CN121340364A - Wire control robot supply station and application method thereof - Google Patents
Wire control robot supply station and application method thereofInfo
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- CN121340364A CN121340364A CN202511562126.2A CN202511562126A CN121340364A CN 121340364 A CN121340364 A CN 121340364A CN 202511562126 A CN202511562126 A CN 202511562126A CN 121340364 A CN121340364 A CN 121340364A
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- execution terminal
- wire
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- terminal
- energy storage
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Abstract
本发明公开了一种线控机器人补给站及其应用方法，属于线控机器人的技术领域。包括：设置在线控机器人架体的指定位置处的补给站，所述补给站具有补给腔，适配于执行终端。还包括：配置在所述补给站内的蓄能单元，所述蓄能单元作用于放置在补给腔内的执行终端。还可设定位检测模块监测终端位置，保障对接精准。应用时，补给站支持休息、蓄能、避让模式，通过可调长度绳索控制终端按预定轨迹进出补给腔，实现自动化续航与安全避让，提升机器人连续作业能力，降低人工成本，适配多重工场景。
This invention discloses a wire-controlled robot resupply station and its application method, belonging to the technical field of wire-controlled robots. It includes: a resupply station set at a designated position on the wire-controlled robot frame, the resupply station having a resupply cavity adapted to an execution terminal. It also includes: an energy storage unit configured within the resupply station, the energy storage unit acting on the execution terminal placed within the resupply cavity. A positioning detection module can also be set to monitor the terminal's position to ensure accurate docking. In application, the resupply station supports rest, energy storage, and obstacle avoidance modes. An adjustable-length rope controls the terminal to enter and exit the resupply cavity along a predetermined trajectory, achieving automated continuous operation and safe obstacle avoidance, improving the robot's continuous operation capability, reducing labor costs, and adapting to multi-tasking scenarios.
Description
Technical Field
The invention belongs to the technical field of a wire control robot, and particularly relates to a wire control robot supply station and an application method thereof.
Background
Driven by the industrial 4.0 and intelligent manufacturing strategy, the wire-controlled robot has become key equipment for solving the difficult problems of large space and large load operation in the heavy industry by virtue of the core advantages of electronic signal driving and flexible transmission of a steel wire rope. The carrying, sorting and assembling of heavy workpieces with spans exceeding kilometers and loads reaching tens of tons can be realized by cooperatively controlling the execution terminals through a plurality of groups of steel wire ropes with adjustable lengths, and the carrying, sorting and assembling device is widely applied to complex industrial scenes such as ship manufacturing, aerospace and the like. However, the continuous operation capability and the autonomous operation level of the execution terminal have become a core bottleneck that restricts the implementation of continuous production for a long time by the drive-by-wire robot.
Firstly, the supply and operation of the current drive-by-wire robot execution terminal have multiple technical pain points, and the supply of energy and consumable materials depends on manual intervention, so that the efficiency is low and the suitability is poor. The components such as the drive motor and the sensor carried by the execution terminal have higher energy consumption, and the traditional supply mode needs to manually stop to replace batteries or supplement welding materials, polish consumables and the like, so that the production flow is interrupted. Secondly, the intelligent response capability of multi-scene adaptation is lacking. When the execution terminal needs temporary stopping and emergency avoiding in the operation gap, the execution terminal has no special safe storage space, and cannot realize the pre-storage of energy, so that the energy consumption is wasted when the equipment is idle, and the response is lagged under the burst working condition.
Disclosure of Invention
The invention provides a wire control robot supply station and an application method thereof for solving the technical problems in the background technology.
The invention adopts the following technical scheme that the wire control robot replenishment station comprises:
and the replenishing station is arranged at a designated position of the online control robot frame body and is provided with a replenishing cavity which is adapted to the execution terminal.
In a further embodiment, further comprising:
The energy storage unit is arranged in the replenishing station and acts on the execution terminal arranged in the replenishing cavity.
In a further embodiment, further comprising:
The positioning detection module is assembled in the replenishment station and is used for detecting the placement position of the execution terminal.
In a further embodiment, the energy storage unit comprises at least one of a charging unit and a material supply unit;
The charging unit is used for supplementing electric energy for the execution terminal, and the material supply unit is used for supplementing consumable materials required by the execution terminal.
In a further embodiment, the replenishment chamber has an axially directed degree of freedom for the ingress and egress of the actuation terminal and a radial clearance degree of freedom for the clearance of the rope operation.
A robot-by-wire replenishment station as claimed in claim, applied to a robot-by-wire having an execution terminal and a plurality of ropes connected to the execution terminal, the length of each group of ropes being adjustable in real time.
In a further embodiment, the method comprises the steps of:
and setting working modes of the replenishment station, wherein the working modes at least comprise a rest mode and an energy storage mode.
When the execution terminal enters the replenishing cavity and replenishing is not needed, triggering the rest mode energy storage unit to stop working, and keeping the position monitoring of the execution terminal by the positioning detection module;
when the execution terminal enters the replenishing cavity and needs to be replenished, an energy storage mode is triggered, and after the positioning detection module confirms that the execution terminal is in place, the energy storage unit is controlled to start and act on the execution terminal.
In a further embodiment, the operating modes further include a back-off mode;
when the execution terminal needs emergency avoidance, an avoidance mode is triggered, namely the execution terminal enters a supply cavity and a rest mode is triggered.
In a further embodiment, the system further comprises a plurality of rope control execution terminals entering the replenishment station according to a preset moving track and a preset gesture.
The automatic charging and consumable replenishment device has the beneficial effects that the automatic charging and consumable replenishment of the execution terminal are realized through the energy storage unit of the replenishment station, the manual shutdown for replacing a battery and the addition of welding materials or hydraulic oil are not needed, and the pain points of low efficiency and interruption of the production flow of the traditional manual replenishment are thoroughly solved. Meanwhile, the positioning detection module ensures that the terminal is accurately abutted to the replenishment interface, so that the replenishment failure problem caused by manual abutting deviation is avoided, and the manual debugging cost is further reduced.
On one hand, the axial guide structure and radial clearance design of the replenishing cavity not only ensures smooth in-out of the terminal, but also avoids winding or friction during rope operation and prevents the falling risk of the terminal caused by rope interference; on the other hand, the positioning detection module corrects the terminal position in real time through laser positioning and pressure sensing, so that the problems of unbalanced center of gravity, interface docking failure and the like caused by high-altitude docking offset are avoided. In addition, the line overcurrent protection and the pipeline self-sealing design of the energy storage unit further stop potential safety hazards such as leakage and consumable leakage during high-altitude feeding, and are suitable for severe working condition demands of heavy engineering scenes.
Finally, the invention integrates the replenishing station in the frame or the warehouse of the drive-by-wire robot without occupying extra external space by optimizing the space utilization of the drive-by-wire robot and the regulation and control efficiency of the rope, and the pipelines of the energy storage unit are distributed along the top edge and the side edge of the frame/the warehouse, so that the interference of the pipelines, the terminal moving path and the rope operation is avoided. Meanwhile, the access and posture adjustment of the execution terminal completely depend on the cooperative control of the rope with adjustable length, no additional guide rail or mechanical arm for auxiliary positioning is needed, the system structure is simplified, meanwhile, the terminal is ensured to accurately enter the supply cavity according to a preset track, the rope regulation and control efficiency is greatly improved, and the system shutdown risk caused by auxiliary equipment faults is reduced.
Drawings
Fig. 1 is a first structural diagram of a robot-by-wire replenishment station of embodiment 1.
Fig. 2 is a second configuration diagram of the robot-by-wire replenishment station of embodiment 1.
Fig. 3 is a schematic view of the robot-by-wire of embodiment 2 located in a replenishment station.
Each of fig. 1 to 3 is marked with a frame 1, a fixed pulley 2, a rope 3, an execution terminal 4, a replenishment station 5, and a tank 6.
Detailed Description
Example 1
As shown in fig. 1, the present embodiment provides a robot-by-wire replenishment station 5 including a replenishment station 5 provided at a specified position of a robot-by-wire frame body 1. The frame body 1 of the wire control robot in this embodiment may be a frame with a predetermined volume, and hardware devices such as a rope 3 controller (e.g. a winding motor) and a fixed pulley 2 of the wire control robot are assembled on the frame. Thus, the frame of the present embodiment has a predetermined height for supporting the execution terminal 4 to operate inside thereof.
Or a warehouse, and hardware devices such as a rope 3 controller (such as a winding motor) of the wire control robot, a fixed pulley 2 and the like are directly assembled in the warehouse so as to realize the dispatching of the execution terminal 4 in a designated area in the warehouse.
In order to meet the long-time continuous operation requirement of the drive-by-wire robot execution terminal 4 in a heavy operation scene, the problems of low efficiency and pain point of interrupting the operation flow of the traditional manual replenishment are solved, and the embodiment constructs an automatic continuous voyage guarantee system by integrating the replenishment station 5 in a preset area of the robot frame body 1 or a warehouse.
The replenishment station 5 in this embodiment is a replenishment chamber adapted to the external shape of the execution terminal 4, and its spatial dimension is designed according to the maximum outline of the terminal, so that the execution terminal 4 can smoothly enter the chamber to complete the stop through the regulation and control of the rope 3, and unnecessary displacement is limited by the guiding structure (such as an axial sliding rail) of the inner wall, so as to ensure the stable stop posture, as shown in fig. 2.
Furthermore, in order to realize seamless connection of docking, namely replenishment, an energy storage unit which is accurately matched with the energy consumption characteristic and consumable requirement of the execution terminal 4 is integrated in the replenishment station 5.
The energy storage unit according to the embodiment does not exist independently of the replenishing cavity, but is embedded into the inner wall or the bottom of the cavity through a modularized design:
For example, the electrode contact of the charging module corresponds to the charging interface position of the housing of the execution terminal 4, and the conveying pipeline of the material supply unit and the consumable filling port of the terminal form a coaxial butting channel. After the execution terminal 4 enters the replenishment chamber and the positioning is completed, the energy storage unit can directly act on the terminal. The high-voltage quick-charging circuit can be used for supplementing electric energy for a power battery of the terminal (adapting to continuous energy consumption of a high-power motor and a sensor), and consumable materials (such as hydraulic oil, paint, wearing parts and the like) required by the operation of the terminal can be supplemented for the terminal through the quantitative conveying mechanism, so that the operation capability of the terminal can be quickly recovered under the condition that manual intervention is not needed, and core cruising support is provided for continuous production of the line-control robot.
The energy storage unit comprises at least one of a charging unit for supplementing the execution terminal 4 with electric energy and a material supply unit for supplementing the execution terminal 4 with consumables required for the operation.
Therefore, the output end of the energy storage unit in this embodiment is directly connected to the corresponding interface position (such as the charging contact and the consumable material delivery connector) of the replenishment cavity, and the input end of the input end is provided with a pipeline through the edge of the top edge of the frame or the warehouse, and then extends vertically to the area (such as the external power interface and the consumable material storage tank placement position) which is convenient for manual operation or external supply through the side surface. The layout ensures close-range accurate butt joint of the output end and the interface of the replenishment cavity, reduces energy/consumable transmission loss, extends the input end to a convenient operation area through the hidden paths of the top and the side edges, facilitates external energy access, consumable replenishment or equipment maintenance, and simultaneously avoids interference caused by pipeline to movement of the execution terminal 4 and regulation and control of the rope 3.
Considering that the execution terminal 4 finishes energy storage replenishment or temporary rest in a high-altitude area (such as a working layer with a height of several meters to ten meters) of a frame or a warehouse, the stability of high-altitude parking directly influences replenishment safety and follow-up operation precision. If the terminal parking position is deviated, the line/pipeline butt joint failure of the energy storage unit can be caused, and even the risks of terminal shaking, uneven stress of the rope 3 and the like can be caused due to unbalanced gravity center. Therefore, in this embodiment, a positioning detection module is assembled in the supply station 5, so as to accurately detect the placement position of the execution terminal 4 in real time, and provide dual guarantee for high-altitude stable parking.
For example, the positioning detection module of the embodiment is uniformly distributed along the inner wall of the replenishment cavity through a plurality of groups of laser positioning sensors, a three-dimensional positioning coordinate system is constructed, the reference mark point of the outer shell of the execution terminal 4 is captured in real time, the horizontal offset, the vertical height deviation and the inclination angle of the terminal in the cavity are accurately identified, if the detected position exceeds the preset safety range, an adjusting signal is immediately sent to the rope 3 control system of the wire control robot, the position of the terminal is corrected through fine adjustment of the length of the rope 3, and the precise alignment of the terminal with the charging interface and the consumable interface of the replenishment cavity is ensured.
In other embodiments, the position detection module further incorporates pressure sensing contacts disposed on the support surface at the bottom of the replenishment chamber. After the terminal is stopped, the contact can judge whether the terminal stably falls down or not through detecting pressure distribution, the terminal is prevented from inclining due to unilateral stress, the stability of high-altitude stopping is further enhanced, and a safety premise is provided for the follow-up energy storage or rest process.
In order to ensure that the execution terminal 4 can smoothly enter the replenishing cavity to finish stopping and replenishing, and avoid interference with the rope 3 for regulating and controlling movement of the execution terminal, the following structural improvement is performed on the spatial degree of freedom of the replenishing cavity:
Firstly, the supply cavity is provided with an axial guiding structure along the in-out direction of the execution terminal 4, such as a strip-shaped sliding rail on two sides of the inner wall and a guiding roller on the top. The precise axial guiding degree of freedom is provided for the terminal, and the terminal can stably enter and exit the cavity along the axial direction under the cooperative control of the rope 3, so that preliminary positioning can be realized without additional posture adjustment.
Meanwhile, the radial dimension of the replenishing cavity is reserved with a groove body 6, so that the freedom degree of a radial clearance is formed. The groove body 6 not only can accommodate the connecting part of the hanging point structure of the terminal and the rope 3, but also reserves sufficient space for the fine adjustment action (such as small radial swing generated by gesture calibration) of the rope 3 in the terminal stopping process, so that the friction or winding of the rope 3 with the cavity wall and the terminal shell is thoroughly avoided, and the safety and fluency of the terminal in and out and the operation of the rope 3 are ensured.
Therefore, the robot-by-wire replenishment station 5 disclosed in the embodiment realizes stopping, positioning and replenishment, and can recover terminal endurance without manual intervention, so as to support the continuous operation of the robot-by-wire for a long time.
Example 2
Based on the robot-by-wire replenishment station disclosed in example 1, this example adapts it to the depth of the robot-by-wire system. The wire control robot is provided with an execution terminal (such as a hydraulic grab terminal, a welding terminal and the like which are required to be charged and consumed, etc.) capable of executing heavy work, and the movement and posture regulation and control of the execution terminal in a three-dimensional space are realized through a plurality of groups of ropes with the lengths being adjustable in real time (cooperatively controlled by a winding motor and a fixed pulley).
Firstly, a working mode of adapting to a working scene is configured for a supply station, wherein the working mode at least comprises a rest mode and an energy storage mode, and the two modes can be automatically switched according to the actual requirement of an execution terminal without manual intervention.
The rest mode is triggered, namely when the execution terminal completes single operation (such as heavy workpiece carrying and one-section welding), if the electric quantity remains more than or equal to 70% and the consumable allowance is more than or equal to 50% (without replenishment), the rope of the wire control robot can move along a preset moving track, such as a path along a straight line or avoiding obstacles from an operation area. And the control execution terminal enters the supply cavity in a horizontal posture, and as shown in figure 3, after the execution terminal completely enters, the system automatically triggers a rest mode. At this moment, the energy storage unit (the charging module and the consumable supply module) stops working, only the positioning detection module keeps running, the parking position of the terminal in the cavity is monitored in real time, the terminal deviation caused by the slight vibration of the outside is avoided, and the rapid and accurate detachment from the supply cavity during the follow-up re-operation is ensured.
When the electric quantity of the execution terminal is less than or equal to 30% or the consumable allowance is less than or equal to 20% (to be supplied), the rope can firstly correct the posture of the terminal (such as being adjusted to be horizontal, enabling the charging interface/material interface to face the corresponding butt joint position of the supply cavity, then controlling the terminal to enter the supply cavity along a preset track, and after the positioning detection module confirms that the terminal is completely in place through laser positioning and pressure sensing, sending a starting signal to the energy storage unit.
In a further optimization scheme, a new avoidance mode of the replenishment station is added and used for coping with sudden working conditions, wherein the system triggers the avoidance mode when an obstacle appears in an operation area of the execution terminal, such as equipment and personnel which temporarily break into the terminal or other equipment needs to vacate an operation space. The rope can control the terminal to break away from the replenishing cavity immediately after the external interference is eliminated, and the rope returns to the original operation area to continue working.
In the whole application process, the in-out and posture adjustment of the execution terminal are completed by the cooperation of a plurality of groups of ropes with adjustable lengths, namely, through adjusting the retraction lengths of different ropes in real time, the terminal is precisely controlled to move according to a preset moving track (such as a straight line and an arc), and meanwhile, the inclination angle and the horizontal position of the terminal are corrected, so that the terminal can stably enter a supply cavity, and the whole process has no interference problem of the ropes, the cavity wall and the terminal shell.
In summary, the robot-by-wire system provided by the embodiment adapts to the operation requirements of multiple scenes, the flexibility and compatibility of the system are improved, the supply station supports three working modes of rest, energy storage and avoidance, the three working modes can be dynamically switched according to the real-time state (electric quantity and consumable allowance) and the working condition requirements (sudden obstacles and working gaps) of the execution terminal, the terminal enters the rest mode to save energy when the working gaps are not needed to be supplied, the energy storage mode quick recovery capability is automatically started when the terminal needs to be in continuous voyage, the avoidance mode is triggered when the sudden disturbances occur, the safety of equipment is guaranteed, and the robot-by-wire system is suitable for multiple scenes such as heavy weight carrying, welding, storage sorting and the like. Meanwhile, the modularized design (the replaceable charging module and different consumable conveying pipelines) of the energy storage unit and the adaptive space design of the supply cavity can be compatible with execution terminals (such as a hydraulic grab terminal, a welding terminal and a fork terminal) with different sizes and different operation types, a supply device is not required to be redesigned aiming at a single terminal, and the scene expansion cost of the wire control robot system is reduced.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202511562126.2A CN121340364A (en) | 2025-10-29 | 2025-10-29 | Wire control robot supply station and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202511562126.2A CN121340364A (en) | 2025-10-29 | 2025-10-29 | Wire control robot supply station and application method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN121340364A true CN121340364A (en) | 2026-01-16 |
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ID=98393425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202511562126.2A Pending CN121340364A (en) | 2025-10-29 | 2025-10-29 | Wire control robot supply station and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN121340364A (en) |
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2025
- 2025-10-29 CN CN202511562126.2A patent/CN121340364A/en active Pending
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