CN105479491A - Accurate and intelligent mechanical arm - Google Patents

Abstract

The invention provides an accurate and intelligent mechanical arm. The accurate and intelligent mechanical arm comprises a mechanical arm body and a wind speed time interval fast simulation device installed on the top of the mechanical arm body. The fast simulation device comprises a structure parameter monitoring module, an average wind speed calculating module, a pulse wind speed time interval calculating module of all simulation points, a wind speed time interval calculating module and a wind speed simulation display module. The average wind speed calculating module, the pulse wind speed time interval calculating module of all the simulation points and the wind speed time interval calculating module conduct calculating based on numerical values monitored by the monitoring module, and the obtained wind speed time interval is displayed through the wind speed simulation display module. According to the mechanical arm, the wind speed time interval of the mechanical arm can be fast simulated, the workload of the simulation calculation is small, efficiency is high, and precision is high.

Description

A kind of manipulator of accurate intelligence

Technical field

The present invention relates to manipulator design field, be specifically related to a kind of manipulator of accurate intelligence.

Background technology

In correlation technique, the manipulator being in higher position operation is often subject to the impact of wind.For understanding the wind vibration response characteristic of manipulator, the security performance of attendant to manipulator of being more convenient for effectively is monitored, and needs to simulate the Wind Velocity History of manipulator.

Summary of the invention

For the problems referred to above, the invention provides a kind of manipulator can simulating the accurate intelligence of self Wind Velocity History.

Object of the present invention realizes by the following technical solutions:

A manipulator for accurate intelligence, comprise manipulator body and the Wind Velocity History Fast simulation device being arranged on manipulator bodies top, described Fast simulation device comprises:

(1) structural parameters monitoring modular, manipulator is divided the identical test layer in multiple interval by the short transverse along manipulator, at the top of manipulator, described data acquisition unit is installed, select the simulation points of center position as a Wind Velocity History of test layer, and lay described anemobiagraph and temperature sensor at each test layer;

(2) mean wind speed calculates module, and it utilizes anemobiagraph to monitor out the wind speed total amount of every test layer, lateral angle and vertical wind speed, and getting 0.2s is sampling time interval, during the calculating of the wind speed that is averaged, introduces mean wind speed correction coefficient Q:

$Q=1-\left|\frac{\frac{6.38e^{-9}(\stackrel{\‾}{P}-0.378P_{wat})}{1+0.00366\stackrel{\‾}{T}}-F_b}{F_b}\right|$

Every test layer in the computing formula of the mean wind speed of an employing time is:

$W_{\left(i\right)}=\frac{1}{N-2}{\{{\[\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\[w\left(i\right)\cos \left(\arcsin \right(\frac{w_z\left(i\right)}{w}\left)\right)\cos \mathrm{\θ}\left(i\right)\]-A\]}^2+{\[\underset{i=1}{\overset{N}{\mathrm{\Σ}}}\[w\left(i\right)\cos \[\arcsin \left(\frac{w_z\left(i\right)}{w}\right)\]\sin \mathrm{\θ}\left(i\right)\]-B\]}^2\}}^{1/2}\×Q$

Wherein, A is wind speed total amount w in the maximum of the component value in x direction and minimum sum, and B is wind speed total amount w in the maximum of y durection component value and minimum sum, for local average gas pressure, for local mean temperature, P _watfor local average water vapour pressure, F _bfor the coefficient of wind pres under standard state;

(3) the fluctuating wind speed time series computing module of each simulation points, comprises the pulsating wind power spectrum of the fluctuating wind speed time series generating described each simulation points, when carrying out the simulation of pulsating wind power spectrum, introduces temperature correction coefficient wherein T ₀for the normal temperature of setting, T is the average temperature value obtained by described temperature sensor Real-Time Monitoring, then

T>=T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\υ}}\left(g\right)=\frac{\mathrm{\λ}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\×(1-\sqrt{\left|\frac{T-T_0}{T}\right|})\×5.76\×{10}^6$

T<T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\&upsi;}}\left(\mathrm{\&rho;}\right)=\frac{\mathrm{\&lambda;}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\&times;(1+\sqrt{\left|\frac{T-T_0}{T}\right|})\&times;5.76\&times;{10}^6$

Wherein, λ is the terrain rough factor selected according to robot manipulator structure, and g is according to mean wind speed W _(i)the frequency chosen intercepts higher limit;

(4) Wind Velocity History computing module, comprises microprocessor, and described microprocessor utilizes harmony superposition to superpose the mean wind speed at same position place and fluctuating wind speed time series, obtains the Wind Velocity History of each simulation points;

(5) wind speed simulation display module, comprises the isolated amplifier and digital display screen that connect successively, and the input of described isolated amplifier is connected with described micro-letter processor.

Wherein, described frequency intercepts the scope of higher limit is 3hZ ~ 5hZ.

Wherein, the setting range of described normal temperature value is 23 DEG C ~ 27 DEG C.

Beneficial effect of the present invention is:

1, Wind Velocity History Fast simulation device has been installed on manipulator body, be convenient to the timely acquisition of manipulator Wind Velocity History feature, attendant more fully can monitor the wind vibration response characteristic of manipulator, thus carries out appropriate maintenance to manipulator, strengthens the security performance of manipulator;

2, described analogue means is based on the basis of harmony superposition, is optimized the computing formula of mean wind speed and fluctuating wind speed, decreases the workload of calculating, improves the efficiency of the wind velocity history of manipulator;

3, introducing mean wind speed correction coefficient Q when calculating mean wind speed, introducing temperature correction coefficient K when calculating fluctuating wind speed time series, making the wind velocity history of manipulator more accurate.

Accompanying drawing explanation

The invention will be further described to utilize accompanying drawing, but the embodiment in accompanying drawing does not form any limitation of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, can also obtain other accompanying drawing according to the following drawings.

Fig. 1 is the connection diagram of each module of Wind Velocity History Fast simulation device of the present invention.

Reference numeral:

Structural parameters monitoring modular 1, mean wind speed calculate module 2, the fluctuating wind speed time series computing module 3 of each simulation points, Wind Velocity History computing module 4, wind speed simulation display module 5.

Detailed description of the invention

The invention will be further described with the following Examples.

Embodiment one

See Fig. 1, the manipulator of the present embodiment comprises manipulator body and is arranged on the Wind Velocity History Fast simulation device of manipulator bodies top, and described Fast simulation device comprises:

(1) structural parameters monitoring modular 1, it comprises anemobiagraph, temperature sensor and data acquisition unit, manipulator is divided the identical test layer in multiple interval by the short transverse along manipulator, at the top of manipulator, described data acquisition unit is installed, select the simulation points of center position as a Wind Velocity History of test layer, and lay described anemobiagraph and temperature sensor at each test layer;

(2) mean wind speed calculates module 2, and it utilizes anemobiagraph to monitor out the wind speed total amount of every test layer, lateral angle and vertical wind speed, and getting 0.2s is sampling time interval, during the calculating of the wind speed that is averaged, introduces mean wind speed correction coefficient Q:

$Q=1-\left|\frac{\frac{6.38e^{-9}(\stackrel{\&OverBar;}{P}-0.378P_{wat})}{1+0.00366\stackrel{\&OverBar;}{T}}-F_b}{F_b}\right|$

Every test layer in the computing formula of the mean wind speed of an employing time is:

$W_{\left(i\right)}=\frac{1}{N-2}{\{{\&lsqb;\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}\&lsqb;w\left(i\right)\cos \left(\arcsin \right(\frac{w_z\left(i\right)}{w}\left)\right)\cos \mathrm{\&theta;}\left(i\right)\&rsqb;-A\&rsqb;}^2+{\&lsqb;\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}\&lsqb;w\left(i\right)\cos \&lsqb;\arcsin \left(\frac{w_z\left(i\right)}{w}\right)\&rsqb;\sin \mathrm{\&theta;}\left(i\right)\&rsqb;-B\&rsqb;}^2\}}^{1/2}\&times;Q$

Wherein, A is wind speed total amount w in the maximum of the component value in x direction and minimum sum, and B is wind speed total amount w in the maximum of y durection component value and minimum sum, for local average gas pressure, for local mean temperature, P _watfor local average water vapour pressure, F _bfor the coefficient of wind pres under standard state;

(3) the fluctuating wind speed time series computing module 3 of each simulation points, comprises the pulsating wind power spectrum of the fluctuating wind speed time series generating described each simulation points, when carrying out the simulation of pulsating wind power spectrum, introduces temperature correction coefficient wherein T ₀for the normal temperature of setting, T is the average temperature value obtained by described temperature sensor Real-Time Monitoring, then

T>=T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\&upsi;}}\left(g\right)=\frac{\mathrm{\&lambda;}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\&times;(1-\sqrt{\left|\frac{T-T_0}{T}\right|})\&times;5.76\&times;{10}^6$

T<T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\&upsi;}}\left(\mathrm{\&rho;}\right)=\frac{\mathrm{\&lambda;}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\&times;(1+\sqrt{\left|\frac{T-T_0}{T}\right|})\&times;5.76\&times;{10}^6$

Wherein, λ is the terrain rough factor selected according to robot manipulator structure, and g is according to mean wind speed W _(i)the frequency chosen intercepts higher limit;

(4) Wind Velocity History computing module 4, comprises microprocessor, and described microprocessor utilizes harmony superposition to superpose the mean wind speed at same position place and fluctuating wind speed time series, obtains the Wind Velocity History of each simulation points;

(5) wind speed simulation display module 5, comprises the isolated amplifier and digital display screen that connect successively, and the input of described isolated amplifier is connected with described micro-letter processor.

Wind Velocity History Fast simulation device installed by the manipulator of the present embodiment on manipulator body, be convenient to the timely acquisition of manipulator Wind Velocity History feature, attendant more fully can monitor the wind vibration response characteristic of manipulator, thus appropriate maintenance is carried out to manipulator, strengthen the security performance of manipulator; Described analogue means, based on the basis of harmony superposition, is optimized the computing formula of mean wind speed and fluctuating wind speed, decreases the workload of calculating, improves the efficiency of the wind velocity history of manipulator; Introducing mean wind speed correction coefficient Q when calculating mean wind speed, when calculating fluctuating wind speed time series, introducing temperature correction coefficient K, make the wind velocity history of manipulator more accurate, wherein established standards temperature T ₀be 23 DEG C, it is 3hZ that setting intercepts upper frequency limit value, and the simulation precision of the Wind Velocity History of each simulation points finally obtained brings up to 95.8%.

Embodiment two

See Fig. 1, the manipulator of the present embodiment comprises manipulator body and is arranged on the Wind Velocity History Fast simulation device of manipulator bodies top, and described Fast simulation device comprises:

(1) structural parameters monitoring modular 1, it comprises anemobiagraph, temperature sensor and data acquisition unit, manipulator is divided the identical test layer in multiple interval by the short transverse along manipulator, at the top of manipulator, described data acquisition unit is installed, select the simulation points of center position as a Wind Velocity History of test layer, and lay described anemobiagraph and temperature sensor at each test layer;

(2) mean wind speed calculates module 2, and it utilizes anemobiagraph to monitor out the wind speed total amount of every test layer, lateral angle and vertical wind speed, and getting 0.2s is sampling time interval, during the calculating of the wind speed that is averaged, introduces mean wind speed correction coefficient Q:

$Q=1-\left|\frac{\frac{6.38e^{-9}(\stackrel{\&OverBar;}{P}-0.378P_{wat})}{1+0.00366\stackrel{\&OverBar;}{T}}-F_b}{F_b}\right|$

Every test layer in the computing formula of the mean wind speed of an employing time is:

$W_{\left(i\right)}=\frac{1}{N-2}{\{{\&lsqb;\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}\&lsqb;w\left(i\right)\cos \left(\arcsin \right(\frac{w_z\left(i\right)}{w}\left)\right)\cos \mathrm{\&theta;}\left(i\right)\&rsqb;-A\&rsqb;}^2+{\&lsqb;\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}\&lsqb;w\left(i\right)\cos \&lsqb;\arcsin \left(\frac{w_z\left(i\right)}{w}\right)\&rsqb;\sin \mathrm{\&theta;}\left(i\right)\&rsqb;-B\&rsqb;}^2\}}^{1/2}\&times;Q$

Wherein, A is wind speed total amount w in the maximum of the component value in x direction and minimum sum, and B is wind speed total amount w in the maximum of y durection component value and minimum sum, for local average gas pressure, for local mean temperature, P _watfor local average water vapour pressure, F _bfor the coefficient of wind pres under standard state;

(3) the fluctuating wind speed time series computing module 3 of each simulation points, comprises the pulsating wind power spectrum of the fluctuating wind speed time series generating described each simulation points, when carrying out the simulation of pulsating wind power spectrum, introduces temperature correction coefficient wherein T ₀for the normal temperature of setting, T is the average temperature value obtained by described temperature sensor Real-Time Monitoring, then

T>=T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\&upsi;}}\left(g\right)=\frac{\mathrm{\&lambda;}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\&times;(1-\sqrt{\left|\frac{T-T_0}{T}\right|})\&times;5.76\&times;{10}^6$

T<T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\&upsi;}}\left(\mathrm{\&rho;}\right)=\frac{\mathrm{\&lambda;}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\&times;(1+\sqrt{\left|\frac{T-T_0}{T}\right|})\&times;5.76\&times;{10}^6$

Wherein, λ is the terrain rough factor selected according to robot manipulator structure, and g is according to mean wind speed W _(i)the frequency chosen intercepts higher limit;

(4) Wind Velocity History computing module 4, comprises microprocessor, and described microprocessor utilizes harmony superposition to superpose the mean wind speed at same position place and fluctuating wind speed time series, obtains the Wind Velocity History of each simulation points;

(5) wind speed simulation display module 5, comprises the isolated amplifier and digital display screen that connect successively, and the input of described isolated amplifier is connected with described micro-letter processor.

Wind Velocity History Fast simulation device installed by the manipulator of the present embodiment on manipulator body, be convenient to the timely acquisition of manipulator Wind Velocity History feature, attendant more fully can monitor the wind vibration response characteristic of manipulator, thus appropriate maintenance is carried out to manipulator, strengthen the security performance of manipulator; Described analogue means, based on the basis of harmony superposition, is optimized the computing formula of mean wind speed and fluctuating wind speed, decreases the workload of calculating, improves the efficiency of the wind velocity history of manipulator; Introducing mean wind speed correction coefficient Q when calculating mean wind speed, when calculating fluctuating wind speed time series, introducing temperature correction coefficient K, make the wind velocity history of manipulator more accurate, wherein established standards temperature T ₀be 23 DEG C, it is 4hZ that setting intercepts upper frequency limit value, and the simulation precision of the Wind Velocity History of each simulation points finally obtained brings up to 96%.

Embodiment three

See Fig. 1, the manipulator of the present embodiment comprises manipulator body and is arranged on the Wind Velocity History Fast simulation device of manipulator bodies top, and described Fast simulation device comprises:

(1) structural parameters monitoring modular 1, it comprises anemobiagraph, temperature sensor and data acquisition unit, manipulator is divided the identical test layer in multiple interval by the short transverse along manipulator, at the top of manipulator, described data acquisition unit is installed, select the simulation points of center position as a Wind Velocity History of test layer, and lay described anemobiagraph and temperature sensor at each test layer;

(2) mean wind speed calculates module 2, and it utilizes anemobiagraph to monitor out the wind speed total amount of every test layer, lateral angle and vertical wind speed, and getting 0.2s is sampling time interval, during the calculating of the wind speed that is averaged, introduces mean wind speed correction coefficient Q:

$Q=1-\left|\frac{\frac{6.38e^{-9}(\stackrel{\&OverBar;}{P}-0.378P_{wat})}{1+0.00366\stackrel{\&OverBar;}{T}}-F_b}{F_b}\right|$

Every test layer in the computing formula of the mean wind speed of an employing time is:

$W_{\left(i\right)}=\frac{1}{N-2}{\{{\&lsqb;\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}\&lsqb;w\left(i\right)\cos \left(\arcsin \right(\frac{w_z\left(i\right)}{w}\left)\right)\cos \mathrm{\&theta;}\left(i\right)\&rsqb;-A\&rsqb;}^2+{\&lsqb;\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}\&lsqb;w\left(i\right)\cos \&lsqb;\arcsin \left(\frac{w_z\left(i\right)}{w}\right)\&rsqb;\sin \mathrm{\&theta;}\left(i\right)\&rsqb;-B\&rsqb;}^2\}}^{1/2}\&times;Q$

Wherein, A is wind speed total amount w in the maximum of the component value in x direction and minimum sum, and B is wind speed total amount w in the maximum of y durection component value and minimum sum, for local average gas pressure, for local mean temperature, P _watfor local average water vapour pressure, F _bfor the coefficient of wind pres under standard state;

(3) the fluctuating wind speed time series computing module 3 of each simulation points, comprises the pulsating wind power spectrum of the fluctuating wind speed time series generating described each simulation points, when carrying out the simulation of pulsating wind power spectrum, introduces temperature correction coefficient wherein T ₀for the normal temperature of setting, T is the average temperature value obtained by described temperature sensor Real-Time Monitoring, then

T>=T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\&upsi;}}\left(g\right)=\frac{\mathrm{\&lambda;}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\&times;(1-\sqrt{\left|\frac{T-T_0}{T}\right|})\&times;5.76\&times;{10}^6$

T<T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\&upsi;}}\left(\mathrm{\&rho;}\right)=\frac{\mathrm{\&lambda;}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\&times;(1+\sqrt{\left|\frac{T-T_0}{T}\right|})\&times;5.76\&times;{10}^6$

Wherein, λ is the terrain rough factor selected according to robot manipulator structure, and g is according to mean wind speed W _(i)the frequency chosen intercepts higher limit;

(4) Wind Velocity History computing module 4, comprises microprocessor, and described microprocessor utilizes harmony superposition to superpose the mean wind speed at same position place and fluctuating wind speed time series, obtains the Wind Velocity History of each simulation points;

(5) wind speed simulation display module 5, comprises the isolated amplifier and digital display screen that connect successively, and the input of described isolated amplifier is connected with described micro-letter processor.

Wind Velocity History Fast simulation device installed by the manipulator of the present embodiment on manipulator body, be convenient to the timely acquisition of manipulator Wind Velocity History feature, attendant more fully can monitor the wind vibration response characteristic of manipulator, thus appropriate maintenance is carried out to manipulator, strengthen the security performance of manipulator; Described analogue means, based on the basis of harmony superposition, is optimized the computing formula of mean wind speed and fluctuating wind speed, decreases the workload of calculating, improves the efficiency of the wind velocity history of manipulator; Introducing mean wind speed correction coefficient Q when calculating mean wind speed, when calculating fluctuating wind speed time series, introducing temperature correction coefficient K, make the wind velocity history of manipulator more accurate, wherein established standards temperature T ₀be 23 DEG C, it is 5hZ that setting intercepts upper frequency limit value, and the simulation precision of the Wind Velocity History of each simulation points finally obtained brings up to 94.8%.

Embodiment four

See Fig. 1, the manipulator of the present embodiment comprises manipulator body and is arranged on the Wind Velocity History Fast simulation device of manipulator bodies top, and described Fast simulation device comprises:

(1) structural parameters monitoring modular 1, it comprises anemobiagraph, temperature sensor and data acquisition unit, manipulator is divided the identical test layer in multiple interval by the short transverse along manipulator, at the top of manipulator, described data acquisition unit is installed, select the simulation points of center position as a Wind Velocity History of test layer, and lay described anemobiagraph and temperature sensor at each test layer;

(2) mean wind speed calculates module 2, and it utilizes anemobiagraph to monitor out the wind speed total amount of every test layer, lateral angle and vertical wind speed, and getting 0.2s is sampling time interval, during the calculating of the wind speed that is averaged, introduces mean wind speed correction coefficient Q:

$Q=1-\left|\frac{\frac{6.38e^{-9}(\stackrel{\&OverBar;}{P}-0.378P_{wat})}{1+0.00366\stackrel{\&OverBar;}{T}}-F_b}{F_b}\right|$

Every test layer in the computing formula of the mean wind speed of an employing time is:

$W_{\left(i\right)}=\frac{1}{N-2}{\{{\&lsqb;\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}\&lsqb;w\left(i\right)\cos \left(\arcsin \right(\frac{w_z\left(i\right)}{w}\left)\right)\cos \mathrm{\&theta;}\left(i\right)\&rsqb;-A\&rsqb;}^2+{\&lsqb;\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}\&lsqb;w\left(i\right)\cos \&lsqb;\arcsin \left(\frac{w_z\left(i\right)}{w}\right)\&rsqb;\sin \mathrm{\&theta;}\left(i\right)\&rsqb;-B\&rsqb;}^2\}}^{1/2}\&times;Q$

Wherein, A is wind speed total amount w in the maximum of the component value in x direction and minimum sum, and B is wind speed total amount w in the maximum of y durection component value and minimum sum, for local average gas pressure, for local mean temperature, P _watfor local average water vapour pressure, F _bfor the coefficient of wind pres under standard state;

(3) the fluctuating wind speed time series computing module 3 of each simulation points, comprises the pulsating wind power spectrum of the fluctuating wind speed time series generating described each simulation points, when carrying out the simulation of pulsating wind power spectrum, introduces temperature correction coefficient wherein T ₀for the normal temperature of setting, T is the average temperature value obtained by described temperature sensor Real-Time Monitoring, then

T>=T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\&upsi;}}\left(g\right)=\frac{\mathrm{\&lambda;}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\&times;(1-\sqrt{\left|\frac{T-T_0}{T}\right|})\&times;5.76\&times;{10}^6$

T<T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\&upsi;}}\left(\mathrm{\&rho;}\right)=\frac{\mathrm{\&lambda;}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\&times;(1+\sqrt{\left|\frac{T-T_0}{T}\right|})\&times;5.76\&times;{10}^6$

Wherein, λ is the terrain rough factor selected according to robot manipulator structure, and g is according to mean wind speed W _(i)the frequency chosen intercepts higher limit;

(4) Wind Velocity History computing module 4, comprises microprocessor, and described microprocessor utilizes harmony superposition to superpose the mean wind speed at same position place and fluctuating wind speed time series, obtains the Wind Velocity History of each simulation points;

(5) wind speed simulation display module 5, comprises the isolated amplifier and digital display screen that connect successively, and the input of described isolated amplifier is connected with described micro-letter processor.

Wind Velocity History Fast simulation device installed by the manipulator of the present embodiment on manipulator body, be convenient to the timely acquisition of manipulator Wind Velocity History feature, attendant more fully can monitor the wind vibration response characteristic of manipulator, thus appropriate maintenance is carried out to manipulator, strengthen the security performance of manipulator; Described analogue means, based on the basis of harmony superposition, is optimized the computing formula of mean wind speed and fluctuating wind speed, decreases the workload of calculating, improves the efficiency of the wind velocity history of manipulator; Introducing mean wind speed correction coefficient Q when calculating mean wind speed, when calculating fluctuating wind speed time series, introducing temperature correction coefficient K, make the wind velocity history of manipulator more accurate, wherein established standards temperature T ₀be 27 DEG C, it is 3hZ that setting intercepts upper frequency limit value, and the simulation precision of the Wind Velocity History of each simulation points finally obtained brings up to 95.7%.

Embodiment five

See Fig. 1, the manipulator of the present embodiment comprises manipulator body and is arranged on the Wind Velocity History Fast simulation device of manipulator bodies top, and described Fast simulation device comprises:

(1) structural parameters monitoring modular 1, it comprises anemobiagraph, temperature sensor and data acquisition unit, manipulator is divided the identical test layer in multiple interval by the short transverse along manipulator, at the top of manipulator, described data acquisition unit is installed, select the simulation points of center position as a Wind Velocity History of test layer, and lay described anemobiagraph and temperature sensor at each test layer;

(2) mean wind speed calculates module 2, and it utilizes anemobiagraph to monitor out the wind speed total amount of every test layer, lateral angle and vertical wind speed, and getting 0.2s is sampling time interval, during the calculating of the wind speed that is averaged, introduces mean wind speed correction coefficient Q:

$Q=1-\left|\frac{\frac{6.38e^{-9}(\stackrel{\&OverBar;}{P}-0.378P_{wat})}{1+0.00366\stackrel{\&OverBar;}{T}}-F_b}{F_b}\right|$

Every test layer in the computing formula of the mean wind speed of an employing time is:

$W_{\left(i\right)}=\frac{1}{N-2}{\{{\&lsqb;\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}\&lsqb;w\left(i\right)\cos \left(\arcsin \right(\frac{w_z\left(i\right)}{w}\left)\right)\cos \mathrm{\&theta;}\left(i\right)\&rsqb;-A\&rsqb;}^2+{\&lsqb;\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}\&lsqb;w\left(i\right)\cos \&lsqb;\arcsin \left(\frac{w_z\left(i\right)}{w}\right)\&rsqb;\sin \mathrm{\&theta;}\left(i\right)\&rsqb;-B\&rsqb;}^2\}}^{1/2}\&times;Q$

Wherein, A is wind speed total amount w in the maximum of the component value in x direction and minimum sum, and B is wind speed total amount w in the maximum of y durection component value and minimum sum, for local average gas pressure, for local mean temperature, P _watfor local average water vapour pressure, F _bfor the coefficient of wind pres under standard state;

(3) the fluctuating wind speed time series computing module 3 of each simulation points, comprises the pulsating wind power spectrum of the fluctuating wind speed time series generating described each simulation points, when carrying out the simulation of pulsating wind power spectrum, introduces temperature correction coefficient wherein T ₀for the normal temperature of setting, T is the average temperature value obtained by described temperature sensor Real-Time Monitoring, then

T>=T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\&upsi;}}\left(g\right)=\frac{\mathrm{\&lambda;}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\&times;(1-\sqrt{\left|\frac{T-T_0}{T}\right|})\&times;5.76\&times;{10}^6$

T<T ₀time, the optimization formula of described pulsating wind power spectrum is:

$S_{\mathrm{\&upsi;}}\left(\mathrm{\&rho;}\right)=\frac{\mathrm{\&lambda;}g}{1+{\left(\frac{1200g}{W_{\left(i\right)}}\right)}^{8/3}}\&times;(1+\sqrt{\left|\frac{T-T_0}{T}\right|})\&times;5.76\&times;{10}^6$

Wherein, λ is the terrain rough factor selected according to robot manipulator structure, and g is according to mean wind speed W _(i)the frequency chosen intercepts higher limit;

(4) Wind Velocity History computing module 4, comprises microprocessor, and described microprocessor utilizes harmony superposition to superpose the mean wind speed at same position place and fluctuating wind speed time series, obtains the Wind Velocity History of each simulation points;

(5) wind speed simulation display module 5, comprises the isolated amplifier and digital display screen that connect successively, and the input of described isolated amplifier is connected with described micro-letter processor.

Wind Velocity History Fast simulation device installed by the manipulator of the present embodiment on manipulator body, be convenient to the timely acquisition of manipulator Wind Velocity History feature, attendant more fully can monitor the wind vibration response characteristic of manipulator, thus appropriate maintenance is carried out to manipulator, strengthen the security performance of manipulator; Described analogue means, based on the basis of harmony superposition, is optimized the computing formula of mean wind speed and fluctuating wind speed, decreases the workload of calculating, improves the efficiency of the wind velocity history of manipulator; Introducing mean wind speed correction coefficient Q when calculating mean wind speed, when calculating fluctuating wind speed time series, introducing temperature correction coefficient K, make the wind velocity history of manipulator more accurate, wherein established standards temperature T ₀be 27 DEG C, it is 5hZ that setting intercepts upper frequency limit value, and the simulation precision of the Wind Velocity History of each simulation points finally obtained brings up to 96.5%.

Finally should be noted that; above embodiment is only in order to illustrate technical scheme of the present invention; but not limiting the scope of the invention; although done to explain to the present invention with reference to preferred embodiment; those of ordinary skill in the art is to be understood that; can modify to technical scheme of the present invention or equivalent replacement, and not depart from essence and the scope of technical solution of the present invention.

Claims (4)

1. an accurately intelligent manipulator, comprise manipulator body and the Wind Velocity History Fast simulation device being arranged on manipulator bodies top, it is characterized in that, described Fast simulation device comprises:

(1) structural parameters monitoring modular, it comprises anemobiagraph, temperature sensor and data acquisition unit, manipulator is divided the identical test layer in multiple interval by the short transverse along manipulator, at the top of manipulator, described data acquisition unit is installed, select the simulation points of center position as a Wind Velocity History of test layer, and lay described anemobiagraph and temperature sensor at each test layer;

(2) mean wind speed calculates module, and it utilizes anemobiagraph to monitor out the wind speed total amount of every test layer, lateral angle and vertical wind speed, and getting 0.2s is sampling time interval, during the calculating of the wind speed that is averaged, introduces mean wind speed correction coefficient Q:

Every test layer in the computing formula of the mean wind speed of an employing time is:

Wherein, A is wind speed total amount w in the maximum of the component value in x direction and minimum sum, and B is wind speed total amount w in the maximum of y durection component value and minimum sum, for local average gas pressure, for local mean temperature, P _watfor local average water vapour pressure, F _bfor the coefficient of wind pres under standard state;

(3) the fluctuating wind speed time series computing module of each simulation points, comprises the pulsating wind power spectrum of the fluctuating wind speed time series generating described each simulation points;

(4) Wind Velocity History computing module, comprises microprocessor, and described microprocessor utilizes harmony superposition to superpose the mean wind speed at same position place and fluctuating wind speed time series, obtains the Wind Velocity History of each simulation points;

(5) wind speed simulation display module, comprises the isolated amplifier and digital display screen that connect successively, and the input of described isolated amplifier is connected with described microprocessor.

2. the manipulator of a kind of accurate intelligence according to claim 1, is characterized in that, when carrying out the simulation of pulsating wind power spectrum, introduces temperature correction coefficient wherein T ₀for the normal temperature of setting, T is the average temperature value obtained by described temperature sensor Real-Time Monitoring, then

T>=T ₀time, the optimization formula of described pulsating wind power spectrum is:

T<T ₀time, the optimization formula of described pulsating wind power spectrum is:

Wherein, λ is the terrain rough factor selected according to robot manipulator structure, and g is according to mean wind speed W _(i)the frequency chosen intercepts higher limit.

3. the manipulator of a kind of accurate intelligence according to claim 1, is characterized in that, the scope that described frequency intercepts higher limit is 3hZ ~ 5hZ.

4. the manipulator of a kind of accurate intelligence according to claim 2, is characterized in that, the setting range of described normal temperature value is 23 DEG C ~ 27 DEG C.