Joint control method and device based on wireless connection

Abstract

The application discloses a joint control method and device based on wireless connection. The device comprises a truss body, a sliding assembly provided on the truss body, a clamping assembly provided on the sliding assembly, a first connecting rod movably installed on the sliding assembly, a first auxiliary mechanism provided at the bottom of the first connecting rod, and a second connecting rod movably installed at the bottom of the truss body. In the application, a vibration sensor, a moving block and a pressure sensor are arranged, the vibration of the clamping assembly, the clamping force of the clamping jaw and other parameters are monitored in real time, emergency measures are taken in time when an abnormality occurs, the goods are effectively prevented from falling during the carrying process, and the safety of the goods carrying is ensured. Based on the wireless connection technology, an operator can remotely send instructions through a terminal device, flexible control of the functions of the device is realized, the convenience and efficiency of operation are improved, the needs of different working scenes are met, and the vibration sensor can complete the operation state detection of the clamping assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, in particular to a joint control method and device based on wireless connection, which is suitable for joint control devices of specific structure and aims to realize effective control and monitoring of device functions. BACKGROUND

[0002] With the rapid development of intelligent manufacturing and flexible logistics, the demand for automation and flexibility of cargo handling in industrial sites is increasing. In the fields of industrial production and logistics handling, robot devices related to cargo handling and transfer are widely used.

[0003] Traditional joint control methods have limited real-time monitoring capabilities for device operating status, making it difficult to respond in time when unexpected conditions (such as vibration, abnormal clamping force, etc.) occur. This may result in problems such as cargo falling and device damage. At the same time, there is a lack of efficient and intelligent control processes for maintenance and detection of device components, such as slide rail cleaning and component stability detection. In addition, with the development of industrial automation, the application of wireless connection technology in device control is increasingly demanded to achieve more flexible and convenient control operations. SUMMARY

[0004] To overcome the defects in the prior art, the present application provides a joint control device based on wireless connection, which includes a truss body, a sliding assembly provided on the truss body, a clamping assembly provided on the sliding assembly, a first connecting rod movably installed on the sliding assembly, a first auxiliary mechanism provided at the bottom of the first connecting rod, a second connecting rod movably installed at the bottom of the truss body, a second auxiliary mechanism provided on the second connecting rod, and a vibration sensor installed on the clamping assembly.

[0005] The first auxiliary mechanism includes a movable block and a sliding block, a first electric lifting rod is installed at the bottom of the end of the first connecting rod away from the sliding assembly, the lifting end of the first electric lifting rod faces downward, a first connecting block is connected to the lifting end of the first electric lifting rod, a first electric extension rod is installed on the side of the first connecting block away from the sliding assembly, a movable block is provided on the side of the first connecting block close to the sliding assembly, the extension end of the first electric extension rod movably penetrates the first connecting block and is connected to the movable block, sliding blocks are movably installed at both ends of the movable block, and a pressure sensor is installed at the end of the sliding block away from the movable block.

[0006] The inside of the movable block is provided with a cavity, the top of the movable block is provided with a connecting hole, the side close to the sliding assembly of the movable block is uniformly provided with a plurality of air outlets, the connecting hole and the air outlet are connected with the cavity inside the movable block, and the two ends of the movable block are provided with first grooves.

[0007] Preferably, the first connecting rod is embedded with a rotating motor at one end close to the sliding assembly, the mounting end of the rotating motor is away from the first connecting rod, and the mounting end of the rotating motor is connected with the sliding assembly.

[0008] Preferably, the bottom of the truss body is provided with a guide rail, and the top of the second connecting rod is provided with a displacement electric sliding block which is slidingly installed in the guide rail.

[0009] Preferably, the second auxiliary mechanism comprises a connecting plate and a moving block, a rotating motor is embedded at one end of the second connecting rod away from the truss body, the output end of the rotating motor is away from the second connecting rod, the output end of the rotating motor is connected with a second connecting block, a second electric lifting rod is mounted on the top of the second connecting block, the output end of the second electric lifting rod faces downward, a third connecting block is arranged at the bottom of the second connecting block, the output end of the second electric lifting rod is movably penetrated through the top of the second connecting block and the third connecting block, a second electric extension rod is arranged at one side of the third connecting block away from the truss body, the extension end of the second electric extension rod faces the third connecting block, a connecting plate is arranged at one side of the third connecting block close to the truss body, the extension end of the second electric extension rod is movably penetrated through the third connecting block and the connecting plate, two moving blocks are movably installed at one side of the connecting plate close to the truss body, and a laser ranging sensor is embedded at one side of the moving block away from the connecting plate.

[0010] Preferably, the connecting plate is provided with a first sliding groove at one side close to the moving block, and a first electric sliding block is connected to one side of the moving block close to the first sliding groove and slidingly installed in the first sliding groove.

[0011] The joint control method based on wireless connection is suitable for the joint control device, and comprises the following steps:

[0012] Step one: clamp the goods, control the sliding assembly to move the clamping assembly, and complete clamping of the goods;

[0013] Step two: clamping stability monitoring, the vibration sensor monitors the movement of the clamping assembly in real time;

[0014] Step three: auxiliary fixing, the moving block moves to the goods to assist in clamping and fixing;

[0015] Step four: clamping detection, the way of clamping jaw clamping pressure sensor, combined with pressure value comparison, complete the clamping force detection of the clamping jaw;

[0016] Step five: slide rail cleaning, movable block and air outlet hole clean the slide rail;

[0017] Step six: stability detection of sliding assembly, through the synchronous movement of laser ranging sensor and sliding assembly, and data comparison, the stability of the sliding assembly is detected;

[0018] Step seven: slide rail stability detection, laser ranging sensor compares the preset distance measurement data value of the slide rail, and completes the deformation detection of the slide rail;

[0019] Step eight: clamping jaw stability detection, moving block clamping clamping jaw shaking, combined with pressure sensor pressure value comparison, complete the stability detection of the clamping jaw.

[0020] Preferably, the sliding assembly drives the clamping assembly to move to the clamped goods, the clamping jaw on the clamping assembly completes the clamping of the goods, and the movement of the clamping assembly on the sliding assembly combined with the movement of the sliding assembly on the truss body can complete the clamping and transfer of the goods;

[0021] The vibration sensor detects the vibration value during the movement of the clamping assembly, and transmits the detected vibration value to the background control system for comparison with the standard value. If the detected vibration value exceeds the standard vibration value interval, it means that the movement of the clamping assembly has failed;

[0022] The displacement electric slide block slides in the guide rail, combined with the second electric lifting rod driving the third connecting block to lift and the second electric extension rod driving the connecting plate to extend, the connecting plate moves to the use position of the clamping assembly clamping goods, the first electric slide block slides in the first sliding groove, driving the two moving blocks to move on the connecting plate, the moving block clamps the outside of the goods to complete the auxiliary fixing of the goods;

[0023] The first electric lifting rod drives the first connecting block to extend downward combined with the first electric extension rod driving the movable block to extend, the movable block extends between the two clamping jaws of the clamping assembly, the moving electric slide block slides in the moving sliding groove, the sliding block moves to the preset use position, the clamping jaw moves a preset distance to approach the movable block, and abuts against the clamping pressure sensor. The pressure sensor transmits the detected pressure value to the background control system for comparison with the standard pressure value. If the detected pressure value exceeds the standard pressure value interval, it means that the clamping force of the clamping jaw is unqualified;

[0024] The rotating motor drives the first connecting rod to rotate, the movable block is rotated to an upward use state, the first electric lifting rod drives the first connecting block to lift, and the first electric extension rod drives the movable block to extend, the movable block extends to the sliding rail at the top of the truss body, and the fan blowing hole at the top of the truss body is started to blow outward, so that the sliding rail at the top of the truss body is cleaned.

[0025] When it is necessary to detect the sliding stability of the sliding assembly, the connecting plate moves outside the truss body, the laser ranging sensor is opposite to the outside of the sliding assembly, the connecting plate moves with the sliding assembly, the laser ranging sensor measures the distance value between the sliding assembly and the moving block during movement, and the detected distance value is transmitted to the background control system and compared with a standard value; if the detected distance value exceeds the standard value range interval, it indicates that the sliding of the sliding assembly deviates;

[0026] The rotating motor drives the connecting plate to rotate to a use state above the second connecting rod, the laser ranging sensor is opposite to the sliding rail at the top of the truss body, the laser ranging sensor detects the distance of the sliding rail at the top of the truss body and compares it with a standard value, and if the detected distance data exceeds the standard value interval, it indicates that the sliding rail at the top of the truss body deforms;

[0027] When it is necessary to detect the stability of the clamping jaw of the clamping assembly, the clamping jaw clamping pressure sensor is used, the pressure sensor is maintained at a preset stable pressure value, two moving blocks clamp one clamping jaw, and the clamping jaw is shaken to a preset degree, the pressure sensor detects the pressure value change of the clamping jaw during shaking and compares it with a standard value, and if the pressure value change exceeds the standard value interval, it indicates that the stability of the clamping jaw is unqualified.

[0028] The beneficial effects of the present application are as follows:

[0029] In the present application, by setting the vibration sensor, the moving block and the pressure sensor, the vibration, the clamping force and other parameters of the clamping assembly are monitored in real time, and emergency measures are taken in time when an abnormality occurs, so that the goods are effectively prevented from falling during the carrying process, the safety of the goods carrying is ensured, based on the wireless connection technology, the operator can remotely send instructions through the terminal device, the flexible control of the functions of the device is realized, the convenience and efficiency of operation are improved, the needs of different working scenes are met, the vibration sensor can complete the running state detection of the clamping assembly;

[0030] When the clamping assembly has a problem, the moving block can clamp the outside of the goods to assist in fixing the goods, so that damage to the clamping assembly and the falling of the clamped goods are prevented;

[0031] When it is necessary to detect the clamping force of the clamping jaw on the clamping assembly, the movable block extends between the two clamping jaws of the clamping assembly, the clamping jaw abuts against the clamping pressure sensor, at this time the pressure sensor transmits the detected pressure value to the background control system for comparison with the standard pressure value, if the detected pressure value exceeds the standard pressure value interval, it indicates that the clamping force of the clamping jaw is unqualified;

[0032] When it is necessary to detect the sliding stability of the sliding assembly, the laser ranging sensor is opposite to the outer side of the sliding assembly and follows the movement of the sliding assembly, the distance value between the sliding assembly and the moving block during movement is measured by the laser ranging sensor, and the detected distance value is transmitted to the background control system for comparison with the standard value, if the detected distance value exceeds the standard value range interval, it indicates that the sliding of the sliding assembly deviates;

[0033] When it is necessary to detect the stability of the clamping jaw on the clamping assembly, the movable block moves to the clamping jaw clamping pressure sensor between the two clamping jaws, so that the pressure sensor maintains a preset stable pressure value, then the two moving blocks hold one clamping jaw and shake the clamping jaw to a preset degree, at this time the pressure value change of the clamping jaw during shaking is detected by the pressure sensor and compared with the standard value, if the pressure value change exceeds the standard value interval, it indicates that the stability of the clamping jaw is unqualified. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual proportion.

[0035] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0036] Figure 2 It is a schematic diagram of the rotating motor mounting structure of the present application;

[0037] Figure 3 It is a schematic diagram of the moving electric sliding block mounting structure of the present application;

[0038] Figure 4 It is a schematic diagram of the guide rail mounting structure of the present application;

[0039] Figure 5 It is a schematic diagram of the rotating motor mounting structure of the present application;

[0040] Figure 6 It is a schematic diagram of the laser ranging sensor mounting structure of the present application.

[0041] Figure 7The flowchart of the present application.

[0042] In the drawings, 1 is a truss body; 2 is a sliding assembly; 3 is a clamping assembly; 4 is a first connecting rod; 5 is a first connecting block; 6 is a rotary motor; 7 is a first electric lifting rod; 8 is a first electric extension rod; 9 is a movable block; 10 is a first slot; 11 is a sliding block; 12 is a pressure sensor; 13 is an air outlet hole; 14 is a connecting hole; 15 is a moving sliding groove; 16 is a moving electric sliding block; 17 is a guide rail; 18 is a displacement electric sliding block; 19 is a second connecting rod; 20 is a second connecting block; 21 is a second electric lifting rod; 22 is a third connecting block; 23 is a second electric extension rod; 24 is a connecting plate; 25 is a rotary motor; 26 is a first electric sliding block; 27 is a moving block; 28 is a laser ranging sensor; 29 is a first sliding groove; 30 is a vibration sensor. DETAILED DESCRIPTION

[0043] The embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0044] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present application should be understood as the usual meanings understood by the skilled in the art to which the present application belongs.

[0045] As Figures 1-7 shown, the joint control device based on wireless connection includes a truss body 1, the truss body 1 is provided with a sliding assembly 2, the sliding assembly 2 is provided with a clamping assembly 3, the sliding assembly 2 is movably installed with a first connecting rod 4, the bottom of the first connecting rod 4 is provided with a first auxiliary mechanism, the bottom of the truss body 1 is movably installed with a second connecting rod 19, the second connecting rod 19 is provided with a second auxiliary mechanism, and the clamping assembly 3 is installed with a vibration sensor 30. Through the use of the vibration sensor 30, the running state of the clamping assembly 3 can be monitored in real time, preventing sudden vibration of the clamping assembly 3, which can cause the goods held to fall, the first auxiliary mechanism can complete the cleaning of the top sliding rail of the truss body 1 and the detection of the clamping force of the clamping jaw of the clamping assembly 3, and the second auxiliary mechanism can complete the detection of the movement stability of the sliding assembly 2 and the clamping assembly 3;

[0046] The first auxiliary mechanism comprises the movable block 9 and the sliding block 11, the bottom of the end of the first connecting rod 4 away from the sliding assembly 2 is provided with the first electric lifting rod 7, the lifting end of the first electric lifting rod 7 is downward, and the lifting end of the first electric lifting rod 7 is connected with the first connecting block 5, the side of the first connecting block 5 away from the sliding assembly 2 is provided with the first electric extension rod 8, the side of the first connecting block 5 close to the sliding assembly 2 is provided with the movable block 9, the extension end of the first electric extension rod 8 is movably connected with the first connecting block 5 and the movable block 9, and the two ends of the movable block 9 are movably provided with the sliding block 11; the sliding block 11 is provided with the pressure sensor 12 at the end away from the movable block 9; the first electric lifting rod 7 can drive the first connecting block 5 to lift according to different use requirements, the first electric extension rod 8 can drive the movable block 9 to extend according to different use requirements, and the distance between the pressure sensor 12 and the movable block 9 can be adjusted according to different use requirements through the movement of the sliding block 11 at the two ends of the movable block 9.

[0047] The inside of the movable block 9 is provided with a cavity, the top of the movable block 9 is provided with a connecting hole 14, the side of the movable block 9 close to the sliding assembly 2 is uniformly provided with a plurality of air outlet holes 13, the connecting hole 14 and the air outlet hole 13 are in communication with the cavity in the movable block 9, the two ends of the movable block 9 are provided with the first slot 10, the inner wall top end and the bottom end of the first slot 10 are provided with a moving sliding groove 15, and the moving electric sliding block 16 is slidably installed in the moving sliding groove 15; through the design of the air outlet hole 13, the air of the fan can enter the cavity in the movable block 9 through the connecting hole 14 and then be blown out through the air outlet hole 13, and the sliding block 11 can be driven to move in the first slot 10 according to different use requirements through the sliding mode of the moving electric sliding block 16 in the moving sliding groove 15.

[0048] As a technical optimization scheme of the present application, the end of the first connecting rod 4 close to the sliding assembly 2 is embeddedly provided with the rotating motor 6, the mounting end of the rotating motor 6 is away from the first connecting rod 4, and the mounting end of the rotating motor 6 is connected with the sliding assembly 2. Through the use of the rotating motor 6, the first connecting rod 4 can be driven to rotate according to different use requirements.

[0049] As a technical optimization scheme of the present application, the bottom of the truss body 1 is provided with the guide rail 17, the top of the second connecting rod 19 is provided with the displacement electric sliding block 18, and the displacement electric sliding block 18 is slidably installed in the guide rail 17. Through the sliding mode of the displacement electric sliding block 18 in the guide rail 17, the second connecting rod 19 can be driven to move on the guide rail 17 according to different use requirements.

[0050] As a technical optimization of the present invention, the second auxiliary mechanism includes a connecting plate 24 and a moving block 27. A rotating motor 25 is embedded at the end of the second connecting rod 19 away from the truss body 1. The output end of the rotating motor 25 is away from the second connecting rod 19 and is connected to a second connecting block 20. A second electric lifting rod 21 is installed on the top of the second connecting block 20, with the output end of the second electric lifting rod 21 facing downwards. A third connecting block 22 is provided at the bottom of the second connecting block 20, and the output end of the second electric lifting rod 21 movably passes through the second connecting block. The second connecting block 20 is connected to the top of the third connecting block 22. A second electric extension rod 23 is provided on the side of the third connecting block 22 away from the truss body 1, with the extension end of the second electric extension rod 23 facing the third connecting block 22. A connecting plate 24 is provided on the side of the third connecting block 22 near the truss body 1. The extension end of the second electric extension rod 23 movably passes through the third connecting block 22 and connects to the connecting plate 24. Two movable blocks 27 are movably installed on the side of the connecting plate 24 near the truss body 1. A laser rangefinder sensor 28 is embedded on the side of the movable blocks 27 away from the connecting plate 24. The rotating motor 25 can drive the second connecting block 20 to rotate according to different usage requirements. The second electric lifting rod 21 can drive the third connecting block 22 to rise and fall according to different usage requirements. The second electric extension rod 23 can drive the connecting plate 24 to extend according to different usage requirements.

[0051] As a technical optimization of the present invention, a first groove 29 is provided on the side of the connecting plate 24 near the moving block 27, and a first electric slider 26 is connected to the side of the moving block 27 near the first groove 29. The first electric slider 26 is slidably installed inside the first groove 29. By sliding the first electric slider 26 in the first groove 29, the moving block 27 can be moved on the connecting plate 24.

[0052] A joint control method based on wireless connectivity, applicable to the aforementioned joint control device, comprising:

[0053] Step 1: Clamp the goods, operate the sliding component 2 to drive the clamping component 3 to move, and complete the clamping of the goods;

[0054] Step 2: Clamping stability monitoring, vibration sensor 30 monitors the movement of clamping component 3 in real time;

[0055] Step 3: Assisted fixing, the movable block 27 is moved to the goods for assisted clamping and fixing;

[0056] Step 4: Clamping detection. The clamping force of the clamping jaws is detected by comparing the clamping pressure sensor 12 with the pressure value.

[0057] Step 5: Clean the slide rails. Use the movable block 9 and air outlet 13 to clean the slide rails.

[0058] Step six: sliding assembly stability detection, through the laser ranging sensor 28 and the sliding assembly 2 synchronous movement, and data comparison, the stability of the sliding assembly 2 is detected;

[0059] Step seven: slide rail stability detection, laser ranging sensor 28 compares the preset distance measurement data value of the slide rail, and completes the deformation detection of the slide rail;

[0060] Step eight: clamping jaw stability detection, moving block 27 clamps the clamping jaw to shake, and the pressure value change comparison is combined with the pressure sensor 12, and the clamping jaw stability detection is completed.

[0061] The sliding assembly 2 drives the clamping assembly 3 to move to the clamped goods, and the clamping jaw on the clamping assembly 3 completes the clamping of the goods. The movement of the clamping assembly 3 on the sliding assembly 2 in combination with the movement of the sliding assembly 2 on the truss body 1 can complete the clamping and transfer of the goods;

[0062] The vibration sensor 30 detects the vibration value in the movement of the clamping assembly 3, and transmits the detected vibration value to the background control system and the standard value for comparison. If the detected vibration value exceeds the standard vibration value interval, it means that the movement of the clamping assembly 3 has failed;

[0063] The displacement electric sliding block 18 slides in the guide rail 17, and the second electric lifting rod 21 drives the third connecting block 22 to lift and the second electric extension rod 23 drives the connecting plate 24 to extend. The connecting plate 24 moves to the use position of the clamping assembly 3 clamping the goods, the first electric sliding block 26 slides in the first sliding groove 29, and the two moving blocks 27 move on the connecting plate 24, and the moving block 27 clamps the outside of the goods to complete the auxiliary fixing of the goods;

[0064] The first electric lifting rod 7 drives the first connecting block 5 to extend downward in combination with the first electric extension rod 8 driving the movable block 9 to extend. The movable block 9 extends between the two clamping jaws of the clamping assembly 3. The moving electric sliding block 16 slides in the moving sliding groove 15, and the sliding block 11 moves to the preset use position. The clamping jaw moves a preset distance to approach the movable block 9, and abuts against the clamping pressure sensor 12. The pressure sensor 12 transmits the detected pressure value to the background control system and the standard pressure value for comparison. If the detected pressure value exceeds the standard pressure value interval, it means that the clamping force of the clamping jaw is unqualified;

[0065] The rotating motor 6 drives the first connecting rod 4 to rotate, the movable block 9 rotates to the upward use state, the first electric lifting rod 7 drives the first connecting block 5 to lift, and the first electric extension rod 8 drives the movable block 9 to extend, and the movable block 9 extends to the sliding rail at the top of the truss body 1, the fan blowing hole 13 is started to blow outward, and the top sliding rail of the truss body 1 is cleaned.

[0066] When it is necessary to detect the sliding stability of the sliding assembly 2, the connecting plate 24 moves outside the truss body 1, the laser ranging sensor 28 is opposite to the outside of the sliding assembly 2, the connecting plate 24 moves with the sliding assembly 2, the laser ranging sensor 28 measures the distance value between the sliding assembly 2 and the moving block 27 during movement, and the detected distance value is transmitted to the background control system and compared with the standard value; if the detected distance value exceeds the standard value range interval, it indicates that the sliding of the sliding assembly 2 deviates;

[0067] The rotating motor 25 drives the connecting plate 24 to rotate to the use state above the second connecting rod 19, the laser ranging sensor 28 is opposite to the sliding rail at the top of the truss body 1, the laser ranging sensor 28 detects the distance of the sliding rail at the top of the truss body 1 and compares it with the standard value, and if the detected distance data exceeds the standard value interval, it indicates that the sliding rail at the top of the truss body 1 deforms;

[0068] When it is necessary to detect the stability of the clamping jaw on the clamping assembly 3, the clamping jaw clamping pressure sensor 12 is maintained at a preset stable pressure value, the two moving blocks 27 clamp one clamping jaw and shake the clamping jaw to a preset degree, the pressure sensor 12 detects the pressure value change of the clamping jaw during shaking and compares it with the standard value, and if the pressure value change exceeds the standard value interval, it indicates that the stability of the clamping jaw is unqualified.

[0069] The wireless control unit is installed at the sliding assembly 2, the clamping assembly 3, the first connecting rod 4 and the second connecting rod 19, the first connecting rod 4 corresponds to the first auxiliary mechanism, the second connecting rod 19 corresponds to the second auxiliary mechanism, and the wireless terminal of the operator is ensured to be in the same wireless communication network environment, a stable data transmission link is established between the wireless signal receiving module and the preset control system of the device, a special control application program is installed on the wireless terminal of the operator, the application program contains various function buttons such as cargo carrying, equipment detection and maintenance, the operator inputs instructions through the application program, the application program encodes the instructions and sends them to the wireless signal receiving module of the joint control device through wireless connection to output action instructions, the electric equipment used in the device is powered by an external power supply, the device controls the electric equipment in the device through the wireless control unit combined with the preset control system of the device, the truss body 1, the sliding assembly 2 and the clamping assembly 3 used in the device are mature technologies, so they will not be described in detail, the pressure sensor 12, the laser ranging sensor 28 and the vibration sensor 30 used in the device are mature technologies, so they will not be described in detail, the top of the first connecting rod 4 can be provided with a fan, the air outlet of the fan is connected with the connecting pipe and the connecting hole 14, and the fan, the pipe and the connecting hole 14 are connected in a manner of mature technology, so they will not be described in detail.

[0070] When the device is used, the sliding assembly 2 drives the clamping assembly 3 to move to the clamped goods, and the clamping assembly 3 completes the clamping of the goods through the clamping jaw, then the clamping assembly 3 moves on the sliding assembly 2, and the sliding assembly 2 moves on the truss body 1, so that the clamping and transfer of the goods can be completed, when the goods are clamped and transferred, the vibration sensor 30 detects the vibration value of the clamping assembly 3 during movement, and transmits the detected vibration value to the background control system and the standard value for comparison, if the detected vibration value exceeds the standard vibration value range, it means that the movement of the clamping assembly 3 fails, and the operation state of the clamping assembly 3 is detected through this operation mode;

[0071] When the clamping assembly 3 is detected to have a problem, but the clamping assembly 3 is still clamping the goods at this time, the connecting plate 24 is moved to the use position of the clamping assembly 3 clamping the goods in a manner that the displacement electric sliding block 18 slides in the guide rail 17, the second electric lifting rod 21 drives the third connecting block 22 to lift, and the second electric extension rod 23 drives the connecting plate 24 to extend, and then the two moving blocks 27 on the connecting plate 24 are driven to move in a manner that the first electric sliding block 26 slides in the first sliding groove 29, and the goods are clamped on the outside by the moving blocks 27, so that the auxiliary fixing of the goods can be completed, and damage to the clamping assembly 3 at this time can be prevented, and the goods clamped are prevented from falling.

[0072] When it is necessary to detect the clamping force of the clamping jaw on the clamping assembly 3, the movable block 9 is extended to between the two clamping jaws of the clamping assembly 3 in a manner that the first electric lifting rod 7 drives the first connecting block 5 to extend downward, and the first electric extension rod 8 drives the movable block 9 to extend, and then the sliding block 11 moves to the preset use position in a manner that the electric sliding block 16 slides in the moving sliding groove 15, and then the clamping jaw moves a preset distance to approach the movable block 9, so that the clamping jaw can abut against the clamping pressure sensor 12, and the detected pressure value is transmitted to the background control system and compared with the standard pressure value, and if the detected pressure value exceeds the standard pressure value interval, it indicates that the clamping force of the clamping jaw is unqualified.

[0073] When it is necessary to clean the slide rail on the truss body 1, the first connecting rod 4 is rotated by the rotating motor 6, so that the movable block 9 is rotated to the upward use state, and then the movable block 9 is extended to the slide rail at the top of the truss body 1 in a manner that the first electric lifting rod 7 drives the first connecting block 5 to lift, and the first electric extension rod 8 drives the movable block 9 to extend, and then the fan is started, so that the wind of the fan enters the cavity in the movable block 9 and blows outward from the air outlet hole 13, to clean the slide rail at the top of the truss body 1.

[0074] When the sliding stability of the sliding assembly 2 needs to be detected, the laser ranging sensor 28 can be directed to the outside of the sliding assembly 2 by moving the connecting plate 24 outside the truss body 1, and the sliding assembly 2 is controlled to slide, and the connecting plate 24 moves following the sliding assembly 2 during the sliding of the sliding assembly 2. The distance value between the sliding assembly 2 and the moving block 27 during the movement of the sliding assembly 2 is measured by the laser ranging sensor 28, and the detected distance value is transmitted to the background control system for comparison with the standard value. If the detected distance value exceeds the standard value range interval, it indicates that the sliding of the sliding assembly 2 deviates, and the overall movement of the clamping assembly 3 needs to be detected. The same operation mode is adopted to make the laser ranging sensor 28 follow the clamping assembly 3 for detection and comparison.

[0075] The second connecting block 20 is rotated by the rotating motor 25 to rotate the connecting plate 24 to the use state above the second connecting rod 19, and then the laser ranging sensor 28 can be directed to the slide rail at the top of the truss body 1 by moving the connecting plate 24. The distance of the slide rail at the top of the truss body 1 is detected by the laser ranging sensor 28 and compared with the standard value. If the detected distance data exceeds the standard value interval, it indicates that the slide rail at the top of the truss body 1 deforms, and the deformation detection of the slide rail at the top of the truss body 1 can be completed.

[0076] When the stability of the clamping jaw on the clamping assembly 3 needs to be detected, the movable block 9 moves between the two clamping jaws, and the pressure sensor 12 is maintained at a predetermined stable pressure value. Then the connecting plate 24 moves to the clamping jaw, and the two moving blocks 27 hold one clamping jaw and shake the clamping jaw to a predetermined degree. The pressure value change of the clamping jaw during the shaking process is detected by the pressure sensor 12 and compared with the standard value. If the pressure value change exceeds the standard value interval, it indicates that the stability of the clamping jaw is unqualified.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions described in the foregoing embodiments can be modified, or some or all of the technical features can be replaced by equivalents. The modification or replacement does not change the essence of the corresponding technical solution, which should be covered in the scope of the claims and description of the present application.

Claims

1. A joint control device based on wireless connection, comprising a truss body (1), characterized in that, The truss body (1) is provided with a sliding assembly (2), the sliding assembly (2) is provided with a clamping assembly (3), the sliding assembly (2) is movably mounted with a first connecting rod (4), the bottom of the first connecting rod (4) is provided with a first auxiliary mechanism, the bottom of the truss body (1) is movably mounted with a second connecting rod (19), the second connecting rod (19) is provided with a second auxiliary mechanism, and the clamping assembly (3) is mounted with a vibration sensor (30). The first auxiliary mechanism includes a movable block (9) and a sliding block (11). A first electric lifting rod (7) is installed at the bottom of the end of the first connecting rod (4) away from the sliding component (2). The lifting end of the first electric lifting rod (7) faces downward, and the lifting end of the first electric lifting rod (7) is connected to a first connecting block (5). A first electric extension rod (8) is installed on the side of the first connecting block (5) away from the sliding component (2). A movable block (9) is provided on the side of the first connecting block (5) close to the sliding component (2). The extension end of the first electric extension rod (8) movably passes through the first connecting block (5) and is connected to the movable block (9). Sliding blocks (11) are movably installed at both ends of the movable block (9). A pressure sensor (12) is installed at the end of the sliding block (11) away from the movable block (9). The movable block (9) has a cavity inside, and a connecting hole (14) is provided at the top of the movable block (9). Multiple air outlets (13) are evenly provided on the side of the movable block (9) near the sliding component (2). The connecting hole (14) and the air outlets (13) are connected to the cavity inside the movable block (9). The two ends of the movable block (9) are provided with a first slot (10). The top and bottom of the inner wall of the first slot (10) are provided with a movable slide groove (15). A movable electric slider (16) is slidably installed inside the movable slide groove (15). The sliding block (11) is slidably installed inside the first slot (10). The side of the movable electric slider (16) near the sliding block (11) is connected to the sliding block (11).

2. The joint control device based on wireless connection according to claim 1, characterized in that, A rotary motor (6) is embedded in one end of the first connecting rod (4) near the sliding assembly (2). The mounting end of the rotary motor (6) is far away from the first connecting rod (4) and is connected to the sliding assembly (2).

3. The joint control device based on wireless connection according to claim 2, characterized in that, The bottom of the truss body (1) is equipped with a guide rail (17), and the top of the second connecting rod (19) is equipped with a displacement electric slider (18), which is slidably installed inside the guide rail (17).

4. The joint control device based on wireless connection according to claim 3, characterized in that, The second auxiliary mechanism includes a connecting plate (24) and a moving block (27). A rotating motor (25) is embedded at the end of the second connecting rod (19) away from the truss body (1). The output end of the rotating motor (25) is away from the second connecting rod (19). The output end of the rotating motor (25) is connected to a second connecting block (20). A second electric lifting rod (21) is installed on the top of the second connecting block (20). The output end of the second electric lifting rod (21) faces downward. A third connecting block (22) is provided at the bottom of the second connecting block (20). The output end of the second electric lifting rod (21) moves through the second connecting block (20) and the third connecting block. (22) is connected to the top. The third connecting block (22) is provided with a second electric extension rod (23) on the side away from the truss body (1). The extension end of the second electric extension rod (23) faces the third connecting block (22). The third connecting block (22) is provided with a connecting plate (24) on the side close to the truss body (1). The extension end of the second electric extension rod (23) moves through the third connecting block (22) and connects with the connecting plate (24). Two moving blocks (27) are movably installed on the side of the connecting plate (24) close to the truss body (1). A laser range sensor (28) is embedded on the side of the moving block (27) away from the connecting plate (24).

5. The joint control device based on wireless connection according to claim 4, characterized in that, The connecting plate (24) has a first groove (29) on the side near the moving block (27), and the moving block (27) is connected to a first electric slider (26) on the side near the first groove (29). The first electric slider (26) is slidably installed inside the first groove (29).

6. A joint control method based on wireless connection, applicable to the joint control device of claim 5, characterized in that, include: Step 1: Clamp the goods, manipulate the sliding component (2) to drive the clamping component (3) to move, and complete the clamping of the goods; Step 2: Clamping stability monitoring, the vibration sensor (30) monitors the movement of the clamping assembly (3) in real time; Step 3: Assisted fixing, the movable block (27) is moved to the goods for assisted clamping and fixing; Step 4: Clamping detection. The clamping force of the clamping jaws is detected by comparing the pressure value with the clamping pressure sensor (12). Step 5: Clean the slide rails. Use the movable block (9) and air outlet (13) to clean the slide rails. Step 6: Stability detection of the sliding component. The sliding component (2) is synchronized with the laser rangefinder (28) and the data is compared to detect the stability of the sliding component (2). Step 7: Slide rail stability detection. The laser rangefinder (28) compares the preset distance measurement data of the slide rail to complete the deformation detection of the slide rail. Step 8: Grip stability test. The moving block (27) holds the gripper and shakes it. The pressure value change is compared with the pressure sensor (12) to complete the gripper stability test.

7. The joint control method based on wireless connection according to claim 6, characterized in that, The specific processes of steps one through eight are as follows: The sliding component (2) drives the clamping component (3) to move to the clamped goods. The grippers on the clamping component (3) clamp the goods. The movement of the clamping component (3) on the sliding component (2) combined with the movement of the sliding component (2) on the truss body (1) completes the clamping and transfer of the goods. The vibration sensor (30) detects the vibration value during the movement of the clamping component (3) and transmits the detected vibration value to the background control system for comparison with the standard value. If the detected vibration value exceeds the standard vibration value range, it indicates that the movement of the clamping component (3) has malfunctioned. The displacement electric slider (18) slides in the guide rail (17), and the second electric lifting rod (21) drives the third connecting block (22) to rise and fall, and the second electric extension rod (23) drives the connecting plate (24) to extend. The connecting plate (24) moves to the position where the clamping assembly (3) clamps the goods. The first electric slider (26) slides in the first slide groove (29) and drives the two moving blocks (27) to move on the connecting plate (24). The moving blocks (27) clamp the outside of the goods to complete the auxiliary fixation of the goods. The first electric lifting rod (7) drives the first connecting block (5) to extend downwards, and the first electric extension rod (8) drives the movable block (9) to extend. The movable block (9) extends to the two jaws of the clamping assembly (3). The movable electric slider (16) slides in the movable slide groove (15). The sliding block (11) moves to the preset use position. The jaws move at a preset distance to approach the movable block (9) and abut against the clamping pressure sensor (12). The pressure sensor (12) transmits the detected pressure value to the background control system and compares it with the standard pressure value. If the detected pressure value exceeds the standard pressure value range, it means that the clamping force of the jaws is unqualified. The rotary motor (6) drives the first connecting rod (4) to rotate, the movable block (9) rotates to the upward use state, the first electric lifting rod (7) drives the first connecting block (5) to lift and lower, and the first electric extension rod (8) drives the movable block (9) to extend. The movable block (9) extends to the slide rail at the top of the truss body (1), and the fan is started to blow air outward from the air outlet (13) to clean the slide rail at the top of the truss body (1). When it is necessary to test the sliding stability of the sliding component (2), the connecting plate (24) moves outside the truss body (1), the laser range sensor (28) faces the outside of the sliding component (2), the connecting plate (24) follows the movement of the sliding component (2), the laser range sensor (28) measures the distance between the sliding component (2) and the moving block (27) during the movement, the detected distance value is transmitted to the background control system and compared with the standard value. If the detected distance value exceeds the range of the standard value, it indicates that the sliding component (2) has deviated. The rotating motor (25) drives the connecting plate (24) to rotate to the working state above the second connecting rod (19). The laser range sensor (28) is facing the slide rail at the top of the truss body (1). The laser range sensor (28) detects the distance of the slide rail at the top of the truss body (1) and compares it with the standard value. If the detected distance data exceeds the standard value range, it indicates that the slide rail at the top of the truss body (1) has deformed. When it is necessary to test the stability of the gripper on the clamping assembly (3), the gripper clamps the pressure sensor (12), the pressure sensor (12) maintains a preset stable pressure value, the two moving blocks (27) clamp one gripper and shake the gripper to a preset degree, the pressure sensor (12) detects the pressure value change of the gripper during the shaking process and compares it with the standard value. If the pressure value change exceeds the standard value range, it indicates that the stability of the gripper is unqualified.

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