CN117565061B - Speed and weight balance control system based on mechanical arm carrying - Google Patents
Speed and weight balance control system based on mechanical arm carrying Download PDFInfo
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- CN117565061B CN117565061B CN202410056334.4A CN202410056334A CN117565061B CN 117565061 B CN117565061 B CN 117565061B CN 202410056334 A CN202410056334 A CN 202410056334A CN 117565061 B CN117565061 B CN 117565061B
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- 238000004458 analytical method Methods 0.000 claims description 40
- 230000005484 gravity Effects 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 7
- 238000004442 gravimetric analysis Methods 0.000 claims description 5
- 238000011084 recovery Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 2
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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Classifications
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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
- B25J9/1628—Programme controls characterised by the control loop
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- 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
- B25J19/0008—Balancing devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the field of mechanical arm conveying, which is used for solving the problem that different conveying weights and conveying speed balance control cannot be realized by running with a fixed program in the mechanical arm conveying process, in particular to a speed and weight balance control system based on mechanical arm conveying; according to the invention, not only is the weight of the object collected independently, but also the torque received by the mechanical arm is collected to judge whether the center of the object is in the part clamped by the mechanical arm when the object is clamped by the mechanical arm, and the path and the speed in the carrying process are analyzed, so that the mechanical arm can dynamically adjust the carrying speed and the clamping force in the carrying process, different control capacities of the mechanical arm in different movement states are ensured, and the weight of the carried object and the speed of the carried object are comprehensively analyzed in the carrying process, so that the weight and the speed of the carried object can be balanced in the movement process, and the operation effect of the mechanical arm is improved.
Description
Technical Field
The invention relates to the field of mechanical arm conveying, in particular to a speed and weight balance control system based on mechanical arm conveying.
Background
The mechanical arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of the unique operation flexibility, the method has been widely applied in the fields of industrial assembly, safety explosion prevention and the like; the mechanical arm is a complex system, and uncertainty such as parameter perturbation, external interference, unmodeled dynamics and the like exists; therefore, the modeling model of the mechanical arm also has uncertainty, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned, so that the end pose is formed in a cascading way;
at present, the mechanical arm carrying control system in the prior art still has the defect that the carried articles have different shapes, materials and strength in the carrying process of the mechanical arm, so that the problem that the articles fall down or the articles deform due to the fact that the clamping force is too high due to the fact that the mechanical arm adopts a uniform control mode exists, and meanwhile, the articles with different shapes are required to be controlled at different running speeds even under the same quality, so that balance coordination of the weight of the clamped articles and the carrying speed is ensured;
aiming at the technical problems, the application provides a solution.
Disclosure of Invention
According to the invention, when the weight of the article is analyzed, the weight of the article is not only collected independently, but also the torque received by the mechanical arm is collected to judge whether the center of the article is positioned in the part clamped by the mechanical arm when the article is clamped by the mechanical arm, and the path and the speed in the conveying process are analyzed, so that the mechanical arm can dynamically adjust the conveying speed and the clamping force in the conveying process, different control capacities of the mechanical arm in different movement states are ensured, and the weight and the speed of the conveyed article are comprehensively analyzed in the conveying process, so that the weight and the speed balance of the conveyed article in the movement process can be realized, the conveying efficiency is ensured, the article can not fall off in the conveying process, the running effect of the mechanical arm is improved, the problem that different conveying weight and conveying speed balance control cannot be realized by fixed program running in the conveying process of the mechanical arm is solved, and the speed and weight balance control system based on the conveying of the mechanical arm is provided.
The aim of the invention can be achieved by the following technical scheme:
the system comprises a weight acquisition and analysis unit, a speed acquisition and analysis unit, a clamping control unit, a conveying path control unit and a data center control platform, wherein the weight acquisition and analysis unit can acquire the weight of conveyed goods when the mechanical arm carries, generate weight analysis information according to an acquisition result and send the weight analysis information to the data center control platform;
the speed acquisition and analysis unit can acquire the current speed of the mechanical arm in the operation process and generate speed information according to the current speed of the mechanical arm in the operation process, and the speed acquisition and analysis unit sends the speed information to the data center control platform;
the clamping control unit can acquire the upper limit of the clamping force of the carried goods and send the upper limit of the clamping force to the data center control platform;
after the data center control platform obtains the weight analysis information and the speed information, comprehensively analyzing the weight analysis information and the speed information, and generating a speed control signal by taking the upper limit of the clamping force as a reference;
the clamping control unit can acquire a speed control signal through the data center control platform, can analyze the speed control signal and generate a clamping conveying control signal, and feeds the clamping conveying control signal back to the data center control platform;
the handling path control unit can acquire the handling position of the goods to be handled and generate an action path according to the handling position, the handling path control unit sends the action path to the data center control platform, the data center control platform analyzes the action path after acquiring the action path, and the data center control platform generates a maximum clamping force signal and sends the maximum clamping force signal to the clamping control unit
As a preferred embodiment of the present invention, the manner in which the clamping control unit obtains the upper limit of the clamping force of the carried goods is manual input;
when the clamping control unit controls the mechanical arm to carry, the initial weight of the carried goods is obtained through a manual input mode, and the clamping control unit controls the mechanical arm to carry the goods with clamping force capable of carrying the initial weight;
the weight acquisition and analysis unit acquires the actual weight of the carried goods through the sensor after the mechanical arm clamps the carried goods, calculates the gravity center position of the carried goods according to the torque born by the mechanical arm in the vertical plane where the carried goods are located, generates a gravity center unified signal if the torque born by the mechanical arm is smaller than a preset threshold value, generates a gravity center offset signal if the torque born by the mechanical arm is larger than the preset threshold value, and records the gravity center unified signal, the gravity center offset signal and the actual weight as weight analysis information to the data center control platform.
As a preferred embodiment of the present invention, when the speed acquisition and analysis unit acquires the running speed of the mechanical arm, the running direction of the goods carried by the mechanical arm is acquired at the same time, and the speed of the goods in each direction is recorded as V.
As a preferred embodiment of the present invention, the data central control platform obtains the running direction of the transported goods, calculates the included angle between the running direction of the goods and the goods clamping surface, and records the included angle as H, where the calculating manner of the included angle between the running direction of the goods and the goods clamping surface is as follows: selecting a vertical plane in which the goods are located, drawing two straight lines along the horizontal direction and the vertical direction, drawing a third straight line in the running direction of the goods by taking the intersection point of the two straight lines as a starting point, calculating the included angles of the third straight line and the horizontal direction and the vertical direction, recording the included angles as a horizontal included angle and a vertical included angle respectively, selecting a group with the smallest angle in the horizontal included angle and the vertical included angle, and recording the included angle as an included angle H;
the data center control platform records the upper limit of the clamping force as F0, records the actual weight in the weight analysis information as M after the data center control platform acquires the weight analysis information, and simultaneously acquires the speed V in the speed information, and calculates the current weight of the carried goods according to a formula by the data center control platformThe running risk value X at the quantity M,wherein k is a preset weight coefficient, when a gravity center unified signal is generated in the gravimetric information, the value of k is k1, and when a gravity center offset signal is generated in the gravimetric information, the value of k is k2, wherein k1 is less than k2.
As a preferred embodiment of the present invention, the data center control platform compares the running hazard value X with a preset running hazard value X0, generates a speed safety signal if the running hazard value X is smaller than the preset running hazard value X0, and generates a speed reduction signal if the running hazard value X is greater than or equal to the preset running hazard value X0, wherein the speed safety signal and the speed reduction signal are speed control signals.
As a preferred embodiment of the present invention, after the speed control signal is obtained, if the speed control signal is a speed decreasing signal, the clamping force increasing signal is generated, and the clamping force is located at the maximum clamping force that can be borne by the transported goods; if the speed control signal is a speed safety signal, generating a carrying acceleration signal and improving the carrying speed of the mechanical arm;
after the data central control platform acquires the carrying acceleration signal, the operation danger value of the mechanical arm in the operation process is recalculated, when the carrying acceleration signal accelerates the mechanical arm in the operation process, the operation danger value is gradually increased, when the operation danger value X is increased to be equal to a preset operation position X0, a speed yielding signal is generated, the speed is reduced by a small extent in a preset degree, and the speed is maintained unchanged.
As a preferred embodiment of the present invention, the transport path control unit calculates different transport angles in the transport path after acquiring the action path, records a position where the transport angle changes as a route inflection point, the transport path control unit transmits the route inflection point to the data center control platform, the data center control platform generates a maximum clamping force signal when transporting to the route inflection point, and transmits the maximum clamping force signal to the clamping control unit, the clamping control unit increases the clamping force to an upper limit of the clamping force of the transported goods after acquiring the maximum clamping force signal, and the data center control unit generates a clamping force restoration signal and transmits the clamping force restoration signal to the clamping control unit after the transported goods passes through the route inflection point, and the clamping control unit restores the clamping force to the force before reaching the route inflection point after receiving the clamping restoration signal.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the mechanical arm comprehensively analyzes the weight of the carried object and the speed of the carried object in the carrying process, so that the weight and the speed of the carried object can be balanced in the moving process, the carrying efficiency is ensured, the objects can not fall off in the carrying process, and the operation effect of the mechanical arm is improved.
2. According to the invention, when the weight of the object is analyzed, not only the weight of the object is independently collected, but also the torque born by the mechanical arm is collected, when the center of the object is positioned outside the clamping part of the mechanical arm, the clamping part of the mechanical arm can bear the torque caused by the inclination of the object, so that whether the center of the object is positioned in the clamping part of the mechanical arm when the object is clamped by the mechanical arm is judged, and more comprehensive information support is provided for the weight when the mechanical arm is carried.
3. According to the invention, the path and the speed in the carrying process are analyzed, so that the carrying speed and the clamping force of the mechanical arm can be dynamically adjusted in the carrying process, different control capacities of the mechanical arm in different motion states are ensured, and the stability and the energy conservation of the mechanical arm are improved.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
Fig. 1 is a system block diagram of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
referring to fig. 1, a speed and weight balance control system based on mechanical arm carrying includes a weight acquisition and analysis unit, a speed acquisition and analysis unit, a clamping control unit, a carrying path control unit and a data central control platform, wherein the weight acquisition and analysis unit can acquire the weight of a carried cargo when the mechanical arm carries out carrying, generate weight analysis information according to an acquisition result and send the weight analysis information to the data central control platform;
the speed acquisition and analysis unit can acquire the current speed of the mechanical arm in the operation process, generates speed information according to the current speed of the mechanical arm in operation, sends the speed information to the data central control platform, and acquires the operation direction of the goods carried by the mechanical arm and records the speed of the goods in each direction as V when the speed acquisition and analysis unit acquires the operation speed of the mechanical arm;
the clamping control unit can acquire the upper limit of the clamping force of the carried goods, the mode that the clamping control unit acquires the upper limit of the clamping force of the carried goods is manual input, and the upper limit of the clamping force is sent to the data center control platform;
when the clamping control unit controls the mechanical arm to carry, the initial weight of the carried goods is obtained through a manual input mode, and the clamping control unit controls the mechanical arm to carry the goods with clamping force capable of carrying the initial weight;
the weight acquisition and analysis unit acquires the actual weight of the carried goods through the sensor after the mechanical arm clamps the carried goods, calculates the gravity center position of the carried goods according to the torque born by the mechanical arm in the vertical plane where the carried goods are positioned, generates a gravity center unified signal if the torque born by the mechanical arm is smaller than a preset threshold value, and transmits the gravity center unified signal, the gravity center offset signal and the actual weight to the data center control platform as weight analysis information if the torque born by the mechanical arm is larger than the preset threshold value, wherein the gravity center is positioned at the outer side of the contact position of the mechanical arm and the goods, so that the goods tend to incline, the clamped part of the mechanical arm is extruded, the mechanical arm bears larger torque, and the gravity center offset signal is generated;
the data center control platform obtains the running direction of the carried goods, calculates the running direction of the goods and the included angle of the goods clamping surface, and records the included angle as H, wherein the calculation mode of the running direction of the goods and the included angle of the goods clamping surface is as follows: selecting a vertical plane where the goods are located, drawing two straight lines along the horizontal direction and the vertical direction, drawing a third straight line in the running direction of the goods by taking the intersection point of the two straight lines as a starting point, calculating the included angles of the third straight line and the horizontal direction and the vertical direction, recording the included angles as the horizontal included angle and the vertical included angle respectively, selecting a group with the smallest angle in the horizontal included angle and the vertical included angle, recording the included angle as the included angle H, recording the upper limit of the clamping force as F0 after the data center control platform acquires weight analysis information, recording the actual weight in the weight analysis information as M after the data center control platform acquires the speed V in the speed information, calculating the running dangerous value X of the transported goods under the current weight M according to a formula by the data center control platform,wherein k is a preset weight coefficient, when a gravity center unified signal is generated in the gravimetric analysis information, the value of k is k1, and when a gravity center offset signal is generated in the gravimetric analysis information, the value of k is k2, wherein k1 is less than k2; the comprehensive analysis of the gravimetric analysis information and the speed information is realized, the data center control platform compares the running hazard value X with a preset running hazard value X0, if the running hazard value X is smaller than the preset running hazard value X0, the running speed under the current weight is indicated to be safer, a speed safety signal is generated, and if the running hazard value X is greater than or equal to the preset running hazard value X0, the running speed under the current weight is indicated to be too highIf the cargo slips off during deceleration or steering, a speed reduction signal is generated, wherein the speed safety signal and the speed reduction signal are speed control signals.
Embodiment two:
referring to fig. 1, the clamping control unit can obtain a speed control signal through the data central control platform, and if the speed control signal is a speed reduction signal, a clamping force increasing signal is generated, and the clamping force is positioned at the maximum clamping force which can be born by the carried goods; if the speed control signal is a speed safety signal, a carrying acceleration signal is generated, the carrying speed of the mechanical arm is improved, the clamping control unit feeds back the clamping carrying control signal to the data center control platform, after the data center control platform acquires the carrying acceleration signal, the operation danger value of the mechanical arm in the operation process is recalculated, when the carrying acceleration signal accelerates the mechanical arm in the operation process, the operation danger value is gradually increased, when the operation danger value X is increased to be equal to a preset operation position X0, a speed back signal is generated, the speed is reduced by a small extent to the preset extent, and the speed is maintained unchanged, so that the phenomenon that articles slide off the mechanical arm in the carrying process due to overhigh speed is avoided.
The carrying path control unit can acquire the carrying position of the carried goods, and generates an action path according to the carrying position, the carrying path control unit calculates different carrying angles in the carrying path after acquiring the action path, the position of the carrying angle change is recorded as a route inflection point, the carrying path control unit sends the route inflection point to the data center control platform, after the data center control platform acquires the route inflection point, the route inflection point is analyzed, the data center control platform generates a maximum clamping force signal when carrying the goods to the route inflection point, the data center control platform generates the maximum clamping force signal and sends the maximum clamping force signal to the clamping control unit, the clamping control unit increases the clamping force to the upper limit of the clamping force of the carried goods after acquiring the maximum clamping force signal, after the carried goods pass through the route inflection point, the data center control unit generates a clamping force recovery signal and sends the clamping control unit, and the clamping force is recovered until the clamping force reaches the force before the route inflection point, thereby continuing the carrying process of the goods, and simultaneously, the service life of the mechanical arm is reduced and the energy consumption is increased due to the fact that the pressure of keeping high pressure for a long time is avoided.
According to the invention, when the weight of the object is analyzed, the weight of the object is not only collected independently, but also the torque received by the mechanical arm is collected to judge whether the center of the object is positioned in the part clamped by the mechanical arm when the object is clamped by the mechanical arm, and the path and the speed in the conveying process are analyzed, so that the mechanical arm can dynamically adjust the conveying speed and the clamping force in the conveying process, different control capacities of the mechanical arm in different movement states are ensured, and the weight and the speed of the conveyed object are comprehensively analyzed by the mechanical arm in the conveying process, so that the weight and the speed balance of the conveyed object in the movement process can be realized, the conveying efficiency is ensured, the object can not fall off in the conveying process, and the operation effect of the mechanical arm is improved.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (3)
1. The system is characterized by comprising a weight acquisition and analysis unit, a speed acquisition and analysis unit, a clamping control unit, a conveying path control unit and a data central control platform, wherein the weight acquisition and analysis unit can acquire the weight of a conveyed cargo when the mechanical arm carries, generate weight analysis information according to an acquisition result and send the weight analysis information to the data central control platform;
the speed acquisition and analysis unit can acquire the current speed of the mechanical arm in the operation process and generate speed information according to the current speed of the mechanical arm in the operation process, and the speed acquisition and analysis unit sends the speed information to the data center control platform;
the clamping control unit can acquire the upper limit of the clamping force of the carried goods and send the upper limit of the clamping force to the data center control platform;
after the data center control platform obtains the weight analysis information and the speed information, comprehensively analyzing the weight analysis information and the speed information, and generating a speed control signal by taking the upper limit of the clamping force as a reference;
the clamping control unit can acquire a speed control signal through the data center control platform, can analyze the speed control signal and generate a clamping conveying control signal, and feeds the clamping conveying control signal back to the data center control platform;
the carrying path control unit can acquire the carrying position of the carried goods and generate an action path according to the carrying position, the carrying path control unit sends the action path to the data central control platform, the data central control platform analyzes the action path after acquiring the action path, and the data central control platform generates a maximum clamping force signal and sends the maximum clamping force signal to the clamping control unit;
the mode that the clamping control unit obtains the upper limit of the clamping force of the carried goods is manual input;
when the clamping control unit controls the mechanical arm to carry, the initial weight of the carried goods is obtained through a manual input mode, and the clamping control unit controls the mechanical arm to carry the goods with clamping force capable of carrying the initial weight;
the weight acquisition and analysis unit acquires the actual weight of the carried goods through a sensor after the carried goods are clamped by the mechanical arm, calculates the gravity center position of the carried goods according to the torque born by the mechanical arm in the vertical plane where the carried goods are positioned, generates a gravity center unified signal if the torque born by the mechanical arm is smaller than a preset threshold value, generates a gravity center offset signal if the torque born by the mechanical arm is larger than the preset threshold value, and records the gravity center unified signal, the gravity center offset signal and the actual weight as weight analysis information to the data center control platform;
when the speed acquisition and analysis unit acquires the running speed of the mechanical arm, the running direction of the goods carried by the mechanical arm is acquired at the same time, and the speed of the goods in each direction is recorded as V;
the data center control platform obtains the running direction of the carried goods, calculates the included angle between the running direction of the goods and the goods clamping surface, and records the included angle as H, wherein the calculation mode of the running direction of the goods and the included angle of the goods clamping surface is as follows: selecting a vertical plane in which the goods are located, drawing two straight lines along the horizontal direction and the vertical direction, drawing a third straight line in the running direction of the goods by taking the intersection point of the two straight lines as a starting point, calculating the included angles of the third straight line and the horizontal direction and the vertical direction, recording the included angles as a horizontal included angle and a vertical included angle respectively, selecting a group with the smallest angle in the horizontal included angle and the vertical included angle, and recording the included angle as an included angle H;
the upper limit of the clamping force is recorded as F0 by the data center control platform, the actual weight in the weight analysis information is recorded as M after the weight analysis information is acquired by the data center control platform, the speed V in the speed information is acquired at the same time, the running dangerous value X of the carried goods under the current weight M is calculated by the data center control platform according to a formula,wherein k is a preset weight coefficient, when a gravity center unified signal is generated in the gravimetric analysis information, the value of k is k1, and when a gravity center offset signal is generated in the gravimetric analysis information, the value of k is k2, wherein k1 is less than k2;
the data center control platform compares the operation danger value X with a preset operation danger value X0, generates a speed safety signal if the operation danger value X is smaller than the preset operation danger value X0, and generates a speed reduction signal if the operation danger value X is larger than or equal to the preset operation danger value X0, wherein the speed safety signal and the speed reduction signal are speed control signals.
2. The system according to claim 1, wherein the clamping control unit generates a clamping force increasing signal and maintains the clamping force at a maximum clamping force that can be borne by the transported goods if the speed control signal is a speed decreasing signal after the speed control signal is acquired; if the speed control signal is a speed safety signal, generating a carrying acceleration signal and improving the carrying speed of the mechanical arm;
after the data central control platform acquires the carrying acceleration signal, the operation danger value of the mechanical arm in the operation process is recalculated, when the carrying acceleration signal accelerates the mechanical arm in the operation process, the operation danger value gradually increases, when the operation danger value X increases to be equal to a preset operation danger value X0, a speed back-off signal is generated, the speed is reduced by a small extent in a preset degree, and the speed is maintained unchanged.
3. The system according to claim 1, wherein the carrying path control unit calculates different carrying angles in the carrying path after acquiring the action path, records the position of the carrying angle change as a route inflection point, the carrying path control unit transmits the route inflection point to the data center control platform, the data center control platform generates a maximum clamping force signal when carrying the route inflection point and transmits the maximum clamping force signal to the clamping control unit, the clamping control unit increases the clamping force to an upper limit of the clamping force of the carried goods after acquiring the maximum clamping force signal, the data center control unit generates a clamping force recovery signal after the carried goods pass through the route inflection point and transmits the clamping force recovery signal to the clamping control unit, and the clamping control unit recovers the clamping force until the clamping force reaches the route inflection point after receiving the clamping recovery signal.
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