CN112276958B - Three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension - Google Patents

Three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension Download PDF

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CN112276958B
CN112276958B CN202011243396.4A CN202011243396A CN112276958B CN 112276958 B CN112276958 B CN 112276958B CN 202011243396 A CN202011243396 A CN 202011243396A CN 112276958 B CN112276958 B CN 112276958B
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balance
tension
cable
grapple
arm
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CN112276958A (en
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孙明晓
王万鹏
栾添添
胡占永
谢春旺
王涵旭
王皓
马爽
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Hefei Jinglong Environmental Protection Technology Co ltd
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Harbin University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B23/00—Equipment for handling lifeboats or the like

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

The invention designs a three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension. The device mainly comprises a base, a balance platform, a left balance arm, a right balance arm, a tension sensor, a first connecting rod, a second connecting rod, a third connecting rod, a left auxiliary balance arm, a right auxiliary balance arm, a main sling, a left balance cable, a right balance cable, a left auxiliary balance cable, a right auxiliary balance cable, a visual sensor, a lifting ring, a grapple and a PLC control box. Four balance cables are adopted, PLC is used for realizing active control of constant tension, and a grapple of a vision sensor is adopted for realizing automatic grabbing and retracting functions. The invention has the advantages that the three-connecting-rod type mechanical arm with multiple degrees of freedom is used, and the grabbing range is expanded. And the influence of interference force of marine environmental factors on the main sling, the grapple and the hoisted object is considered. Four balance cables are adopted to improve the anti-rolling effect. By applying the visual sensor, the marine mechanical arm can automatically grab, collect and release the hoisted object, and is more intelligent compared with a manually operated marine crane, so that the marine mechanical arm is suitable for various carriers.

Description

Three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension
(I) technical field
The invention belongs to a device for grabbing and releasing objects such as torpedoes, underwater vehicles, small boats and the like by using a marine mechanical arm, and particularly relates to a three-connecting-rod marine self-grabbing and releasing mechanical arm device which is suitable for a complex marine interference environment and actively controls constant tension.
(II) background of the invention
With the rapid development of the national marine traffic industry, the marine mechanical arm is widely applied to the industry as a novel marine engineering device. Nowadays, marine arm is more and more used for some articles handling work such as torpedo, underwater vehicle, boat, and application scope is wide, has better development prospect. However, the marine mechanical arm is influenced by the complex and changeable external environmental factors of the ocean when the marine mechanical arm is used for hoisting in the real marine environment, so that the sling can swing continuously in the hoisting operation process, and further the operation efficiency and the safety of the marine mechanical arm are influenced. Therefore, the problems of actively controlling constant tension and automatically grabbing and retracting of the marine mechanical arm become difficult points to be solved urgently.
A manually operated marine crane anti-rolling device scheme is provided in thesis design and experimental research of a marine crane anti-rolling control system, and a marine anti-rolling crane device with a folding anti-rolling arm is designed. The aim of stabilizing the manually operated marine crane is achieved by using an additional mechanical structure. However, there are the following problems:
(1) the proposed device design is only suitable for manually operated marine cranes. Firstly, a manually operated marine crane cannot automatically grab and release objects such as torpedoes, submergence vehicles, boats and the like. Secondly, the lifting hook and the sling need to be fixed manually when the lifting is started, and the lifting hook is loosened in the lifting process, so that objects fall, and production safety and life safety accidents are caused. The intelligent automatic grabbing and goods receiving and releasing function of the device can not be realized, and the hoisting operation efficiency is influenced.
(2) The thesis does not consider the interference force of external environmental factors such as sea wind on the grapple and the hoisted object on the stress analysis problem of the manually operated marine crane, and is not in line with the actual situation.
(3) The proposal of the device uses three rocker arms, which can achieve the purpose of stabilizing, but can not deal with the interference force of complex marine environment to the grapple and the hoisted object in multiple directions, and can not ensure the grapple and the hoisted object to have better stability in the hoisting process.
(4) The proposed device scheme is suitable for manually operated marine cranes, can not hoist the goods near the manually operated marine crane base, and needs to be transported to a specified position by manual secondary transportation or needs to manually change the position of a lifting hook to hoist and expand the range. The efficiency is not high, and precious deck space resources are wasted.
In addition, although the device schemes proposed by thesis of triple-cable limiting type anti-swing device design of marine crane, patent of embedded ball hanging scaffold stabilizing device of marine crane and patent of folding stabilizing arm type stabilizing device of marine crane can achieve the stabilizing purpose, the device schemes essentially belong to manually operated marine cranes, the degree of freedom is smaller than that of marine mechanical arms, the capturing range is not large, and the intelligent functions of actively controlling constant tension, automatically capturing, retracting, releasing and the like are not realized.
Disclosure of the invention
The invention aims to provide a three-link marine self-grabbing and releasing mechanical arm device which can actively control constant tension, automatically grab and release torpedoes, submerging devices, small boats and the like, solve the problems that the working efficiency of a marine mechanical arm is reduced and the marine mechanical arm cannot safely work due to the swing of a main sling caused by a complex sea environment, and can be installed on various carriers.
The invention discloses a three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension, which mainly comprises a base, a balance platform, a left balance arm, a right balance arm, a tension sensor, a first connecting rod, a second connecting rod, a third connecting rod, a left auxiliary balance arm, a right auxiliary balance arm, a main sling, a wire guide wheel, a left balance cable, a right balance cable, a left auxiliary balance cable, a right auxiliary balance cable, a fixing piece, a bearing, a vision sensor, a lifting ring, a grapple and a PLC control box. The left balance arm and the right balance arm are respectively connected with a hanging ring on the grapple through a left balance cable and a right balance cable. The left auxiliary balance arm and the right auxiliary balance arm are respectively connected with a hanging ring on the grapple through a left auxiliary balance cable and a right auxiliary balance cable. The invention also comprises the following features:
(1) compared with a manually operated marine crane, the three-connecting-rod type marine self-grabbing and releasing mechanical arm device for actively controlling constant tension has multiple degrees of freedom, and can grab torpedoes, submerging devices, boats and other objects near the retractable base. The grabbing and releasing range is larger than that of a manually operated marine crane, manual secondary carrying is not needed, and the working efficiency and the utilization rate of a deck space are greatly improved.
(2) The tension force applied to the main sling and collected by the tension sensor of the main sling when the lifting process starts is transmitted to the PLC in the PLC control box, and the PLC receives the signal and starts to execute an active control constant tension mode. The process is as follows: the left balance arm, the right balance arm, the left auxiliary balance arm and the right auxiliary balance arm are all provided with tension sensors which can collect tension values in real time, the collected tension values are compared with actual tension values to obtain tension deviation signals, and the tension deviation signals are transmitted to the PLC. The PLC controller controls the opening angles of the left balance arm, the right balance arm, the left auxiliary balance arm and the right auxiliary balance arm which are completely symmetrical in left and right positions, so that the tension generated by the left balance cable, the right balance cable, the left auxiliary balance cable and the right auxiliary balance cable is changed, and the grapple is always kept in a constant tension state in the hoisting process. The function of actively controlling constant tension is realized, and then the anti-rolling function is achieved.
(3) The vision sensor arranged on the grapple can collect the position information of the lifted object, and the PLC controller can control the first connecting rod to rotate according to the collected position information of the lifted object and then control the transmission of the second connecting rod and the third connecting rod to move to the position of the lifted object. At the moment, the main sling puts down the grapple to realize the automatic grabbing function. And a vision sensor is additionally arranged on the basis of the conventional grapple. The front end of grapple installs the vision sensor as visual information collection system, and the vision sensor moves along with the grapple in addition, and the visual angle range all can be around the grapple always, can not have the vision blind area.
(4) Compared with a manually operated lifting hook of the marine crane, the automatic grabbing and releasing function of objects such as torpedoes, underwater vehicles, boats and the like can be realized by adopting the grabbing hook with the visual sensor. And the manually operated lifting hook and the manually operated sling of the marine crane can be loosened during the lifting operation, so that the objects fall, and production safety and life safety accidents are caused. But the grapple that is equipped with vision sensor can not appear above-mentioned situation, compares in manually operation's marine crane and need not artifical fixed lifting hook and hoist cable, and is safer and intelligent, can realize automatic snatching receive and release the function.
The invention has the following beneficial effects:
(1) the invention is suitable for the carrier working under the complex sea surface environment. Compared with a manually operated marine crane, the invention is firstly provided with the grapple with the vision sensor, and compared with the lifting hook of the manually operated marine crane, the grapple with the vision sensor can realize the function of automatically grabbing and receiving some objects such as torpedoes, underwater vehicles, boats and the like. Secondly, the lifting hook and the sling of the manually operated marine crane can be loosened during the lifting operation, so that the objects fall down, and production safety and life safety accidents are caused. But the grapple that is equipped with vision sensor can not appear above-mentioned situation, compares in manually operation's marine crane and need not artifical fixed lifting hook and hoist cable, and is safer and intelligent, can realize automatic snatching receive and release the function.
(2) The invention considers the interference force of external environmental factors such as sea wind and the like on the grapple and the hoisted object during the stress analysis, so the scheme of the device of the invention is more in line with the practical application condition.
(3) The four balance arms and the four balance cables are selected, so that the active control function of constant tension is realized, the interference force of complex marine environments to the grapple and the hoisted object in multiple directions can be responded, the grapple and the hoisted object are ensured to have better stability in the hoisting process, and the anti-rolling effect is improved.
(4) The invention selects the three-link mechanical arm with a plurality of degrees of freedom. Can grab objects such as torpedoes, underwater vehicles, small boats and the like near the retractable base. The grabbing and releasing range is larger than that of a manually operated marine crane, manual secondary carrying to a specified position is not needed, and the working efficiency and the utilization rate of a deck space are greatly improved.
Therefore, the invention is suitable for the carrier working under the complex sea surface environment, can more safely and intelligently execute the work of grabbing and releasing torpedoes, underwater vehicles, boats and other objects, and improves the working efficiency and the utilization rate of deck space.
(IV) description of the drawings
FIG. 1 is a schematic diagram of the apparatus;
FIG. 2 is a schematic view of the left and right balance cables under stress when they are not in failure;
FIG. 3 is a schematic view of the left and right balance cables under stress when they fail;
FIG. 4 is a flow chart of active control of constant tension;
fig. 5 is a flow chart of automatic visual grabbing and retracting.
Reference numerals: 1-base, 2-balance platform, 3-left balance arm, 4-right balance arm, 5-tension sensor, 6-link I, 7-link II, 8-link III, 9-left auxiliary balance arm, 10-right auxiliary balance arm, 11-main sling, 12-wire guide wheel, 13-left balance cable, 14-right balance cable, 15-left auxiliary balance cable, 16-right auxiliary balance cable, 17-fixing piece, 18-bearing, 19-visual sensor, 20-lifting ring, 21-grapple and 22-PLC control box.
(V) detailed description of the preferred embodiments
The invention is described in detail below with reference to the attached drawing figures:
as shown in fig. 1, the three-link type marine self-grabbing and releasing mechanical arm device for actively controlling constant tension mainly comprises a base 1, a balance platform 2, a left balance arm 3, a right balance arm 4, a tension sensor 5, a first link 6, a second link 7, a third link 8, a left auxiliary balance arm 9, a right auxiliary balance arm 10, a main sling 11, a wire guide wheel 12, a left balance cable 13, a right balance cable 14, a left auxiliary balance cable 15, a right auxiliary balance cable 16, a fixing part 17, a bearing 18, a vision sensor 19, a lifting ring 20, a grabbing hook 21 and a PLC control box 22. The left balance arm 3 and the right balance arm 4 are respectively connected with a lifting ring 20 on a grab hook 21 by a left balance cable 13 and a right balance cable 14. The left auxiliary balance arm 9 and the right auxiliary balance arm 10 are respectively connected with a lifting ring 20 on a grapple 21 by a left auxiliary balance cable 15 and a right auxiliary balance cable 16. The PLC control box 22 is a sealed steel box body, which prevents seawater from eroding the inside, and a PLC controller is arranged inside the PLC control box.
On the basis of the structure of a conventional three-connecting-rod type mechanical arm, a balance platform 2 is added at the tail end of a first connecting rod 6, and two tension sensors 5 are installed on the balance platform 2. And the left balance arm 3 and the right balance arm 4 are arranged at the positions which are completely symmetrical left and right on the balance platform 2. The end of the left balance arm 3 and the end of the right balance arm 4 are designed to be connected with the balance platform 2 through bearings 18, and fixed on the balance platform 2 through fixing pieces 17. The front end of the designed left balance arm 3 is additionally provided with a wire guide wheel 12. The right balance arm 4 is the same as the left balance arm 3. The tail end of the connecting rod III 8 is additionally provided with a wire guide wheel 12 and 3 tension sensors 5. The wire guide wheel 12 and the lifting eye 20 above the grapple 21 are connected by the main sling 11. And a left auxiliary balance arm 9 and a right auxiliary balance arm 10 are arranged at the positions which are completely symmetrical left and right on the connecting rod three 8. The end of the left auxiliary balance arm 9 and the end of the right auxiliary balance arm 10 are designed to be connected with the connecting rod three 8 through bearings 18, and fixed on the connecting rod three 8 through fixing pieces 17. The front end of the designed left auxiliary balance arm 9 is additionally provided with a wire guide wheel 12. The right auxiliary balance arm 10 is the same as the left auxiliary balance arm 9. The left balance arm 3 and the right balance arm 4 are respectively connected with the lifting rings 20 at two sides of the grapple 21 by a left balance cable 13 and a right balance cable 14. The left auxiliary balance arm 9 and the right auxiliary balance arm 10 are respectively connected with a lifting ring 20 on a grapple 21 by a left auxiliary balance cable 15 and a right auxiliary balance cable 16. The left balance arm 3, the right balance arm 4, the left auxiliary balance arm 9 and the right auxiliary balance arm 10 which are completely symmetrical in left and right positions respectively provide four-direction tension through the left balance cable 13, the right balance cable 14, the auxiliary balance cable 15 and the right auxiliary balance cable 16, and the purpose is to provide force balanced with external factors such as sea wind and the like, so that the grapple 21 is in a static balance state, further the movement of the grapple 21 in any direction in space is blocked, and the anti-rolling function is achieved.
Compared with a manually operated marine crane, the three-connecting-rod type marine self-grabbing and releasing mechanical arm device for actively controlling constant tension has multiple degrees of freedom, and can grab torpedoes, submerging devices, boats and other objects near the retractable base. The grabbing and releasing range is larger than that of a manually operated marine crane, manual secondary carrying is not needed, and the working efficiency and the utilization rate of a deck space are greatly improved.
When the lifting process starts, the tension force applied to the main sling, which is collected by the tension sensor 5 of the main sling 11, transmits a signal to the PLC in the PLC control box 22, and the PLC receives the signal and starts to execute an active control constant tension mode. The process is as follows: the left balance arm 3, the right balance arm 4, the left auxiliary balance arm 9 and the right auxiliary balance arm 10 are all provided with tension sensors 5 which can collect tension values in real time, the collected tension values are compared with actual tension values to obtain tension deviation signals, and the tension deviation signals are transmitted to the PLC. The PLC controller controls the opening angles of the left balance arm 3, the right balance arm 4, the left auxiliary balance arm 9 and the right auxiliary balance arm 10 which are completely symmetrical in left and right positions, so that the tension generated by the left balance cable 13, the right balance cable 14, the auxiliary balance cable 15 and the right auxiliary balance cable 16 is changed, and the grapple is always kept in a constant tension state in the hoisting process. The function of actively controlling constant tension is realized, and then the anti-rolling function is achieved.
The vision sensor 19 arranged on the grapple can collect the position information of the hoisted object, and the PLC controller can control the first connecting rod 6 to rotate according to the collected position information of the hoisted object through the PLC controller in the PLC control box, and then controls the transmission of the second connecting rod 7 and the third connecting rod 8 to move to the position of the hoisted object. At the moment, the main sling lowers the grapple 21, and the automatic grabbing and retracting function is realized. And a vision sensor 19 is added on the basis of a conventional grapple. The front end of the grapple 21 is provided with the vision sensor 19 as a vision information acquisition device, and the vision sensor 19 moves along with the grapple 21, so that the visual angle range is always around the grapple, and no vision blind area exists.
Compared with a manually operated lifting hook of the marine crane, the automatic grabbing and releasing of objects such as torpedoes, underwater vehicles, boats and the like can be realized by adopting the grabbing hook with the visual sensor. And the manually operated lifting hook of the marine crane can be loosened during the lifting operation, so that the objects fall, and production safety and life safety accidents are caused. But the grapple that is equipped with vision sensor can not appear above-mentioned situation, compares in manually operation's marine crane and need not artifical fixed lifting hook and hoist cable, and is safer and intelligent, can realize automatic snatching receive and release the function.
According to the stress structure, the three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension can be simplified into two conditions of a stress schematic diagram when the left and right balance cables are not failed and a stress schematic diagram when the left and right balance cables are failed in the hoisting process. The M point is the intersection point of the third connecting rod and the main sling; l is the intersection point of the left balance arm and the left balance cable; r is the intersection point of the right balance arm and the right balance cable; b is the intersection point of the left auxiliary balance arm and the left auxiliary balance cable; c is the intersection point of the right auxiliary balance arm and the right auxiliary balance cable; a is a grapple. The grapple keeps balance due to the combined action of the gravity of the grapple and the hoisted object, the tension of the main sling, the tension of the left balance cable, the tension of the right balance cable, the tension of the left auxiliary balance cable and the tension of the right auxiliary balance cable. The left balance cable, the right balance cable, the left auxiliary balance cable and the right auxiliary balance cable provide tension in four directions, and the purpose is to provide force balanced with external factors such as sea wind and the like, so that the grapple is in a static balance state, and further, the grapple is prevented from moving in any direction in space, and the anti-rolling function is achieved.
When the left and right balance cables are not failed, the tension can still be provided for the grapple and the hoisted object. The force analysis of the grapple and the hoisted object is as shown in the force diagram of fig. 2 when the left and right balance cables are not invalid, and when the grapple and the hoisted object are subjected to the interference force of external environmental factors such as sea wind and the like to the grapple and the hoisted object to move to one side of the sea surface outside the carrier, the static balance state equation of the grapple and the hoisted object is as follows:
Figure GDA0003081646730000061
Figure GDA0003081646730000062
Figure GDA0003081646730000071
in the formula: gAThe gravity of the grapple and the hoisted object; i FII is the tension modulus of the left balance cable, | FIII is a die for balancing the tension of the cable on the right side; i FIIIL is left auxiliaryA die for assisting in balancing the tension of the cable; i FIVI is a die for assisting tension of the balance cable on the right side; i FmI is a die for main sling tension; i FrI is the model of the disturbance force of sea wind and sea wave to the grapple and the hoisted object, FIThe included angles with the positive directions of the x, y and z axes are respectively theta1x，θ1y，θ1z；FIIThe included angles with the positive directions of the x, y and z axes are respectively theta2x，θ2y，θ2z；FIIIThe included angles with the positive directions of the x, y and z axes are respectively theta3x，θ3y，θ3z；FIVThe included angles with the positive directions of the x, y and z axes are respectively theta4x，θ4y，θ4z；FmThe included angles with the positive directions of the x, y and z axes are respectively
Figure GDA0003081646730000072
FrThe included angles with the positive directions of the x, y and z axes are respectively alphax，αy，αz；
When the left and right balance cables fail to provide tension for the grapple and the hoisted object, namely | FI|＝|FIIWhen the grapple and the hoisted object are subjected to interference force of sea wind and sea wave on the grapple and the hoisted object to move towards one side of the main body of the self-grabbing and releasing mechanical arm device for the three-link ship, which actively controls constant tension, the static balance state equation of the grapple and the hoisted object at the moment is as follows:
Figure GDA0003081646730000073
Figure GDA0003081646730000074
Figure GDA0003081646730000075
the active control constant tension working principle of the invention is as follows:
as shown in the flow chart of fig. 4, when the hoisting starts, the tension applied to the main sling, which is collected by the tension sensor of the main sling, transmits a signal to the PLC controller in the PLC control box, and the PLC controller receives the signal and starts to execute the active control constant tension mode. The left balance arm, the right balance arm, the left auxiliary balance arm and the right auxiliary balance arm are all provided with tension sensors which can collect tension values in real time, the collected tension values are compared with actual tension values to obtain tension deviation signals, and the tension deviation signals are transmitted to the PLC. The PLC controller controls the opening angles of the left balance arm and the right balance arm which are symmetrical in left and right positions, and the opening angles of the left auxiliary balance arm and the right auxiliary balance arm, so that the tension generated by the left balance cable, the right balance cable, the left auxiliary balance cable and the right auxiliary balance cable is changed, and the grapple is always kept in a constant tension state in the hoisting process. The function of actively controlling constant tension is realized, so that the movement of the grapple in any direction in the space is blocked, and the anti-rolling function is realized.
The visual automatic grabbing working principle of the invention comprises the following steps:
as shown in the flow chart of fig. 5, the vision sensor starts to collect target information and determines whether the lifted object is a lifted object. If the lifted object is judged to be the lifted object, information such as the position of the lifted object is transmitted to the PLC in the PLC control box, and the PLC starts to carry out a visual automatic grabbing and releasing mode. At the moment, the PLC controls the first connecting rod to rotate, the first connecting rod rotates, the second connecting rod starts to transmit, and the second connecting rod transmits, so that the third connecting rod transmits to the position of the hung object. Therefore, the PLC controls the grapple to put down to grab the hoisted object, and the automatic grabbing, retracting and releasing work is completed. And the vision sensor moves along with the grapple, the visual angle range can be around the grapple all the time, and no vision blind area exists. Compared with a manually operated lifting hook of the marine crane, the automatic grabbing and releasing of objects such as torpedoes, underwater vehicles, boats and the like can be realized by adopting the grabbing hook with the visual sensor. And the manually operated lifting hook of the marine crane can be loosened during the lifting operation, so that the objects fall, and production safety and life safety accidents are caused. But a grapple equipped with a vision sensor does not appear to have the above situation. Compared with a manually operated marine crane, the lifting hook and the sling do not need to be manually fixed, the automatic grabbing and retracting device is safer and more intelligent, and can realize the automatic grabbing and retracting functions.

Claims (1)

1. The utility model provides a constant tension's three connecting rod formula marine from grabbing machine arm device of active control, which comprises a base, balanced platform, left balance arm, right balance arm, tension sensor, connecting rod one, connecting rod two, connecting rod three, left side auxiliary balance arm, right side auxiliary balance arm, main hoist cable, left balance cable, right balance cable, left side auxiliary balance cable, right side auxiliary balance cable, visual sensor, rings, the grapple, the PLC control box, left side balance arm and right balance arm are continuous with the rings on the grapple with left balance cable and right balance cable respectively, left side auxiliary balance arm and right auxiliary balance arm are continuous with the rings on the grapple with left auxiliary balance cable and right auxiliary balance cable respectively, a constant tension's three connecting rod formula marine from grabbing machine arm device, characterized by:
(1) a three-connecting-rod type marine self-grabbing and releasing mechanical arm device capable of actively controlling constant tension has the advantages that the selected three-connecting-rod type mechanical arm has multiple degrees of freedom, and compared with a manually operated marine crane, a torpedo, a submarine vehicle and a boat near a base can be automatically grabbed and released, the grabbing and releasing range is larger than that of the manually operated marine crane, and manual secondary carrying is not needed;
(2) a left balance arm, a right balance arm and two tension sensors are arranged at the left and right completely symmetrical positions on a balance platform, a left auxiliary balance arm and a right auxiliary balance arm are arranged at the left and right completely symmetrical positions on a connecting rod III, three tension sensors are additionally arranged on the connecting rod III, the left balance arm, the right balance arm, the left auxiliary balance arm and the right auxiliary balance arm are respectively connected with the hanging rings at the two sides of the grapple by a left balance cable, a right balance cable, a left auxiliary balance cable and a right auxiliary balance cable, the left balance arm, the right balance arm, the left auxiliary balance arm and the right auxiliary balance arm provide tension in four directions through the left balance cable, the right balance cable, the left auxiliary balance cable and the right auxiliary balance cable, and the aim is to provide force balanced with sea wind and sea wave so that the grapple reaches a static balance state, so that the movement of the grapple in any direction in the space is blocked, thereby achieving the function of stabilizing the swing;
when the left balance cable and the right balance cable are not invalid and can still provide tension for the grapple and the hoisted object, and the grapple and the hoisted object move to the sea surface side outside the carrier under the interference force of sea wind and sea waves to the grapple and the hoisted object, the static balance state equation of the grapple and the hoisted object is as follows:
Figure FDA0003081646720000011
Figure FDA0003081646720000012
Figure FDA0003081646720000013
in the formula: gAThe gravity of the grapple and the hoisted object; i FII is the tension modulus of the left balance cable, | FIII is a die for balancing the tension of the cable on the right side; i FIIII is a die for assisting the tension of the balance cable; i FIVI is a die for assisting tension of the balance cable on the right side; i FmI is a die for main sling tension; i FrI is the model of the disturbance force of sea wind and sea wave to the grapple and the hoisted object, FIThe included angles with the positive directions of the x, y and z axes are respectively theta1x，θ1y，θ1z；FIIThe included angles with the positive directions of the x, y and z axes are respectively theta2x，θ2y，θ2z；FIIIThe included angles with the positive directions of the x, y and z axes are respectively theta3x，θ3y，θ3z；FIVThe included angles with the positive directions of the x, y and z axes are respectively theta4x，θ4y，θ4z；FmThe included angles with the positive directions of the x, y and z axes are respectively
Figure FDA0003081646720000021
FrThe included angles with the positive directions of the x, y and z axes are respectively alphax，αy，αz；
When the left and right balance cables fail to provide tension for the grapple and the hoisted object, namely | FI|＝|FIIWhen the grapple and the hoisted object are subjected to interference force of sea wind and sea wave on the grapple and the hoisted object to move towards one side of the main body of the self-grabbing and releasing mechanical arm device for the three-link ship, which actively controls constant tension, the static balance state equation of the grapple and the hoisted object at the moment is as follows:
Figure FDA0003081646720000022
Figure FDA0003081646720000023
Figure FDA0003081646720000024
(3) the tension sensor of the main sling collects the tension of the main sling when the lifting starts, the signal is transmitted to the PLC controller in the PLC control box, the PLC controller receives the signal and starts to execute an active control constant tension mode, the left balance arm, the right balance arm, the left auxiliary balance arm and the right auxiliary balance arm are all provided with the tension sensors which can collect tension values in real time, the collected tension values are compared with an actual tension value to obtain tension deviation signals, the tension deviation signals are transmitted to the PLC controller, the PLC controller controls the stretching angles of the left balance arm, the right balance arm, the left auxiliary balance arm and the right auxiliary balance arm which are symmetrical in left and right positions, the tension generated by the left balance cable, the right balance cable, the left auxiliary balance cable and the right auxiliary balance cable is changed, the grapple is always kept in a constant tension state during the lifting process, and the movement of the grapple in any direction in space is blocked, thereby achieving the function of stabilizing;
(4) the vision sensor starts to collect target information and judges whether the lifted object is a lifted object, if the lifted object is the lifted object, the position information of the lifted object is transmitted to a PLC (programmable logic controller) in a PLC control box together, the PLC controller starts to carry out a vision automatic grabbing and retracting mode, at the moment, the PLC controller controls a first connecting rod to rotate, the first connecting rod rotates and then a second connecting rod to start transmission, the second connecting rod transmits and then a third connecting rod transmits to the position of the lifted object, the PLC controller controls a grab hook to put down and grab the lifted object to finish automatic grabbing and retracting work, the vision sensor moves along with the grab hook, the visual angle range always surrounds the grab hook, no vision blind area exists, compared with a lifting hook of a manually operated marine crane, the automatic grabbing torpedo, the underwater vehicle and retracting can be realized by adopting the grab hook provided with the vision sensor, A boat.
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