CN103147768B - A kind of arm support equipment linkage control device, system, method and engineering machinery - Google Patents

Abstract

The invention discloses a kind of arm support equipment linkage control device, system, method and comprise the engineering machinery of described system, wherein, described arm support equipment comprises interconnective multiple arm joint, is connected with described linkage and for driving the oil cylinder of described linkage between alternate arm joint.Described device comprises: receiver, for receiving the target angle between described alternate arm joint; And controller, be connected with described receiver, for according to described target angle and target angle and length of oil cylinder mapping table, draw the length of oil cylinder corresponding with described target angle, and control described oil cylinder and stretch to described length of oil cylinder.By technique scheme, can directly determine the length of oil cylinder corresponding with this target angle by searching mapping table, computational efficiency is high, avoids numerous and diverse geometric operation process.In addition, even if geometrical model has change, also can not have an impact to control algolithm, only need the data in mapping table again to upgrade.

Description

A kind of arm support equipment linkage control device, system, method and engineering machinery

Technical field

The present invention relates to engineering machinery field, particularly, relate to a kind of arm support equipment linkage control device, system, method and comprise the engineering machinery of described system.

Background technology

Concrete sprayer is a kind of concreting machinery being widely used in various tunnel and road construction, and wherein multi-joint jib is the groundwork mechanism of concrete ejection machine operation.The motion control of current arm support for concrete spraying machine is that the linkage between pusher arm joint adjusts the angle between each arm joint by controlling the flexible of oil cylinder.Usually, according to the geometry movement relation between each arm joint, the relation that counts between arm joint angle and length of oil cylinder can be drawn, then set a target angle, solve the length of oil cylinder according to this relation of counting, then oil cylinder is stretched to this length and reach target location to control arm support tail end.

Such as, Figure 1A is the annexation schematic diagram between concrete pump truck arm oil cylinder, linkage and arm save.As shown in Figure 1A, the arm support equipment of concrete mixer comprises interconnective first arm joint 1 and the second arm joint 2, linkage 3 is connected with between the first arm joint 1 and the second arm joint 2, oil cylinder 4 is connected with between the first arm joint 1 and bar linkage structure 3, thus, by the pantograph drive link mechanism 3 of oil cylinder 4, control the second arm joint 2 motion.Figure 1B is the geometrical relationship schematic diagram between concrete pump truck arm oil cylinder, linkage and arm save.Suppose known arm joint angle ∠ FOG, the length AB of oil cylinder 4 can be extrapolated by the geometrical relationship between arm saves.Calculation procedure is as follows:

1) ∠ FCE and ∠ GDE immobilizes and known, can be in the hope of: ∠ CED=∠ FCE+ ∠ GDE-∠ FOG;

2) in triangle CDE, CD can be tried to achieve by the cosine law:

$\mathrm{CD}=\sqrt{{\mathrm{CE}}^2+{\mathrm{DE}}^2-2\mathrm{CE}\×\mathrm{DE}\×\cos \∠\mathrm{CED}}$

3) ∠ BCD and ∠ ECD can be tried to achieve respectively in triangle CBD and triangle CED by cosine and sine;

4) ∠ BCE=∠ BCD-∠ ECD is calculated;

5) ∠ ACB=∠ FCE-∠ FCA-∠ BCE is calculated;

6) in triangle ABC, length of oil cylinder AB is calculated:

$\mathrm{AB}=\sqrt{{\mathrm{AC}}^2+{\mathrm{BC}}^2-2\mathrm{AC}\×\mathrm{BC}\×\cos \∠\mathrm{ACB}}$

By finding out, utilize geometric operation can produce larger amount of calculation above.Complicated than concrete mixer of the movement relation of concrete sprayer linkage, therefore, in concrete sprayer, directly carrying out geometry calculating can be very complicated, and be difficult to obtain analytic solutions, and amount of calculation is huge, computational efficiency is low.In addition, once the geometrical model of jib has change, will change corresponding control algolithm, therefore, cannot realize only adopting the arm support equipment of a kind of control algolithm to different structure to control, applicability is poor.

Summary of the invention

The object of this invention is to provide a kind of arm support equipment linkage control device, system, method and comprise the engineering machinery of described system, to overcome in prior art the defect that amount of calculation is large, computational efficiency is low utilizing cantilever crane angle directly to carry out formulae discovery to show that length of oil cylinder is brought.

To achieve these goals, the invention provides a kind of arm support equipment linkage control device, described arm support equipment comprises interconnective multiple arm joint, described linkage is connected with and for driving the oil cylinder of described linkage between alternate arm joint, described device comprises: receiver, for receiving the target angle between described alternate arm joint; And controller, be connected with described receiver, for according to described target angle and target angle and length of oil cylinder mapping table, draw the length of oil cylinder corresponding with described target angle, and control described oil cylinder and stretch to described length of oil cylinder.

The present invention also provides a kind of arm support equipment linkage control system, described arm support equipment comprises interconnective multiple arm joint, described linkage is connected with and for driving the oil cylinder of described linkage between alternate arm joint, described system comprises: angle setter, for the target angle between given described alternate arm joint; And above-mentioned arm support equipment linkage control device, be connected with described angle setter.

The present invention also provides a kind of engineering machinery comprising said system.

The present invention also provides a kind of arm support equipment linkage control method, described arm support equipment comprises interconnective multiple arm joint, alternate arm is connected with described linkage between saving and for driving the oil cylinder of described linkage, described method comprises: receive the target angle between described alternate arm joint; According to described target angle and target angle and length of oil cylinder mapping table, draw the length of oil cylinder corresponding with described target angle; And control described oil cylinder and stretch to described length of oil cylinder.

Pass through technique scheme, target angle between can being saved by alternate arm in advance and corresponding length of oil cylinder are calculated, then be deposited in mapping table, to make after receiving described target angle, the length of oil cylinder corresponding with this target angle can be directly determined by searching mapping table, computational efficiency is high, avoids numerous and diverse geometric operation process.In addition, even if geometrical model has change, also can not have an impact to control algolithm, only need the data in mapping table again to upgrade.

Other features and advantages of the present invention are described in detail in detailed description of the invention part subsequently.

Accompanying drawing explanation

Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for manual, is used from explanation the present invention, but is not construed as limiting the invention with detailed description of the invention one below.In the accompanying drawings:

Figure 1A is the annexation schematic diagram between concrete pump truck arm oil cylinder, linkage and arm save;

Figure 1B is the geometrical relationship schematic diagram between concrete pump truck arm oil cylinder, linkage and arm save;

Fig. 2 is arm support for concrete spraying machine structural representation;

Fig. 3 A is the annexation schematic diagram between the first arm support oil cylinder of concrete sprayer, linkage and arm save;

Fig. 3 B is the geometrical relationship schematic diagram between the first arm support oil cylinder of concrete sprayer, linkage and arm save;

Fig. 4 A is the annexation schematic diagram between concrete sprayer the second arm support oil cylinder, linkage and arm save;

Fig. 4 B is the geometrical relationship schematic diagram between concrete sprayer the second arm support oil cylinder, linkage and arm save;

Fig. 5 is the structure chart according to arm support equipment linkage control device of the present invention;

Fig. 6 is the flow chart of two points of look-up tables;

Fig. 7 is the structure chart according to arm support equipment linkage control system of the present invention; And

Fig. 8 is the flow chart according to arm support equipment linkage control method of the present invention;

Detailed description of the invention

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the present invention, is not limited to the present invention.

Fig. 2 arm support for concrete spraying machine structural representation.This arm support for concrete spraying machine structure comprises: pedestal 201, dual AC power turntable 202, three joint " Z " arm joint (large arm 203, second section arm 204, Section of three arm 205), telescoping mechanism 206 and injector head 207.Wherein, be connected with the first oil cylinder 208 and first connecting rod mechanism 209 between dual AC power turntable 202 and large arm 203, the telescopic drive large arm 203 of this first oil cylinder 208 is rotated around first connecting rod mechanism 209.Between large arm 203 and second section arm 204, be connected with the second oil cylinder 210 and second connecting rod mechanism 211, described in the telescopic drive of this second oil cylinder 210, second connecting rod mechanism 211 rotates, and rotates to control second section arm 204.Thus, in concrete sprayer, there are two kinds of structures of oil cylinder and linkage, respectively as shown in Figure 3 A and 4 A.

Fig. 3 B is the geometrical relationship schematic diagram corresponding with Fig. 3 A.In figure 3b, the mathematical relationship between the length of oil cylinder CD of the first oil cylinder 208 and inclination angle ∠ GBF of large arm 203 is derived as follows:

1) ∠ CBF is fixing known, and ∠ DBG is fixing known, and ∠ GBF is the angle on target that large arm 203 needs to reach, therefore has: ∠ CBD=∠ CBF-∠ DBF=∠ CBF-(∠ DBG+ ∠ GBF);

2) two limits CB, BD of triangle CBD and an angle ∠ CBD known, can be in the hope of by the cosine law $\mathrm{CD}=\sqrt{{\mathrm{CB}}^2+{\mathrm{BD}}^2-2\mathrm{CB}\×\mathrm{BD}\×\cos \∠\mathrm{CBD}}.$

Thus, the length of oil cylinder CD of the first corresponding oil cylinder 208 can be calculated by the angle on target ∠ GBF setting large arm 203.

Fig. 4 B is the geometrical relationship schematic diagram corresponding with Fig. 4 A.In figure 4b, the mathematical relationship between the length of oil cylinder EG of the second oil cylinder 210 and angle ∠ FIJ between second section arm 204 and Section of three arm 205 is derived as follows:

1) in triangle EFG, EF and GF limit is non-telescoping, and limit EG is the second oil cylinder 210 length of oil cylinder, and therefore, three limits of triangle EFG are all known, therefore from the cosine law $\∠\mathrm{EFG}=\frac{{\mathrm{EF}}^2+{\mathrm{FG}}^2-{\mathrm{EG}}^2}{2\×\mathrm{EF}\×\mathrm{FG}};$

2) because E, F, I tri-points can not move relatively, therefore ∠ EFI can not become, therefore ∠ GFI=2 π-∠ EFG-∠ EFI;

3), after calculating ∠ GFI, the cosine law can be used in triangle FGI, try to achieve the length on GI limit;

4) because F, G, H tri-points are relatively-stationary, they always move together, and therefore ∠ FGH is constant, use the cosine law can in the hope of ∠ FIG and ∠ FGI in triangle FGI, therefore ∠ GHI=∠ FGH-∠ FGI;

5) in triangle GIH, the length on HI limit can be tried to achieve by the cosine law, afterwards, can again utilize the cosine law to try to achieve ∠ GIH;

6) in triangle HIJ, the length due to HJ and IJ limit is changeless, therefore can obtain ∠ HIJ by the cosine law;

7) angle ∠ FIJ=2 π-∠ FIG-∠ GIH-∠ HIJ is calculated.

Thus, by the target angle ∠ FIJ between setting second section arm 204 and Section of three arm 205, the length of oil cylinder EG of the second corresponding oil cylinder 210 can be calculated according to the inverse operation of above-mentioned steps.

As can be seen from above-mentioned computational methods, directly utilize formula very complicated to calculate length of oil cylinder, computational efficiency is low, and once the change of jib model, corresponding formula will change.

For this reason, the invention provides a kind of arm support equipment linkage control device, can length of oil cylinder be drawn to realize not carrying out complex calculation in the process controlling oil cylinder.

Fig. 5 shows the structure chart of arm support equipment linkage control device according to the embodiment of the present invention, wherein, described arm support equipment comprises interconnective multiple arm joint, is connected with described linkage and for driving the oil cylinder of described linkage between alternate arm joint.As shown in Figure 5, described device 50 comprises: receiver 501, for receiving the target angle between described alternate arm joint; And controller 502, be connected with described receiver 501, for according to described target angle and target angle and length of oil cylinder mapping table, draw the length of oil cylinder corresponding with described target angle, and control described oil cylinder and stretch to described length of oil cylinder.

Such as, in concrete sprayer as shown in Figure 2, for the annexation between the first arm support oil cylinder, linkage and arm save, target angle refers to the inclination angle (the ∠ GBF in such as Fig. 3 B) of large arm 203.And for the annexation between the second arm support oil cylinder, linkage and arm save, target angle refers to the angle (the ∠ FIJ such as, in Fig. 4 B) between second section arm 204 and Section of three arm 205.

Suppose the target angle of one group of arm joint, then can calculate one group of corresponding length of oil cylinder according to formula described above; Or suppose a group oil cylinder length, calculate one group of corresponding target angle (such as, being calculated by matlab).Then the target angle saved by this group arm and one group of corresponding length of oil cylinder are listed in two-dimensional map table, to form described target angle and length of oil cylinder mapping table, as shown in table 1.

Table 1

Target angle (rad)

X 1

X 2

X 3

X 4

…

X N

Length of oil cylinder (mm)

Y 1

Y 2

Y 3

Y 4

…

Y N

After receiving a target angle, controller 502 is just by searching this table to determine the length of oil cylinder corresponding with described target angle.Thus, according to arm support equipment linkage control device provided by the invention, can directly determine the length of oil cylinder corresponding with target angle by searching mapping table, computational efficiency is high, avoids numerous and diverse geometric operation process.In addition, even if geometrical model has change, also can not have an impact to control algolithm, only need the data in mapping table again to upgrade.

In the process of tabling look-up, if inquire about from first data, by the time of at substantial on useless traversal queries.For this reason, the present invention adopts two points of query methods to inquire about, and its time complexity is O(log ₂n).For table 1, the step of two points of query methods as shown in Figure 6.First, step 601, obtains data query X.Afterwards, step 602, to parameter initialization, even i=1, n=N, wherein i and n is positive integer, and i >=1, n >=1, and N is the number of angle of prestoring in table.Afterwards, step 603, the data X that will inquire about contrasts X _iand X _nif, equal, then poll-final, direct Output rusults; If unequal, then carry out step 604, by X and X _n/2carry out contrasting (wherein, if n is odd number, then rounding n/2), if be less than, then step 605, makes n=n/2; If be greater than, then step 606, makes i=n/2; If equal, then poll-final, direct Output rusults.After step 605 and step 606, carry out step 607, judge whether n-i equals 1, if not, then return step 603 and continue inquiry.

Thus, inquired about by two points of look-up tables, can inquiry times be reduced, reduce time complexity.

If do not find the prestore angle identical with target angle in the mapping table, then controller 502 can also according to described target angle and a linear equation, draw the length of oil cylinder (step 608 corresponding in Fig. 6) corresponding with described target angle, wherein said linear equation is by determining with two angles adjacent with described target angle stored in length of oil cylinder mapping table and two length of oil cylinder corresponding with described two angles in described target angle.

Such as, suppose that the data that will inquire about are X, and not this data X in mapping table, therefore, controller 502 can find out two the data Xs adjacent with this X _iand X _i+1.So-called adjacent, refer to if according to ascending order arrangement X ₁x _n, then X _irepresent the maximum value be less than in the data of X, and X _i+1represent the minimum value be greater than in the data of X, vice versa.Then, by this X _iand X _i+1with the length of oil cylinder Y of correspondence _iand Y _i+1determine linear equation:

y＝kx+b

Wherein, k represents slope, and b is a constant, and b=Y _i+1-kX _i+1.

After determining linear equation, the data X that just can inquire about brings this equation into and calculates corresponding Y, that is, bring described target angle into described linear equation and calculate the length of oil cylinder corresponding with described target angle.

In order to make data in table more comprehensively, after calculating length of oil cylinder, controller 502 can by drawn length of oil cylinder and corresponding described target angle stored in described target angle and length of oil cylinder mapping table, to upgrade described target angle and length of oil cylinder mapping table, and raising control accuracy.

In addition, employing said method can also realize the control to oil cylinder stretching speed.Such as, described receiver 501 is also for receiving the target angular velocity between described alternate arm joint; And described controller 502 is also for according to described target angular velocity and target angular velocity and oil cylinder stretching speed mapping table, draw the oil cylinder stretching speed corresponding with described target angular velocity, and control described oil cylinder and stretch to drawn length of oil cylinder with described oil cylinder stretching speed.Detailed process and above-mentioned about determining that the process of length of oil cylinder is similar, is not just repeating herein.

Fig. 7 shows the structure chart of arm support equipment linkage control system according to the embodiment of the present invention, and as shown in Figure 7, described system comprises: angle setter 70, for the target angle between given described alternate arm joint; And above-mentioned arm support equipment linkage control device 50, be connected with described angle setter 70.

The present invention also provides a kind of engineering machinery comprising said system.

Fig. 8 shows the flow chart of arm support equipment bar linkage structure control method according to the embodiment of the present invention.As shown in Figure 8, described method comprises: step 801, receives the target angle between alternate arm joint; Step 802, searches target angle and length of oil cylinder mapping table; If find described target angle in target angle and length of oil cylinder mapping table, then directly carry out step 804, control described oil cylinder and stretch to the length of oil cylinder corresponding with target angle.If do not find described target angle in target angle and length of oil cylinder mapping table, then step 805, according to described target angle and a linear equation, calculate the length of oil cylinder corresponding with described target angle, wherein said linear equation is by determining with two angles adjacent with described target angle stored in length of oil cylinder mapping table and two length of oil cylinder corresponding with described two angles in described target angle; Afterwards, carry out step 806, by drawn length of oil cylinder and corresponding described target angle stored in described target angle and length of oil cylinder mapping table, finally, carry out step 804, control described oil cylinder and stretch to the length of oil cylinder corresponding with target angle.

In addition, although not shown in fig. 8, said method can also comprise the target angular velocity received between described alternate arm joint; By searching target angular velocity and oil cylinder stretching speed mapping table, draw the oil cylinder stretching speed corresponding with described target angular velocity; And control described oil cylinder and stretch to drawn length of oil cylinder with described oil cylinder stretching speed.

Thus, in arm support equipment linkage control device provided by the invention, system, method with comprise in the engineering machinery of described system, target angle between can being saved by alternate arm in advance and corresponding length of oil cylinder are calculated, then be deposited in mapping table, to make after receiving described target angle, can directly determine the length of oil cylinder corresponding with this target angle by searching mapping table, computational efficiency is high, avoids numerous and diverse geometric operation process.In addition, even if geometrical model has change, also can not have an impact to control algolithm, only need the data in mapping table again to upgrade.

Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.

It should be noted that in addition, each the concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, can be combined by any suitable mode.In order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible combination.

In addition, also can be combined between various different embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.

Claims (10)

1. an arm support equipment linkage control device, described arm support equipment comprises interconnective multiple arm joint, and be connected with described linkage between alternate arm joint and for driving the oil cylinder of described linkage, it is characterized in that, described device comprises:

Receiver, for receiving the target angle between described alternate arm joint; And

Controller, is connected with described receiver, for according to described target angle and target angle and length of oil cylinder mapping table, draws the length of oil cylinder corresponding with described target angle, and controls described oil cylinder and stretch to described length of oil cylinder;

Wherein, described controller is also for length of oil cylinder not corresponding with described target angle in described mapping table, according to described target angle and a linear equation, draw the length of oil cylinder corresponding with described target angle, wherein said linear equation be two angles adjacent with described target angle by storing in described mapping table and with described two angles two corresponding length of oil cylinder determine.

2. device according to claim 1, is characterized in that, described controller searches described target angle and length of oil cylinder mapping table according to two points of look-up tables.

3. device according to claim 1, it is characterized in that, described controller also for by drawn length of oil cylinder and corresponding described target angle stored in described target angle and length of oil cylinder mapping table, to upgrade described target angle and length of oil cylinder mapping table.

4. device according to claim 1, is characterized in that,

Described receiver is also for receiving the target angular velocity between described alternate arm joint; And

Described controller is also for according to described target angular velocity and target angular velocity and oil cylinder stretching speed mapping table, draw the oil cylinder stretching speed corresponding with described target angular velocity, and control described oil cylinder and stretch to described length of oil cylinder with described oil cylinder stretching speed.

5. an arm support equipment linkage control system, described arm support equipment comprises interconnective multiple arm joint, and be connected with described linkage between alternate arm joint and for driving the oil cylinder of described linkage, it is characterized in that, described system comprises:

Angle setter, for the target angle between given described alternate arm joint; And

According to the arm support equipment linkage control device in claim 1-4 described in any one claim, be connected with described angle setter.

6. one kind comprises the engineering machinery of system according to claim 5.

7. an arm support equipment linkage control method, described arm support equipment comprises interconnective multiple arm joint, and be connected with described linkage between alternate arm joint and for driving the oil cylinder of described linkage, it is characterized in that, described method comprises:

Receive the target angle between described alternate arm joint;

According to described target angle and target angle and length of oil cylinder mapping table, draw the length of oil cylinder corresponding with described target angle; And

Controlling described oil cylinder stretches to described length of oil cylinder;

Wherein, when the length of oil cylinder not corresponding with described target angle in described mapping table, according to described target angle and a linear equation, draw the length of oil cylinder corresponding with described target angle, wherein said linear equation be two angles adjacent with described target angle by storing in described mapping table and with described two angles two corresponding length of oil cylinder determine.

8. method according to claim 7, is characterized in that, searches described target angle and length of oil cylinder mapping table according to two points of look-up tables.

9. method according to claim 7, is characterized in that, described method also comprises:

By drawn length of oil cylinder and corresponding described target angle stored in described target angle and length of oil cylinder mapping table, to upgrade described target angle and length of oil cylinder mapping table.

10. method according to claim 7, is characterized in that, described method also comprises:

Receive the target angular velocity between described alternate arm joint;

According to described target angular velocity and target angular velocity and oil cylinder stretching speed mapping table, draw the oil cylinder stretching speed corresponding with described target angular velocity; And

Control described oil cylinder to stretch to described length of oil cylinder with described oil cylinder stretching speed.