CN114789471A

CN114789471A - Water surface manipulator with active and passive wave compensation functions and compensation method

Info

Publication number: CN114789471A
Application number: CN202210231551.3A
Authority: CN
Inventors: 卢道华; 陈奔; 汤雁冰; 王佳
Original assignee: Jiangsu University of Science and Technology; Marine Equipment and Technology Institute Jiangsu University of Science and Technology
Current assignee: Jiangsu University of Science and Technology; Marine Equipment and Technology Institute Jiangsu University of Science and Technology
Priority date: 2022-03-09
Filing date: 2022-03-09
Publication date: 2022-07-26
Anticipated expiration: 2042-03-09
Also published as: CN114789471B

Abstract

The invention discloses a water surface manipulator with active and passive wave compensation functions and a compensation method, which comprises a manipulator operation device, the top of the manipulator operation device is connected with a wave compensation system, the top of the wave compensation system is provided with a crane, the wave compensation system comprises a plurality of first driven pieces and telescopic cylinders, the tops of the first driven pieces and the telescopic cylinders are respectively and rotatably connected with the upper bottom plate, the bottoms of the first driven pieces are rotatably connected with the tops of the second driven pieces, the lower part of the second driven piece is connected with a third driven piece in a sliding way, the bottom of the third driven piece is rotationally connected with a lower bottom plate, one side of the second driven part is provided with an opening, the telescopic cylinder extends into the second driven part from the opening, and is connected with a third driven part in the second driven parts in a rotating way, and the plurality of second driven parts are connected through a fixing device. According to the invention, after the target object is grabbed, passive compensation is carried out, so that the platform of the grabbing device is ensured to be relatively static.

Description

Water surface manipulator with active and passive wave compensation functions and compensation method

Technical Field

The invention relates to a water surface manipulator and a compensation method, in particular to a water surface manipulator with active and passive wave compensation functions and a compensation method.

Background

With the development of the times and the advancement of science and technology, the aim of human exploration is not only to gather on the land but also to gradually focus on the sea. However, the severe environment of the ocean prevents people from exploring the steps of the ocean, and various ships and operation platforms cannot operate under the action of storms and ocean currents, so that the operation on the water surface is greatly influenced. Traditional manipulator when the surface of water snatchs the target object, thereby can be because of the degree of accuracy when the velocity of flow of water influences when snatching, even if snatch the target object after, because self demand need keep under water relatively static, this moment probably because the target object that the velocity of flow of water is great leads to snatching breaks away from grabbing device or directly leads to the manipulator part to split to cause direct economic loss. And at present, no technology for using active and passive wave compensation as a water surface manipulator operation device exists.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide a water surface manipulator with active and passive wave compensation functions and a compensation method, which are used for performing passive compensation after a target object is grabbed, so that a platform of a grabbing device is ensured to be relatively static.

The technical scheme is as follows: the invention comprises a manipulator operating device, a lower bottom plate is arranged at the top of the manipulator operating device, the lower bottom plate is connected with a wave compensation system, the top of the wave compensation system is rotationally connected with an upper bottom plate, the upper bottom plate is provided with a crane, the wave compensation system comprises a plurality of first driven members and telescopic cylinders, the top parts of the first driven part and the telescopic cylinder are respectively connected with the upper bottom plate in a rotating way, the bottom part of the first driven part is connected with the top part of the second driven part in a rotating way, the second driven part is connected with a third driven part in a sliding way, the bottom of the third driven part is rotationally connected with the lower bottom plate, one side of the second driven part is provided with an opening, the telescopic cylinder extends into the second driven part from the opening, and is rotationally connected with a third driven member in the second driven members, and the plurality of second driven members are connected through a fixing device.

The manipulator operation device comprises a manipulator and a magnetic body, wherein the manipulator and the magnetic body are respectively and fixedly connected with the lower bottom plate.

The magnetic body is internally provided with a plurality of conductive coils, and a target object can be directionally sucked through the conductive coils.

The outer surface of the magnetic body adopts different surface bodies, and the shape of the magnetic surface can be changed according to the specific shape of the target object, so that the requirement of complete contact with the target object is met, and the grabbing of the manipulator is facilitated.

The second driven member is internally provided with a guide rail, the guide rail is internally and slidably connected with a third driven member, a displacement sensor is arranged outside the guide rail, and when the telescopic cylinder runs, the third driven member moves linearly relative to the second driven member and can measure the displacement of the third driven member.

The crane is rotatably connected with the ship body, so that the device can be conveniently thrown into the sea or collected to a ship.

The manipulator operating device is fixed and then grabbed.

A compensation method of a water surface manipulator with an active and passive heave compensation function comprises an active compensation method and a passive compensation method.

The active compensation method comprises the following steps: the rolling, pitching and heaving attitude information of the ship body is measured through the inertial navigation sensor, compensation values in three motion directions are calculated through a wave compensation inverse solution algorithm of the controller, and the motion trail of the third driven piece is controlled by controlling the motion of the telescopic cylinder, so that the lower bottom plate is actively compensated.

The passive wave compensation method comprises the following steps: when a target object is grabbed, the telescopic cylinder is electrified, meanwhile, the telescopic cylinder is braked and opened, the telescopic cylinder can be freely stretched, and meanwhile, the fixing device is controlled, so that the control rod of the telescopic cylinder can be freely stretched.

Has the advantages that: the whole manipulator operation device is compensated in a mode of combining the active heave compensation system and the passive heave compensation system, wherein the active compensation system is mainly applied to the grabbing process, the passive compensation system is mainly used for realizing that the mechanical operation device is always in a relatively static state through an active and passive heave compensation method after grabbing is finished, and the shape of the magnetic surface of the detachable integrated magnetic body can be changed according to the specific shape of a target object, so that the requirement of complete contact with the target object is met, and the grabbing of the manipulator is facilitated.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a schematic diagram of the active and passive heave compensation structure of the present invention;

FIG. 4 is a schematic view of a robot handling unit of the present invention;

FIG. 5 is a schematic view of the internal structure of the magnetic body according to the present invention;

FIG. 6 is a schematic view of the external structure of the magnetic body according to the present invention.

Detailed Description

The invention will be further described with reference to the accompanying drawings.

As shown in fig. 1 to 6, the invention comprises an upper base plate 1, a crane 2, a wave compensation system 3, a lower base plate 4, a ship body 5 and a manipulator operation device 6, wherein the top of the wave compensation system 3 is connected with the upper base plate 1, the upper base plate 1 is connected with the wave compensation system 3 through 8 revolute pairs, and connecting pieces of the revolute pairs are corrosion-resistant and oxidation-resistant metal pieces capable of meeting certain strength, so as to ensure that the phenomena of fracture, breakage and the like cannot occur in the operation process. The bottom of the wave compensation system 3 is connected with a lower base plate 4, the wave compensation system 3 is connected with the lower base plate 4 through 4 universal joints, the material requirement of the universal joints is the same as that of the universal joints, and the angle requirement of the wave compensation is met. A manipulator operation device 6 is fixed at the bottom of the lower bottom plate 4, and the relative displacement between the lower bottom plate and the manipulator operation device is guaranteed to be avoided by adopting fixed connection. The top of the upper base plate 1 is fixed with a crane 2, so that the two are guaranteed to be influenced by sea waves consistently, the crane 2 is connected with the ship body 5 through a single-degree-of-freedom rotating pair, and the device can be conveniently thrown into the sea or collected to a ship. The inertial navigation sensor is arranged on the ship body 5, and the wave compensation system 3 is controlled to make corresponding movement by detecting the moving posture of the ship body.

As shown in fig. 3, the wave compensation system 3 includes four first driven members 11 and four telescopic cylinders 13, a cylinder sleeve 12 is sleeved outside the telescopic cylinder 13, the tops of the first driven members 11 and the cylinder sleeve 12 are respectively connected with the upper base plate 1 through revolute pairs, the bottom of the first driven member 11 is rotatably connected with the top of the second driven member 15 through revolute pairs, a guide rail is arranged in the second driven member 15, a third driven member 16 is slidably connected with the guide rail, and the bottom of the third driven member 16 is connected with the lower base plate 4 through a universal joint. An opening is formed on one side of the second driven member 15, and the telescopic cylinder 13 extends into the second driven member 15 from the opening and is rotatably connected with a third driven member 16 in the second driven member 15. And a displacement sensor is arranged outside the guide rail, so that the third driven member 16 moves linearly relative to the second driven member 15 when the telescopic cylinder 13 operates, and the displacement of the third driven member 16 can be measured. The four second driven members 15 are connected through telescopic fixing devices 14, the fixing devices 14 are connected with the four second driven members 15 through rotating pairs, and the fixing devices 14 have controllability and can perform corresponding operations aiming at active and passive compensation modes.

All the driven parts in the heave compensation system 3 adopt aluminum-titanium alloy with light weight and strong corrosion resistance, and an oxidation film is formed in a medium, so that the durability in seawater is improved. The use of light weight materials is a more critical step in passive heave compensation, and the light weight rods can flow along with the water flow in the sea, so that the passive compensation is realized.

As shown in fig. 4, the robot working device 6 picks up the target object after the target object is fixed, and includes a robot 21 and a magnetic body 22, and both the robot 21 and the magnetic body 22 are fixed to the lower plate 4. The manipulator 21 has a multi-degree-of-freedom function and can grab objects in multiple directions, and the magnetic body 22 is a detachable integrated magnetic body and is relatively static with the lower bottom plate 4 during movement. The magnetic body 22 and the manipulator 21 are both provided with a miniature high-definition camera, and when a target object is attracted, the target position can be checked according to the cameras. When the target is grabbed, the magnetic body 22 is required to attract the target to the surface, the target object and the manipulator 21 are in a relative static state at the moment, and the grabbing of the target object through the manipulator 21 can be completed without wave compensation.

The magnetic body 22 is a metal housing, and a pair of criss-cross metal bodies are mainly arranged in the housing, and a certain number of coils are arranged on the upper turns of the metal bodies to form a plurality of conductive coils 31, as shown in fig. 5, the conductive coils 31 can directionally suck the target object, when the manipulator operating device 6 needs to select a corresponding target from a plurality of gathered objects, the conductive coils 31 are conducted according to the direction of the target object, and strong magnetism can be generated on one or more surfaces according to the law of electromagnetic induction, so that the purpose of sucking the object is achieved. When the wrong object is sucked, the power supply is stopped, the wrong object can be released, and the object is sucked again.

As shown in fig. 6, the magnetic body 22 has a hexahedral structure, and can suck the target object through 5 faces, 2 of which are concave faces and 3 of which are flat faces. Each surface is provided with 4 threaded holes, different surface bodies are adopted for different target objects, and various contact surfaces can be realized, so that hundreds of percent of contact can be realized. When the contact surface of the target object is in a convex shape, a completely fitting mold can be processed according to the shape, the mold is arranged on the concave surface of the magnetic body, and the mold is fastened through bolts or other modes, so that the purpose of contact complete fitting is achieved. Similarly, when the contact surface of the target object is concave, a convex mold is processed and installed in the magnetic body plane, and the purpose of fitting can be achieved. Finally, the target object can be firmly absorbed and fixed on the magnetic body, so that the aim that the manipulator can grab the object in a relatively static manner is fulfilled.

The heave compensation system 3 of the invention is applied to two stages of the grabbing process and the grabbing completion of a target object, comprising an active compensation mode and a passive compensation mode, and the main compensation method comprises the following steps:

the active heave compensation method comprises the following steps: the roll, pitch and heave attitude information of the ship body 5 is measured through the inertial navigation sensor, compensation values in three motion directions are calculated through a wave compensation inverse solution algorithm of the controller, and the motion trail of the third driven piece 16 is controlled by controlling the motion of the 4 telescopic cylinders 13, so that the lower bottom plate 4 is actively compensated.

The passive wave compensation method comprises the following steps: when a target object is grabbed, the telescopic cylinder 13 is electrified, meanwhile, the telescopic cylinder 13 is braked and opened, at the moment, the telescopic cylinder 13 can be freely stretched, and meanwhile, the fixing device 14 is controlled, so that the control rod of the telescopic cylinder can be freely stretched. Because the driven part is made of light materials, the driven part can move along with sea waves in the sea, but the lower bottom plate 4 and the manipulator operation device 6 are relatively heavy, so that the influence is relatively small, and at the moment, the upper bottom plate 1 and the wave compensation system 3 can generate motion under the influence of the sea waves, but the whole mechanical grabbing device cannot be influenced, so that passive compensation is realized.

According to the invention, the manipulator operation device is actively compensated, so that the grabbing platform is ensured to be relatively static when the target object is grabbed, and meanwhile, the manipulator operation device is passively compensated after the target object is grabbed, so that the grabbing platform is also ensured to be relatively static; meanwhile, the manipulator grabbing device can realize multidirectional selective grabbing and can realize a detachable integrated function aiming at a specific target object.

Claims

1. The utility model provides a surface of water manipulator with initiative and passive wave compensation function, its characterized in that, includes manipulator operation device (6), lower plate (4) are installed at the top of manipulator operation device (6), be connected with wave compensation system (3) on lower plate (4), the top of wave compensation system (3) is rotated and is connected with upper plate (1), upper plate (1) on install loop wheel machine (2), wave compensation system (3) include a plurality of first follower (11) and telescoping cylinder (13), the top of first follower (11) and telescoping cylinder (13) is rotated with upper plate (1) respectively and is connected, first follower (11) bottom is rotated with second follower (15) top and is connected, second follower (15) sliding connection have third follower (16), third follower (16) bottom is rotated with lower plate (4) and is connected, an opening is formed in one side of the second driven piece (15), the telescopic cylinder (13) extends into the second driven piece (15) from the opening and is rotatably connected with a third driven piece (16) in the second driven piece (15), and the second driven pieces (15) are connected through a fixing device (14).

2. The surface manipulator with active and passive heave compensation function according to claim 1, characterized in that the manipulator working device (6) comprises a manipulator (21) and a magnetic body (22), and the manipulator (21) and the magnetic body (22) are respectively fixedly connected with the lower bottom plate (4).

3. The surface manipulator with active and passive heave compensation function according to claim 2, wherein a plurality of conductive coils (31) are arranged in the magnetic body (22).

4. The surface manipulator with active and passive heave compensation function according to claim 2 or 3, characterized in that the outer surface of the magnetic body (22) is different in surface body.

5. The water surface manipulator with the active and passive heave compensation function according to claim 1, wherein a guide rail is arranged in the second driven member (15), a third driven member (16) is connected in the guide rail in a sliding manner, and a displacement sensor is arranged outside the guide rail.

6. The surface manipulator with active and passive heave compensation function according to claim 1, characterized in that the crane (2) is rotatably connected with the hull (5).

7. The surface manipulator with active and passive wave compensation functions as claimed in claim 1 or 2, wherein the manipulator working device grabs the target object by fixing and then grabbing.

8. The compensation method of the water surface manipulator with the active and passive heave compensation function is characterized by comprising an active heave compensation method and a passive heave compensation method according to any one of claims 1 to 7.

9. The method for compensating the surface manipulator with the active and passive heave compensation function according to claim 8, wherein the active heave compensation method comprises the following steps: the roll, pitch and heave attitude information of the ship body is measured through the inertial navigation sensor, compensation values in three motion directions are calculated through a wave compensation inverse solution algorithm of the controller, and the motion trail of the third driven piece is controlled by controlling the motion of the telescopic cylinder, so that the lower bottom plate is actively compensated.

10. A compensation method of a surface manipulator with active and passive heave compensation function according to claim 8, wherein the passive heave compensation method comprises the following steps: when the target object is grabbed, the telescopic cylinder is electrified, the telescopic cylinder is braked and opened, the telescopic cylinder can be freely stretched, and meanwhile, the fixing device is controlled, so that the control rod of the telescopic cylinder can be freely stretched.