CN106363624A - Flexible cable parallel mechanical arm system with self-weight balance device and control method of flexible cable parallel mechanical arm system - Google Patents

Abstract

The invention discloses a flexible cable parallel mechanical arm system with a self-weight balance device and a control method thereof. The system includes an information collection module, an information processing module, a monitoring module, a driving module, and a mechanical execution module. The module, the mechanical execution module and the information processing module are connected, the information processing module is respectively connected with the driving module and the monitoring module, and the driving module is connected with the mechanical execution module. The present invention adopts a self-weight balance device, that is, a balance cylinder, which can balance the extra torque generated by the self-weight of the flexible cable parallel mechanical arm during operation, and improve the stability of the self-weight balance device, that is, improve the working stability of the flexible cable parallel mechanical arm. The invention adopts a distributed control form composed of an industrial computer, a motion control board and peripheral control loops, and the control system is more intuitive and safe.

Description

Cable parallel manipulator system with self-weight balance device and control method thereof

technical field

The invention relates to the field of industrial manipulators, in particular to a flexible cable parallel manipulator system with a self-weight balancing device and a control method thereof.

Background technique

Due to the defects of weak load-carrying capacity, low transmission efficiency, and low precision of the end effector of the traditional series manipulator, since the late 20th century, some scholars and experts have gradually proposed the concept of parallel mechanism; parallel mechanism has unique advantages in terms of load, stiffness, and precision. The advantages make it widely used in the fields of large object assembly, handling and processing and manufacturing. Although the rigid parallel manipulator is largely superior to the serial manipulator, it still has the disadvantage of small working space which cannot be ignored.

In order to solve the shortage of the rigid parallel manipulator in the scope of the working space, someone proposed a method of replacing rigid rods with flexible cables, and this method was quickly applied to the design and manufacture of parallel manipulators. As an important type of industrial manipulator, the flexible cable parallel manipulator is characterized by the flexible cable instead of part of the rigid rod as the transmission mechanism; or, the flexible cable parallel manipulator is regarded as one or more sets of drive elements (such as motors) ) is an optimized combination of flexible cables and parallel manipulators. The patent with the application number 201610435865.X and the title "a hybrid manipulator driven by a seven-degree-of-freedom cable-rod compound and its handling method" proposes a parallel manipulator with a flexible cable parallel mechanism and a telescopic structure. The structure combined with the pulling effect of the flexible cable increases the working space of the manipulator to a certain extent; however, this manipulator still uses some rigid rods, and the motor needs to do work on part of the self-weight of the manipulator when the manipulator is in operation. , increasing energy consumption and increasing inertia. Therefore, the primary work of the current parallel manipulator design is to improve the rigid rod part of the manipulator into a self-balancing rigid part.

In addition, compared with the traditional serial manipulator, the weight and inertia of the flexible cable parallel manipulator are significantly reduced, and the control precision and accuracy are significantly improved, which ensures the safety and reliability of the manipulator to a certain extent. However, the flexible cable parallel manipulator will encounter various unpredictable and complicated working conditions in the actual operation process, so the flexible cable and rigid parts of the manipulator still have potential safety hazards. Therefore, in order to ensure the personal safety of operators, a flexible cable parallel manipulator control system is designed with easy operation, quick system response and strong information processing capability. Control and real-time monitoring are very necessary to ensure the safe and reliable operation of the entire cable parallel manipulator system to the greatest extent.

SUMMARY OF THE INVENTION In order to overcome the deficiencies in the above-mentioned prior art, the present invention provides a flexible cable parallel manipulator system with a self-weight balancing device and its control method, which can automatically balance the extra weight generated by the flexible cable parallel manipulator during operation. Torque, and realize the control and real-time monitoring of the dynamic characteristics of the cable parallel manipulator, so as to improve the safety, reliability and economic value of the cable parallel manipulator.

In order to achieve the above object, the technical scheme adopted in the present invention is:

The flexible cable parallel mechanical arm system with self-weight balance device is characterized in that it includes an information collection module, an information processing module, a monitoring module, a drive module, and a mechanical execution module, and the information collection module is connected with the drive module, the mechanical execution module, and the information collection module respectively. The processing module is connected, the information processing module is respectively connected with the drive module and the monitoring module, and the drive module is connected with the mechanical execution module, wherein

The mechanical execution module includes a base installed obliquely on the horizontal frame, and three flexible cable drivers installed on the horizontal frame and distributed around the base in a zigzag shape. The flexible cable driver has a second flexible cable and its corresponding drive motor respectively, one end of the second flexible cable is respectively wound on the corresponding drive motor, and the other end is respectively connected to the side wall of the transmission box, and the flexible cable driver The connection of the second driving cable on the transmission box is distributed in the same character shape; the first hollow circular plate is arranged in parallel above the upper seat surface of the base, which can rotate along its geometric central axis, and is connected to it by the first hollow circular plate. Driven by a motor, six through holes are equidistantly arranged along the circumference of the first hollow circular plate, and one end of the third driving cable with the same number as the through holes passes through the through holes and is consolidated with the second hollow circular plate at the bottom of the transmission box , the consolidation points are equidistantly distributed along the circumference of the same size, the second hollow circular plate can also rotate along its geometric central axis, and the other ends of the six third driving cables are respectively wound on the motor shaft of the second motor; the transmission A boom is connected between the center of the bottom of the box and the center of the upper seat surface of the base, and the two ends of the boom pass through the center holes of the first and second hollow circular plates and are hinged to the base and the transmission box. A balance cylinder is also connected, and the balance cylinder includes a first spring cylinder and a second spring cylinder. The first and second spring cylinders are respectively closed at one end and open at the other end. The first spring cylinder is slidably assembled on the second spring cylinder. Inside the body, and the closed end of the first spring cylinder passes through the open end of the second spring cylinder, and a fourth motor is arranged in the second spring cylinder close to the closed end, the fourth motor is a linear motor, and the fourth motor outputs The shaft is connected with a sliding seat that can slide in the second spring cylinder, and a spring is also arranged in the first spring cylinder, one end of the spring is connected to the closed end of the first spring cylinder, and the other end of the spring is opened from the first spring cylinder. The end of the spring passes through, and the other end of the spring is connected to the sliding seat, wherein the closed end of the first spring cylinder is connected with the transmission box through the connecting cable, and the closed end of the second spring cylinder is hinged on the base; the top of the transmission box is vertical A connecting arm is connected straight downward, and the lower end of the connecting arm is connected with a forearm extending horizontally forward. The first driving cable is connected to the side, the first motor is installed on the lower surface of the base, the first driving cable passes through the transmission box and the base, and is connected and wound on the output shaft of the third motor;

The information collection module includes multiple angle sensors, multiple pull-cord displacement sensors, multiple force sensors, multiple proximity sensors, multiple infrared distance measuring sensors, and multiple photoelectric encoders; the angle sensors are respectively arranged on the forearm and connected to the At the rotational connection between the arms, the rotational joint between the wrist base and the end effector, the angle sensor collects the relative angle information of the forearm relative to its initial position in the horizontal projection plane, and the relative angle information of the end effector relative to its initial position. The relative angle information of the position rotation; the rope displacement sensors are respectively arranged at the first driving flexible cable and the three groups of second driving flexible cables, and the pulling rope displacement sensors of the first and second driving flexible cables are correspondingly collected by the pulling rope displacement sensors information; the load cells are respectively set at the first drive cable and the three sets of second drive cables, and the force sensors collect the traction information of the first and second drive cables; the proximity sensors are respectively set at the balance cylinder And on the end effector, the infrared ranging sensor is also arranged on the balance cylinder and the end effector respectively, and the proximity sensor cooperates with the infrared ranging sensor to collect the relative displacement information of the first spring cylinder and the second spring cylinder in the balance cylinder, The relative position information of the end effector and the target object; the photoelectric encoder is installed at the tail of each motor respectively, and the geometric mechanical quantity of the output shaft of the motor is collected by the photoelectric encoder;

The information processing module includes the industrial computer and the motion control board. The industrial computer and the motion control board are connected by two-way communication through the communication interface. The industrial computer is also connected to the monitoring module through the communication interface. Each angle sensor, pull The signal output ends of the rope displacement sensor, load cell, proximity sensor, infrared distance measuring sensor, and photoelectric encoder are respectively connected to the signal input end of the motion control board, and the signal output end of the motion control board is connected to the drive module. The board is also connected to the monitoring module through the communication interface; the motion control board receives the information from the information acquisition module, processes the data contained in the information in real time, and sends the real-time data to the industrial computer, and the industrial computer collects the information from the information acquisition module. Calculate and process the received information, and transmit the result to the monitoring module;

The drive module includes a motor driver and each motor that provides power for the mechanical execution module. The input end of the motor driver is connected to the signal output end of the motion control board in the information processing module, and the output end of the motor driver is connected to each motor in the mechanical execution module; The motor driver receives the control instructions transmitted by the industrial computer in the information processing module through the motion control board, so as to control the operation of each motor;

The monitoring module includes a human-computer interaction interface, which is connected to the industrial computer in the information processing module by two-way communication, and the human-computer interaction interface is also connected to the motion control board in the information processing module; the human-computer interaction interface is responsible for connecting the information processing module The information data received by the middle motion control board and the result data obtained by the calculation and processing of the industrial computer are displayed in real time, which is convenient for monitoring and manual debugging.

The flexible cable parallel manipulator system with self-weight balancing device is characterized in that: sensors of the same type are powered by the same power supply circuit, and the power supply circuits of sensors of different types are independent of each other.

The flexible cable parallel manipulator system with self-weight balancing device is characterized in that: the displacement information of the stay rope can be divided into the displacement information of the flexible cable moving along its track, and the flexible cable corresponding to the displacement information. The real-time speed information of the cable, and the orientation information of the part of the cable suspended in the air in the space.

The flexible cable parallel mechanical arm system with self-weight balance device is characterized in that: in the balance cylinder, four slide rails are arranged on the outer wall of the first spring cylinder, and four grooves are arranged on the inner wall of the second spring cylinder , the slide rail and the groove correspond one by one, and the two cooperate with each other to form a sliding structure.

The control method of the flexible cable parallel mechanical arm system with self-weight balancing device is characterized in that it includes the following steps:

(1) Start and initialize the flexible cable parallel manipulator system, and check whether the communication between the modules of the system is normal;

(2) Manually input the initial position coordinates and target position coordinates of the end effector in the human-computer interaction interface, and perform path planning for the components in the mechanical execution module;

(3) Start the drive module, and the system performs debugging operations to check whether the accuracy of each sensor in the information collection module is within the allowable range of error, and check whether the feedback signal of the photoelectric encoder of each motor is normal;

(4) After the commissioning is completed, fine-tune the position of the motor in the balance cylinder to make the balance arm reach the value expected by the operator;

(5) The system starts to enter the formal operation, and the components in the mechanical execution module start to move along the planned path. The motion control board receives the collected information from the sensors in the information collection module in real time and displays it on the human-computer interaction interface, which is convenient for monitoring The motion state of the flexible cable parallel manipulator system, and at the same time send the processed information to the industrial computer;

(6) The industrial computer processes these measurement data, generates control commands and the actual on-site running tracks of the components in the mechanical execution module, and feeds back the control commands to the motion control board, and transmits the actual running track information to the human-computer interaction interface for real-time display;

(7) After the motion control board receives the control command from the industrial computer, it analyzes the control command in combination with the current form of the cable parallel manipulator system, and calculates a more detailed control signal and sends it to the drive module;

(8) Each motor of the drive module generates its own different motion states after receiving their own control commands. At the same time, these motors with different motion states coordinate to complete the retracting and releasing actions of the flexible cables and the rotating actions of the components, thereby realizing the mechanical The components in the execution module are mainly the movement of the end effector in three-dimensional space along the planned path;

(9) The moving parts of the mechanical execution module including the end effector, the running trajectory in the three-dimensional space generated in the actual movement will not completely match the ideal global planning path, so the information collection module is connected in parallel with the cable During the operation of the robotic arm system, real-time measurement data is sent to the motion control board without interruption. The data is displayed on the manual interface and processed by the industrial computer. The industrial computer calculates the relationship between the real-time position of the moving parts of the system and the planned path, thereby generating new control commands. , after detailed processing by the motion control board, it is sent to the drive module, so that the moving parts of the system can travel in strict accordance with the planned path, which is convenient for maintaining the safety and stability of the system;

(10) The information displayed on the human-computer interaction interface of the flexible cable parallel manipulator system includes the pose information and motion characteristic information of the end effector, and the emergency stop and start of the moving parts of the system can be intervened by manual operation on the interface. In addition, a proximity sensor is installed on the end effector. When there is a foreign object or an outsider accidentally gets too close to the end effector, the proximity sensor will send a signal to the motion control board, and the motion control board will notify the industrial computer to generate a new command, forcing Emergency stop of the system to avoid safety accidents in advance;

(11) When the operating object of the flexible cable parallel manipulator system reaches the designated position, the system is powered off.

Compared with the prior art, the beneficial effects of the present invention are reflected in:

1. The self-weight balance device, that is, the balance cylinder, can balance the extra torque generated by the self-weight of the cable parallel robot arm when it is running, and reduce the load on the motor in the cable parallel robot arm, thereby improving the rapidity of the cable parallel robot arm. , accuracy, and improve the utilization rate of energy; and the self-weight balance device is equipped with a telescopic structure and a laser ranging device, and the cooperation between the two can automatically adjust the arm of the balance moment, which is obviously superior to the traditional self-weight balance in terms of flexibility. The device avoids the problem of the traditional fixed self-weight balance device when the center of gravity shifts due to the change of the posture of the flexible cable parallel manipulator, thereby improving the stability of the self-weight balance device, that is, improving the stability of the flexible cable parallel connection. The working stability of the manipulator.

2. The distributed control form composed of industrial computer, motion control board and its peripheral control loop is adopted, and the data collected by the sensor is processed by multiple machines, which has the advantages of strong information processing ability and fast system response; and the system adopts Modular design, which can not only control a certain degree of freedom of the system individually, but also carry out multi-degree-of-freedom linkage control of the system, and can also expand different modules or sensor sub-modules according to the actual situation, with good application openness ; At the same time, after the data collected by the sensor is calculated and processed, the resulting data will be displayed in real time on the human-computer interaction interface, reflecting the pose information, motion characteristic information and running trajectory of the moving parts in three-dimensional space, so as to control the moving parts of the system It can carry out comprehensive and timely monitoring and regulation, and the control system is more intuitive and safe.

Description of drawings

Fig. 1 is a block diagram of the flexible cable parallel manipulator system of the present invention.

Fig. 2 is a schematic diagram of the connection relationship of the main units of each module of the flexible cable parallel manipulator system of the present invention.

Fig. 3 is a front view of the actual application environment of the flexible cable parallel manipulator system of the present invention.

Fig. 4 is a side view of the actual application environment of the flexible cable parallel manipulator system of the present invention.

Fig. 5 is a top view of the actual application environment of the flexible cable parallel manipulator system of the present invention.

Fig. 6 is a partial view of a side view of the application environment of the present invention.

Fig. 7 is a partial view of the top view of the application environment of the present invention.

Fig. 8 is a schematic diagram of the positions of the motors on the base in the flexible cable parallel manipulator system of the present invention.

Fig. 9 is a schematic structural view of the self-weight balance device in the flexible cable parallel manipulator system of the present invention.

Fig. 10 is a schematic radial cross-sectional view of the first spring cylinder.

Fig. 11 is a schematic radial cross-sectional view of the second spring cylinder.

Fig. 12 is a flowchart of the control method of the present invention.

In the figure: base 100, boom 200, transmission box 300, forearm 400, end effector 500, cable driver 600, balance cylinder 700, operation object 800, frame 900;

The first motor 101, the second motor 102, the third motor 103, the first hollow disc 104, the first driving cable 301, the third driving cable 302, the second hollow disc 303, the wrist base 401, the first Two driving cables 601, connecting cables 701, a first spring cylinder 702, a second spring cylinder 703, a spring 704, a sliding seat 705, and a fourth motor 706.

detailed description

A cable parallel manipulator system with a self-weight balancing device, comprising: an information collection module, an information processing module, a monitoring module, a driving module, and a mechanical execution module. Fig. 1 is a block diagram of the flexible cable parallel manipulator system of the present invention, wherein the information collection module is connected with the information processing module, the information processing module is connected with the monitoring module and the driving module respectively, and the driving module is connected with the information collection module and the mechanical execution module respectively, The mechanical execution module is connected with the information collection module.

The information acquisition module is responsible for collecting all kinds of real-time measurement data of the cable parallel manipulator system, the information processing module is responsible for calculating and processing the data transmitted from the information acquisition module, and the monitoring module is responsible for collecting the data and images generated by the information acquisition module and information processing module in the Displayed on the human-computer interaction interface, the drive module is responsible for supplying power to the cable parallel manipulator system, and the mechanical execution module is the basic module for the cable parallel manipulator system to perform operations.

Fig. 2 is a schematic diagram of the connection relationship of the main units of each module of the flexible cable parallel manipulator system of the present invention. The information collection module contains 12 sensors in total: the first angle sensor, the second angle sensor, the first rope displacement sensor, the second rope displacement sensor, the third rope displacement sensor, the fourth rope displacement sensor, the first measuring rope A force sensor, a second force sensor, a third force sensor, a fourth force sensor, a proximity sensor, and an infrared distance sensor. The above-mentioned sensors are connected to their corresponding power supply circuits, and each power supply circuit performs step-down processing on the 220V voltage of the mains to maintain the normal operation of the corresponding sensors. In addition, the information acquisition module also includes a photoelectric encoder and its power supply circuit, and the number of photoelectric encoders is the same as the total number of motors in the system. The output ends of all sensors and photoelectric encoders are connected with the input ends of the motion control board in the information processing module.

Furthermore, the information collection module is used to collect five types of information: relative angle information, rope displacement information, cable force information, relative distance information, feedback information, and send the five types of information to the information processing module.

The relative angle information is composed of the angle information that the end effector 500 has rotated relative to its initial position, and the angle information that the forearm 400 has rotated in the horizontal projection plane relative to its initial position. Referring to FIG. 7, the end effector 500 is relatively The angle through which the initial position is turned is α, and in the horizontal projection plane, the angle through which the small arm 400 is turned relative to its initial position is β. The pulling rope displacement information includes the pulling rope displacement information of the driving cable of the transmission box 300 and the pulling rope displacement information of the driving cable of the arm 400 . Referring to FIG. 6 , the driving cable of the forearm 400 is the first driving cable 301 , one end of the first driving cable 301 is connected to the forearm 400 , and the other end passes through the inside of the transmission box 300 and the first driving motor on the base 100 101 connected. In terms of specific forms, the displacement information of the rope can be divided into the displacement information of the flexible cable moving along its track, the real-time speed information of the flexible cable corresponding to this displacement information, and the orientation information of the part of the flexible cable that is suspended in a linear shape in space; The cable force information is composed of two parts: traction force information on the drive cable of the transmission box 300 and traction force information on the drive cable of the arm 400 . The driving cable of the small arm 400 is the second driving cable 601 , and the two ends of the second driving cable 601 are respectively connected with the transmission box 300 and the cable driver 600 . The relative distance information is divided into two categories. The first category is the moving distance of the first spring cylinder 702 relative to the second spring cylinder 703, that is, the stretching distance of the spring cylinder; the second category is the distance between the end effector 500 and the foreign object. The relative position information is used to judge whether the end effector 500 has reached the specified position or whether there is an obstacle interfering with the running track of the mechanical arm; the feedback information is the geometric mechanical quantity of the motor output shaft detected by the photoelectric encoder installed at the end of the motor.

The information processing module includes an industrial computer and a motion control board, and the industrial computer and the motion control board are provided with corresponding communication interfaces; the input end of the control board is connected to the output end of the above-mentioned information collection module, and is responsible for receiving information from the information collection module. Five types of information, process the data contained in these information in real time, and send the real-time data to the industrial computer; the industrial computer calculates and processes the information collected by the information processing module, and transmits the results to the monitoring module; the industrial computer, motion control board The data transmission between the cards is two-way transmission, that is, the input end of the industrial computer is also the output end of the industrial computer, and the input end of the motion control board is also the output end of the motion control board. When the industrial computer transmits control commands to the motion control board , as the output end of the industrial computer is connected to the input end of the motion control board, when the motion control board transmits measurement data to the industrial computer, it is regarded as the output end of the motion control board is connected to the input end of the industrial computer; motion control The other output end of the board is connected with the input end of the drive module.

The monitoring module includes a human-computer interaction interface. The input terminal of the monitoring module is connected to the output terminal of the industrial computer and the output terminal of the motion control board, and is responsible for calculating and processing the result data obtained by the motion control board and industrial computer according to the information collected by the information processing module in real time. display, which is convenient for monitoring and manual debugging.

The drive module includes a motor and a motor driver. The input end of the motor driver is connected to the output end of the motion control board, and the output end of the motor driver is connected to the input end of the motor; the motor driver receives control commands transmitted by the industrial computer through the motion control board , so as to control the operation of the motor.

Referring to Figures 1-5, the mechanical execution module includes a base 100, a boom 200, a transmission box 300, a small arm 400, an end effector 500, a cable driver 600, and a balance cylinder 700. The base 100 is connected to the boom 200, The other end of the boom 200 is connected to the transmission box 300, and the balance cylinder 700 is connected between the base 100 and the transmission box 300. 300 connected. The base 100 is installed on the frame 900 , and the end effector 500 is an adsorption structure for grabbing the operation object 800 .

Fig. 8 is a schematic diagram of the positions of the motors on the base in the flexible cable parallel manipulator system of the present invention. The first motor 101 is responsible for driving the translational movement of the small arm 400. Referring to Fig. 7, the first motor 101 drives the first hollow circular plate 104 along the The rotation of the geometric central axis, the torque is transmitted to the second hollow circular plate 303 at the bottom of the transmission box 300 by the third driving cable 302 that has been kept in a tight state, and the top of the transmission box 300 is connected vertically downward with a connecting arm. A pair of bevel gears meshing with each other is provided, and the pair of bevel gears are installed on the top of the second hollow circular plate 303 and the connecting arm respectively, and the torque on the second hollow circular plate 303 is transmitted to the connecting arm through the pair of bevel gears, and the connection The lower end of the arm is rotatably connected with the forearm 400 extending horizontally forward, so as to drive the forearm 400 to do translational movement; the second motor 102 is responsible for retracting and releasing the third driving cable 302 to cooperate with the action of the boom 200, when the boom 200 is extended , the second motor 102 rotates forward to loosen the third drive cable 302, the third drive cable 302 extends with the lifting of the transmission box 300, when the boom 200 shortens, the second motor 102 reverses to collect the third drive cable 302, the excess length keeps the third driving cable 302 in a tight state; the third motor 103 is responsible for driving the lifting/lowering action of the forearm 400, see Figure 6, one end of the first driving cable 301 passes through the pulley block and is fixed on the small On the arm 400, the other end passes through the transmission box 300 and the base 100 and is then connected and wound on the output shaft of the third motor 103. When the third motor 103 rotates forward, the third driving cable 302 is retracted to drive the small arm 400 to lift Heavy objects, when the third motor 103 reverses, the third driving cable 302 is loosened, and the forearm is put down due to the effects of the heavy objects and its own weight.

9 is a schematic structural view of the self-weight balancing device in the flexible cable parallel manipulator system of the present invention. The self-weight balancing device is respectively fixed on the base 100 and the transmission box 300 through connecting flexible cables 701 . Wherein, the first spring cylinder body 702 and the second spring cylinder body 703 are both hollow rectangular body structures, the outer wall of the first spring cylinder body 702 is provided with four slide rails, and the inner wall of the second spring cylinder body 703 is provided with four grooves , the slide rails and the grooves correspond one by one, and the two cooperate with each other to form a sliding structure. The specific form is shown in Figures 10 and 11. A fourth motor 706 is installed at the bottom of the second spring cylinder 703 cavity, the fourth motor 706 is a linear motor, and its motor shaft is threadedly matched with the sliding seat 705 . The sliding seat 705 can slide axially inside the second spring cylinder 703 , a spring 704 is installed on the end surface away from the end of the fourth motor 706 , and the other end of the spring 704 is installed on the bottom of the cavity of the first spring cylinder 702 . When the flexible cable parallel mechanical arm system is working, the first spring cylinder 702 and the second spring cylinder 703 slide against each other, and the internal spring 704 generates stretching/compression action to form a balance moment, so that the flexible cable parallel mechanical arm can be automatically balanced. The extra moment due to its own weight when the arm is running.

Fig. 12 is a flow chart of the control method of the present invention, adopting the control method of the cable parallel manipulator system with self-weight balance device of the present invention, proceed as follows:

(1) Start and initialize the flexible cable parallel manipulator system, and check whether the communication between the modules of the system is normal;

(2) Manually input the initial position coordinates and target position coordinates of the end effector 500 in the human-computer interaction interface, and perform path planning for the components in the mechanical execution module;

(3) Start the drive module, debug the system, check whether the accuracy of each sensor in the information acquisition module is within the allowable range of error, and check whether the feedback signal of the photoelectric encoder of each motor is normal;

(4) After the commissioning is completed, fine-tune the position of the fourth motor 706 in the balance cylinder 700 so that the balance arm reaches the value expected by the operator;

(5) The system starts to enter the formal operation, and the components in the mechanical execution module start to move along the planned path. The motion control board receives the collected information from the sensors in the information collection module in real time and displays it on the human-computer interaction interface, which is convenient for monitoring the flexible The motion state of the cable parallel manipulator system, and at the same time send the processed information to the industrial computer;

(6) The industrial computer processes the measured data, generates control instructions and the actual on-site running trajectory of the components in the mechanical execution module, and feeds back the control instructions to the motion control board, and transmits the actual running trajectory information to the human-computer interaction interface for further processing. real-time display;

(7) After the motion control board receives the control command from the industrial computer, it analyzes the control command in combination with the current form of the cable parallel manipulator system, and calculates a more detailed control signal and sends it to the drive module;

(8) Each motor of the drive module generates its own different motion state after receiving its own control command. At the same time, these motors with different motion states coordinate to complete the retracting and releasing action of the flexible cable and the rotating action of the components, thereby realizing mechanical execution. The components in the module are mainly the movement of the end effector 500 in three-dimensional space along the planned path;

(9) The moving parts of the mechanical execution module including the end effector 500, the running trajectory in the three-dimensional space generated in the actual movement, will not completely match the ideal global planning path, so the information collection module is connected in parallel with the flexible cables. During the operation of the robotic arm system, real-time measurement data is sent to the motion control board without interruption. The data is displayed on the manual interface and processed by the industrial computer. The industrial computer calculates the relationship between the real-time position of the moving parts of the system and the planned path, thereby generating new control commands. , after detailed processing by the motion control board, it is sent to the drive module, so that the moving parts of the system can travel in strict accordance with the planned path, which is convenient for maintaining the safety and stability of the system;

(10) The information displayed on the human-computer interaction interface of the flexible cable parallel manipulator system includes the pose information and kinematic characteristics information of the end effector, and the emergency stop and start of the moving parts of the system can be intervened through manual operation on the interface. In addition, , a proximity sensor is installed on the end effector 500. When there is a foreign object or an outsider accidentally gets too close to the end effector, the proximity sensor will send a signal to the motion control board, and the motion control board will notify the industrial computer to generate a new command, forcing Emergency stop of the system to avoid safety accidents in advance;

(11) The operating object 800 of the flexible cable parallel manipulator system reaches the designated position, and the system is powered off.

Claims (5)

1. there is the flexible cable parallel manipulator arm system of self-balance device it is characterised in that: include information acquisition module, at information Reason module, monitoring modular, drive module, mechanical performing module, described information acquisition module is held with drive module, machinery respectively Row module, message processing module connect, and message processing module is connected with drive module, monitoring modular respectively, drive module and machine Tool performing module connects, wherein

Mechanical performing module includes the pedestal being inclined and mounted on horizontal frames, and is arranged on horizontal frames and in isosceles triangle It is distributed in three Wire driven robot devices around pedestal, in face of the pedestal seat of honour, inclined upward is provided with transmission case, described Wire driven robot device In be respectively provided with the second driving flexible cable and its corresponding motor, second driving flexible cable one end is respectively wound around corresponding driving On motor, the other end is connected on the wall of transmission case side, and in Wire driven robot device, the second driving flexible cable connects on transmission case Place is in same isosceles triangle distribution；It is arranged with the first hollow circular plate in parallel above seat surface on described pedestal, can be along its geometric center Axle rotates, and by the first Motor drive being attached thereto, the first hollow circular plate has circumferentially been placed equidistant six through holes, Flexible cable one end is driven to sequentially pass through the second hollow circular plate consolidation of through hole and transmission case bottom with number of openings identical the 3rd, Gu It is equally spaced along formed objects circumference at knot, the second hollow circular plate also can rotate along its geometrical central axis, the six roots of sensation the 3rd The flexible cable other end is driven to be respectively wound around on the motor shaft of the second motor；Described transmission case bottom centre and seat surface center on pedestal Between be connected with large arm, and large arm two ends be each passed through first, second hollow circular plate centre bore hinged with pedestal, transmission case, It is also associated with compensating cylinder, described compensating cylinder includes the first spring cylinder and second spring cylinder body between transmission case and pedestal, first, Closing other end in one end is uncovered respectively for two spring cylinder, and the first spring cylinder is slidedly assemblied in second spring cylinder body, and first Spring cylinder blind end passes from second spring cylinder body opening end, is provided with the 4th electricity in second spring cylinder body at blind end Machine, the 4th motor is linear electric motors, and the 4th motor output shaft is connected with the slide that can slide in second spring cylinder body, the first bullet It is additionally provided with spring, spring one end is connected to the first spring cylinder blind end, and the spring other end is from the first spring cylinder in spring cylinder body Opening end passes, and the spring other end is connected on slide, and the wherein first spring cylinder blind end passes through to connect flexible cable and transmission Case connects, and second spring cylinder body blind end is hinged on pedestal；Described transmission case top vertical is connected with downwards linking arm, connects Arm lower end is rotatably connected to the forearm of horizontal forward extension, and forearm front end is rotatably connected to wrist pedestal, and wrist base bottom is even It is connected to end effector；It is connected with the first driving flexible cable, under pedestal, seat surface is provided with the first motor on front side of described forearm top, the One driving flexible cable connects after passing through transmission case, pedestal and is wrapped on the output shaft of the 3rd motor；

Information acquisition module includes multiple angular transducers, multiple displacement sensor for pull rope, multiple force cell, multiple close Sensor, multiple infrared distance sensor, multiple photoelectric encoder；Wherein angular transducer is separately positioned on forearm and linking arm Between rotate junction, wrist pedestal and end effector rotate junction, by angular transducer corresponding gather forearm with respect to The phase that relative angle information that its initial position turns in horizontal plane, end effector turn over respect to its initial position To angle information；Displacement sensor for pull rope is separately positioned at the first driving flexible cable and at three group of second driving flexible cable, by drawstring The drawstring displacement information of the corresponding collection of displacement transducer first, second driving flexible cable；Force cell is separately positioned on the first drive At dynamic flexible cable and at three group of second driving flexible cable, pull strength suffered by flexible cable is driven by the corresponding collection of force cell first, second Information；Proximity transducer is separately positioned on compensating cylinder and end effector, and infrared distance sensor is also separately positioned on balance On cylinder and end effector, in infrared distance sensor corresponding collection compensating cylinder with proximity transducer the first spring cylinder with Second spring cylinder body relative displacement information, end effector and object relative position information；Photoelectric encoder is separately mounted to Each motor afterbody, is gathered the geometry mechanical quantity of motor output shaft by photoelectric encoder；

Message processing module includes industrial computer and motor control board, passes through communication interface between industrial computer, motor control board Both-way communication connects, and industrial computer is connected with monitoring modular both-way communication also by communication interface, each angle in information acquisition module Degree sensor, displacement sensor for pull rope, force cell, proximity transducer, infrared distance sensor, the signal of photoelectric encoder Outfan is connected with the signal input part of motor control board respectively, and the signal output part of motor control board is with drive module even Connect, motor control board is connected with monitoring modular communication also by communication interface；Motion control board card receive information acquisition module The information transmitting, the data comprising in these information of real-time processing, and real time data is sent to industrial computer, industrial computer is to information The information that acquisition module collects carries out calculating process, and transmits the result to monitoring modular；

Each motor that drive module includes motor driver and provides power for mechanical performing module, the input of motor driver End is connected with the signal output part of motor control board in message processing module, and the outfan of motor driver executes mould with machinery Each motor connection in block；The control that in motor driver receive information processing module, industrial computer is come by the transmission of motor control board System instruction, thus control the operating of each motor；

Monitoring modular includes human-computer interaction interface, and human-computer interaction interface is connected with industrial computer both-way communication in message processing module, Human-computer interaction interface is also connected with the motion control board cartoon news in message processing module；Human-computer interaction interface is responsible at information The information data that in reason module, motion control board clamping receives, industrial computer calculating process the result data obtaining and show in real time, just In supervision and manual debugging.

2. the flexible cable parallel manipulator arm system with self-balance device according to claim 1 it is characterised in that: similar Sensor is powered by same power supply circuits, and the power supply circuits of inhomogeneity sensor are independent of one another.

3. the flexible cable parallel manipulator arm system with self-balance device according to claim 1 it is characterised in that: described Drawstring displacement information can be divided into flexible cable corresponding with this displacement information along the displacement information of its track movement on concrete form The real time rate information of flexible cable, flexible cable are in azimuth information in space for the hanging part of wire.

4. the flexible cable parallel manipulator arm system with self-balance device according to claim 1 it is characterised in that: described In compensating cylinder, the first spring cylinder outer wall is provided with four slide rails, and second spring inboard wall of cylinder block is provided with four grooves, slide rail, Groove corresponds, and complements each other to form slide construction between the two.

5. there is the control method of the flexible cable parallel manipulator arm system of self-balance device it is characterised in that: comprise the following steps:

(1), start and initialize flexible cable parallel manipulator arm system, whether the communication of each intermodule of inspection system is normal；

(2) in human-computer interaction interface, it is manually entered initial position co-ordinates and the destination locations coordinate of end effector, and to machine In tool performing module, part carries out path planning；

(3), start drive module, system carries out Task of Debugging, in checking information acquisition module, whether the precision of each sensor exists In error allowed band, check whether the feedback signal of the photoelectric encoder of each motor is normal；

(4) after the completion of, debugging, motor position in fine setting compensating cylinder, make the balance arm of force reach numerical value expected from operator；

(5), system initially enters formal operation, and in mechanical performing module, part starts along path planning action, motor control Board real-time reception is derived from the collection information of each sensor in information acquisition module, and is shown in human-computer interaction interface, is easy to Monitor the kinestate of flexible cable parallel manipulator arm system, the information after processing is sent to industrial computer simultaneously；

(6), industrial computer is processed according to these measurement data, generates the reality of part in control instruction and mechanical performing module Live running orbit, and control instruction is fed back to motor control board, actual motion trace information is transferred to man-machine interaction Interface is shown in real time；

(7), motion control board clamping receives after the control instruction of industrial computer, current in conjunction with flexible cable parallel manipulator arm system Form is analyzed to control instruction, and the control signal calculating more refinement is sent to drive module；

(8), each motor of drive module produces each different kinestates after receiving respective control instruction, meanwhile, these Have between the motor of different kinestates and coordinate to complete the folding and unfolding action of flexible cable and the spinning movement of part, thus realizing machinery In performing module part be mainly end effector along path planning moving in three dimensions；

(9), the mechanical performing module moving component including end effector, in the three dimensions generating in actual motion Running orbit, necessarily will not fit like a glove with preferable Global motion planning path, therefore information acquisition module is in flexible cable parallel manipulator During arm system operation, Non-intermittent sends real-time measuring data to motor control board, and data shows in human interface and transfers to work Control machine is processed, and industrial computer is calculated the relation of system motion part real time position and path planning, thus generating new control Instruction, is carried out sending to drive module after treatment of details by motion control board card, realizes system motion part in strict accordance with planning Advancing in path, is easy to the safety and stability of maintenance system；

(10), flexible cable parallel manipulator arm system includes the pose letter of end effector in the information that human-computer interaction interface shows Breath, kinetic characteristic information, can be by the jerk of the artificial operation interfering system moving component to interface, startup, additionally, end Proximity transducer is provided with executor, when having foreign body or Migrant women unexpectedly too close to end effector, close Sensor can send a signal to motor control board, and motion control board cartoon knows that industrial computer generates new instruction, forces system anxious Stop, avoid the generation of security incident in advance；

(11), the operation object of flexible cable parallel manipulator arm system reaches specified location, system cut-off.