robots, such as those placed below the gantry, had low operating space, or those placed above the gantry, where the rope could not be straightened, had limited ascent. This effectively resolves the spatial conflict between the two when they share a working space, significantly improving space utilization.

[0013] When the rope system needs to be fully freed up, the ropes can be gathered together directly at their free ends or through connectors, with the convergence point located higher than the truss. This approach quickly and completely frees up the robot's workspace, allowing it to operate freely within a wider range and adapt to different production scenarios and task requirements.

[0014] When only partial freeing of space is required, select or replace an appropriate actuator and connect the free ends of the gathering ropes through the actuator. Because the actuator is a variable model, its configuration parameters, including shape, volume, weight, and connection method, can be adjusted according to specific local operation requirements, achieving precise partial freeing of workspace and improving operational flexibility and targeting. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a state diagram of the rope system of Example 1 when the space needs to be completely released.

[0016] Figure 2 This is a diagram of the state where the rope of the wire-controlled robot cannot be pulled straight.

[0017] Figure 3 This is a schematic diagram of the selection of the variable actuator action model of Example 2.

[0018] Figure 4 This is a diagram of the third embodiment without the rope stored.

[0019] Figure 5 The rope of Example 3 A state diagram of the tasks that need to be performed.

[0020] Figure 6 The rope of Example 3 A state diagram where a task needs to be paused.

[0021] Figure 7 This is a step diagram for transferring the task space in Example 4.

[0022] Figures 1 to 7 The labels in the figure are: gantry 1, rope 2, convergence point 3, task execution body 4, and actuator 5. DETAILED DESCRIPTION

[0023] The application will be further described below in conjunction with the accompanying drawings and examples.

[0024] Example 1 In order to ensure the execution space required by the wire-controlled robot, the applicant will arrange the wire-controlled robot above the gantry 1, but due to the volume, weight and other reasons of the end effector 5, the rope 2 cannot be pulled straight, so the rising height is limited, please refer to Figure 2 .

[0025] Therefore, the working space release method of the wire-controlled robot is disclosed in the embodiment, which is used to solve the above engineering problems and includes the following steps: The rope 2 system and the gantry 1 are arranged in a specified space, wherein the height of the rope 2 system is higher than that of the gantry 1; according to the space release requirement, the corresponding rope 2 convergence mode is selected to gather the specified rope 2, and the length of the rope 2 is controlled to move the convergence point 3 to the required position.

[0026] Specifically, as shown in Figure 1 When the space of the rope 2 system needs to be completely released, the active end of the rope 2 is directly connected to the gathering or the active end of the rope 2 is connected to the gathering through a connecting piece; the height of the convergence point 3 is higher than that of the gantry.

[0027] In other words, the end of the rope 2 can be directly gathered, that is, the lightweight hooks at the end are directly connected to each other, so as to reduce the weight at the convergence point 3 of the rope 2, realize the horizontal straightening after the complete gathering of the rope 2, and ensure that the rope 2 is completely gathered above the gantry 1, so as to realize the complete release of the space.

[0028] In another embodiment, if the end of the rope 2 does not have a lightweight hook, a lightweight flat rope collecting piece is used to connect the rope 2, so as to facilitate the gathering of the rope 2.

[0029] Through the above technical solution, when the space of the rope 2 system needs to be completely released, the active end of the rope 2 can be directly connected to the gathering or connected to the gathering through a connecting piece, and the height of the convergence point 3 is higher than that of the gantry.

[0030] Example 2 Based on the description of example 1, the embodiment discloses the scene when the space of the rope 2 system needs to be partially released, that is, the convergence point 3 of the rope 2 only needs to be at half height of the current operation space, that is, a certain height release is given. At this time, the mass at the end of the rope 2 does not need to be controlled to be the lightest, only the convergence point 3 needs to be raised to the specified height, or the end of the rope 2 has a certain weight of the effector 5, and the height of the convergence point 3 can be realized on the basis of hanging the current execution piece, so the effector 5 does not need to be replaced.

[0031] Therefore, in this embodiment, the movable ends of the rope 2 can be connected and gathered by selecting / replacing an adapted actuator 5. Furthermore, the actuator 5 is a variable model, and the configuration parameters of the variable model include at least: shape, volume, weight, and connection method. Figure 3 As shown, Figure 3 (a) in the figure does not require a high height of the convergence point 3, and the corresponding actuator 5 is large or heavy. When the height of the convergence point 3 needs to be further increased, Figure 3 If the actuator 5 in (a) cannot meet the requirements, it needs to be replaced with an actuator 5 with a small volume or light weight to meet the requirements for further improvement.

[0032] Example 3 Based on the workspace release method of the wire-controlled robot disclosed in Example 1 and Example 2, it is applied to industrial automation collaborative work scenarios, such as one or more of multi-device interaction and space resource sharing based on the wire-controlled robot.

[0033] Taking the collaborative wire-controlled robot and ground rail trolley as an example, if the wire-controlled robot has completed its operation in the current space and the ground rail trolley is needed to complete the operation, the rope can be temporarily stored through the space release device and moved to a certain height to provide the ground rail trolley with operating space to achieve spatial avoidance.

[0034] Alternatively, when the ground rail trolley transports the goods into the current space and a wire-controlled robot is required to perform the next operation, the corresponding rope can be released through the space release device to perform the operation, thereby realizing work handover or interaction.

[0035] For example, when multiple wire-controlled robots are working in a work area at the same time, the space release device can coordinate their movements to avoid mutual interference and achieve collaborative work.

[0036] Based on the application of the above scenario, the application method of the space release device of this embodiment includes the following steps: At least one wire-controlled robot is arranged in the designated space according to the requirements, wherein the wire-controlled robot includes at least: a space-occupied state and a space-released state; When the wire-controlled robot is performing a task, it is controlled to be in a space-occupied state: the space release device stores part of the rope or no rope, and the unstored rope is used to perform the task.

[0037] When the wire-controlled robot is in a paused task, it is controlled to be in a space release state: the space release device stores all ropes.

[0038] Furthermore, it is defined that there are currently N ropes stored through the space release device. When tasks need to be performed, such as Figure 5 As shown, the following steps are also included: Select at least one suitable rope from N ropes and adjust its length. , N is an integer greater than or equal to 2; Control the space release device to approach the location of the task execution body 4 and take precedence over the rope Closer to the corresponding execution point of the task execution body, until the rope The connector is connected to the task execution body; rope Disconnect from the space release device, and select a suitable rope from N-1 ropes to control the length according to needs, and move the space release device.

[0039] It is defined that there are currently M ropes stored through the space release device. When you need to pause the task, Figure 6 As shown, the following steps are also included: Select at least one suitable rope from the M ropes and adjust its length. , M is an integer greater than or equal to 2; Control space release device to rope The connecting piece is close to the rope and takes precedence over the idle rope collection piece. Connector until the rope A corresponding cord receiving member housed in the device body; According to the requirements, a suitable rope is selected from the M+1 ropes to control the length and transfer the space release device.

[0040] Correspondingly, the transfer process of the release device includes: According to the demand or the predetermined trajectory, the length of the rope constrained in the space release device is adjusted to achieve the spatial position of the space release device. Updates, including are the three-axis coordinate values ​​of the center position of the device body. The transfer process of the release device includes: According to the demand or predetermined trajectory, the length of the rope constrained in the space release device is adjusted to update the spatial position (x, y, z) of the space release device, where x, y, and z are the three-axis coordinate values ​​of the center position of the device body.

[0041] Example 4 Further description, the situation where the wire-controlled robot is pausing a task includes at least: no task to be executed, space avoidance and task space transfer. Figure 7The transfer of the task space can be understood as follows: the current rope is stored in space A by the space release device, and the task execution body is in space C. The space release device is first controlled to transfer to space C, and then the corresponding rope is released.

[0042] Therefore, the space release device configured in this embodiment can be a plurality of interchangeable rope storage devices to accommodate a wider range of space requirements.

Claims

1. A method for releasing the working space of a wire-controlled robot, characterized in that: The following steps are involved: Lay out the rope system and the gantry crane in the designated space, wherein the rope threader of the rope system is located at a higher height than the gantry crane; According to the space release requirements, select the corresponding rope convergence mode to gather the specified ropes together, and move the convergence point to the desired position by controlling the length of the ropes.

2. The method for releasing the working space of a wire-controlled robot according to claim 1, characterized in that: When the space of the rope system needs to be fully released, the movable ends of the ropes are directly connected and gathered together or the movable ends of the ropes are connected and gathered together through connectors; The height of the convergence point is higher than the height of the trusses.

3. The method for releasing the working space of a wire-controlled robot according to claim 1, characterized in that: When the space of the rope system needs to be partially released, an appropriate actuator is selected / replaced; the movable ends of the ropes are connected and gathered through the actuator.

4. The method for releasing the working space of a wire-controlled robot according to claim 1, characterized in that: The actuator is a variable model, and the configuration parameters of the variable model include at least: shape, volume, weight, and connection method.

5. The method for releasing the working space of a wire-controlled robot according to claim 1, characterized in that: Define that there are currently N ropes gathered together. When the rope When a task needs to be executed, the following steps are also included: Select at least one suitable rope from N ropes and adjust its length. , N is an integer greater than or equal to 2; Control the convergence point to be close to the location of the task execution body and take priority over the rope Closer to the corresponding execution point of the task execution body, until the rope The connector is connected to the task execution body; rope The convergence point is separated, and a suitable rope is selected from N-1 ropes according to the needs to control the length and move the convergence point.

6. The method for releasing the working space of a wire-controlled robot according to claim 1, characterized in that: It is defined that there are currently M ropes gathered together. When the rope When you need to pause a task, the following steps are also included: Select at least one suitable rope from the M ropes and adjust its length. , M is an integer greater than or equal to 2; Control the convergence point to the rope The connecting piece is close to the rope and takes precedence over the idle rope collection piece. Connector until the rope Connect with the convergence point; According to the requirements, a suitable rope is selected from the M+1 ropes to control the length and move the convergence point.

7. A method for releasing a workspace of a wire-controlled robot according to any one of claims 5 or 6, characterized in that: The transfer process of the convergence point includes: According to the needs or predetermined trajectory, adjust the length of the ropes that converge together to achieve the spatial position of the convergence point Updates, including are the three-axis coordinate values ​​of the convergence point.

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