CN218434595U

CN218434595U - Working equipment

Info

Publication number: CN218434595U
Application number: CN202221806810.2U
Authority: CN
Inventors: 桂俊荣; 付玲; 王晓东; 杨强荣; 刘延斌; 曾杨; 张叠
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-07-13
Filing date: 2022-07-13
Publication date: 2023-02-03
Anticipated expiration: 2032-07-13

Abstract

The application relates to the field of high-altitude installation operation and discloses operation equipment. The method comprises the following steps: the arm support comprises a plurality of shaft-arm components; the sensors are arranged corresponding to the shaft-arm assemblies and used for measuring a first rotating angle of the shaft-arm assembly in the world coordinate X direction, a second rotating angle of the shaft-arm assembly in the world coordinate Y direction and/or the length of the shaft-arm assembly; and the encoders are arranged on the shaft-arm assembly and are used for measuring a third rotation angle of the shaft-arm assembly in the world coordinate Z direction. Because the sensor and the encoder are arranged corresponding to the shaft arm assembly, the rotation angle of the shaft arm assembly in the world coordinate X, Y, Z direction and the length of the shaft arm assembly can be measured, and therefore the length and the position information of each shaft arm assembly can be accurately measured.

Description

Working equipment

Technical Field

The application relates to the field of aerial work, in particular to operation equipment.

Background

When large-scale equipment works, due to the fact that the size is large, structural parts are various and complex, the position of each structural part in the equipment cannot be accurately obtained, the tipping risk of the equipment is easily increased greatly when the equipment runs, and meanwhile, the equipment cannot be planned to avoid obstacles. In the prior art, only the position information of the structural members of the equipment part is usually acquired, so that the specific position of each structural member, such as the position of the jib assembly and the like, cannot be accurately determined.

SUMMERY OF THE UTILITY MODEL

The purpose of this application is in order to overcome the problem that the position information of each part can not be discerned that prior art exists, provides a working equipment, and this working equipment can correspond to the position information and the flexible length that discern every axle arm subassembly through a plurality of sensors and encoder to accurately confirm position and length etc. of every subassembly.

In order to achieve the above object, one aspect of the present application provides a work apparatus including:

the arm support comprises a plurality of shaft-arm components;

the sensors are arranged corresponding to the shaft-arm assemblies and are used for measuring a first rotating angle of the shaft-arm assembly in the world coordinate X direction, a second rotating angle of the shaft-arm assembly in the world coordinate Y direction and/or measuring the length of the shaft-arm assembly;

and the encoders are arranged on the shaft-arm assembly and are used for measuring a third rotation angle of the shaft-arm assembly in the world coordinate Z direction.

Preferably, the plurality of shaft-arm assemblies comprises: a spindle assembly; the rotating shaft arm assembly is used for carrying out variable amplitude motion; and the translation axis arm assembly is used for performing translation motion.

Preferably, the plurality of sensors includes a pull wire sensor, and the spindle assembly includes: the first main shaft is provided with a first encoder and used for measuring the rotating angle of the first main shaft in the world coordinate Z direction; and the second main shaft is provided with a first pull wire sensor and is used for measuring the length of the second main shaft.

Preferably, the plurality of sensors includes a tilt sensor including a single-axis tilt sensor and a dual-axis tilt sensor, and the rotary axis arm assembly includes: the first rotating shaft arm assembly is provided with a first single-shaft tilt angle sensor and is used for measuring the rotating angle of the first rotating shaft arm assembly in the world coordinate X direction; the second rotating shaft arm assembly is provided with a second single-shaft tilt angle sensor and is used for measuring the rotating angle of the second rotating shaft arm assembly in the world coordinate X direction; a third rotating shaft arm assembly connected with the second rotating shaft arm assembly; the fourth rotating shaft arm component is connected with the fifth rotating shaft arm component; the fifth rotating shaft arm assembly is provided with a second encoder and is used for measuring the rotating angle of the fifth rotating shaft arm assembly in the world coordinate Z direction; the sixth rotating shaft arm assembly is connected with the fourth rotating shaft arm assembly through the translation shaft arm assembly, and a first biaxial inclination angle sensor is installed at the connection position of the sixth rotating shaft arm assembly and the translation shaft arm assembly and used for measuring the rotating angle of the fourth rotating shaft arm assembly in the world coordinate X direction and the rotating angle of the sixth rotating shaft arm assembly in the world coordinate Y direction; and the seventh rotating shaft arm assembly is provided with a third single-shaft inclination angle sensor and is used for measuring the rotating angle of the seventh rotating shaft arm assembly in the world coordinate X direction.

Preferably, the plurality of sensors includes a pull wire sensor, a pull wire tilt sensor, and the translation axis arm assembly includes: the first translation axis arm assembly is connected with the third rotation axis arm assembly, is provided with a stay wire inclination angle sensor and is used for measuring the rotation angle of the third rotation axis arm assembly in the world coordinate X direction and measuring the length of the first translation axis arm assembly; the second translation axis arm component is provided with a second pull sensor and is used for measuring the length of the second translation axis arm component; the two ends of the third translation axis arm component are respectively connected with the sixth rotation axis arm component and the fourth translation axis arm component, and the third translation axis arm component is provided with a third pull wire sensor for measuring the length of the third translation axis arm component; and two ends of the fourth translation axis arm component are respectively connected with the third translation axis arm component and the fifth rotation axis arm component, and the fourth translation axis arm component is provided with a fourth stay wire sensor for measuring the length of the fourth translation axis arm component.

Preferably, a plurality of image acquisition devices are mounted on the sixth rotary axis arm assembly for acquiring the real-time position of the article to be mounted and the position of the mounting position of the article to be mounted.

Preferably, a navigation device electrically connected with the working device is mounted on the sixth rotating shaft arm assembly and used for determining the space coordinates of the tail end of the working device and navigating the front wheel and the rear wheel of the working device to move according to the space coordinates of the tail end.

Preferably, the working equipment further comprises front wheels and rear wheels, and a second biaxial inclination angle sensor is mounted in an area above the front wheels for measuring rotation angles of a body of the working equipment in the X direction and the Y direction of world coordinates.

Specifically, the working equipment further comprises a processor, electrically connected with the plurality of sensors, and configured to limit the overall movement of the working equipment to prevent the working equipment from rolling over under the condition that the first rotation angle of the body of the working equipment in the X direction of the world coordinate exceeds a first preset rotation angle and/or the second rotation angle of the body of the working equipment in the Y direction exceeds a second preset rotation angle according to the second biaxial inclination angle sensor.

Specifically, the working equipment further comprises a processor, electrically connected with the plurality of sensors, and configured to limit the movement of the front wheels and the rear wheels of the working equipment and prevent the working equipment from overturning in the case that the third rotation angle of the body of the working equipment in the Z direction in world coordinates is determined to exceed a third preset rotation angle according to the first encoder.

Through the technical scheme, the beneficial effects of this application are as follows: one sensor of the sensors is arranged corresponding to one shaft arm component of the shaft arm components and is used for measuring a first rotating angle of the shaft arm components in the world coordinate X direction, a second rotating angle of the shaft arm components in the world coordinate Y direction and/or the length of the shaft arm components; and the encoders are arranged on the shaft-arm assembly and are used for measuring a third rotation angle of the shaft-arm assembly in the world coordinate Z direction. In this way, the position information and length of each shaft-arm assembly can be accurately determined.

Additional features and advantages of the present application will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:

fig. 1a schematically illustrates a schematic view of a boom in a working device according to an embodiment of the present application;

fig. 1b schematically shows a schematic view of a sensor and an encoder in a work apparatus according to an embodiment of the present application;

fig. 1c schematically shows a structural view of a vehicle body and a chassis in a working apparatus according to an embodiment of the present application;

fig. 2 is a schematic flowchart illustrating a control method for an axle and arm assembly applied to a work machine provided in an embodiment of the present application;

fig. 3 schematically shows a flowchart of step S206 in the control method applied to the work apparatus provided in the embodiment of the present application;

fig. 4 schematically shows a flowchart of step S208 in the control method applied to the work apparatus provided in the embodiment of the present application.

Description of the reference numerals

1. First spindle 101 first encoder

2. First rotating axis arm assembly 102 first pull wire sensor

3. Second spindle 103 first single-axis tilt sensor

4. Second pivot arm assembly 104 second single axis tilt sensor

5. Third rotation axis arm assembly 105 second encoder

6. First translation axis assembly 106 first biaxial inclination sensor

7. Fourth rotating axis arm assembly 107 third single axis tilt sensor

8. Second translation axis arm assembly 108 pull wire tilt sensor

9. Fifth rotation axis arm assembly 109 second pull line sensor

10. Third translation axis arm assembly 110 third pull wire sensor

11. Fourth translation axis arm Assembly 111 fourth pull line sensor

12. Sixth rotation axis arm assembly 112 second biaxial inclination sensor

13. Seventh rotation axis arm assembly

Detailed Description

The following detailed description of the present application is provided in conjunction with the accompanying drawings, and it is to be understood that the detailed description is provided for purposes of illustration and explanation and is not intended to limit the scope of the present application.

In the description of the present application, it should be noted that, unless explicitly stated or limited otherwise, the terms "disposed," "provided," "mounted," "engaged," "connected," and "arranged" are to be interpreted broadly, for example, the connection may be a direct connection, an indirect connection through an intermediate medium, a fixed connection, a detachable connection, or an integral connection; either directly or indirectly through intervening connectors, either internally or in cooperative relationship to each other. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, and therefore the features defined "first", "second" may explicitly or implicitly include one or more of the features described.

The present application mainly provides a working apparatus, including:

the arm support comprises a plurality of shaft-arm components;

the sensors are arranged corresponding to the shaft-arm assemblies and used for measuring a first rotating angle of the shaft-arm assembly in the world coordinate X direction, a second rotating angle of the shaft-arm assembly in the world coordinate Y direction and/or the length of the shaft-arm assembly;

The operation equipment mainly comprises an arm support, a plurality of sensors and a plurality of encoders. In particular, the work apparatus may be aerial work apparatus, which may perform work in an aerial environment. When the operation equipment works, the shaft arm components of the arm support can be matched with each other according to the connection relation of the shaft arm components to convey and install the object to be installed to the installation position. In order to detect the motion parameters of each shaft-arm assembly in real time, sensors are correspondingly arranged on the plurality of shaft-arm assemblies. Wherein, a sensor of a plurality of sensors sets up with a plurality of axle arm subassembly one-axle arm subassembly corresponds. The world coordinate system is established with the point of articulation between the axle arm assembly numbered 1 and the chassis of the work equipment as the origin. The sensor may be configured to measure a first angle of rotation of the shaft arm assembly in a world coordinate X direction and a second angle of rotation in a world coordinate Y direction. Namely, a first rotation angle at which the arm assembly rotates about the world coordinate X direction, and a second rotation angle at which the arm assembly rotates about the world coordinate Y direction. Further, the sensor may measure the length of the shaft-arm assembly when measuring the rotation angle. And in order to measure a third rotation angle of the shaft-arm assembly around the world coordinate Z direction, a plurality of encoders are also arranged on the shaft-arm assembly. In this way, the rotation angle of each shaft arm in the shaft direction of world coordinates X, Y, Z and the length of the shaft arm assembly can be detected in real time through a plurality of sensors and a plurality of encoders, so that accurate position information and length of each shaft arm can be obtained.

In one embodiment, the plurality of axle arm assemblies comprises: a spindle assembly; the rotating shaft arm assembly is used for carrying out variable amplitude motion; and the translation axis arm assembly is used for performing translation motion. The plurality of shaft-arm assemblies mainly includes three types. One is a spindle assembly for supporting and balancing the entire work apparatus. One is a rotary axis arm assembly, which can rotate in the direction of the world coordinate X, Y, Z axis. Still another is a translational axis arm assembly that can perform translational motion in the direction of the world coordinate X, Y, Z axis. Specifically, referring to fig. 1a, a schematic diagram of an arm support in a working device according to an embodiment of the present application is schematically shown. The spindle assembly may comprise a first spindle 1 and a second spindle 3. The rotation axis arm assembly may include a first rotation axis arm assembly 2, a second rotation axis arm assembly 4, a third rotation axis arm assembly 5, a fourth rotation axis arm assembly 7, a fifth rotation axis arm assembly 9, a sixth rotation axis arm assembly 12, and a seventh rotation axis arm assembly 13. The translation axis assembly may comprise a first translation axis assembly 6, a second translation axis assembly 8, a third translation axis assembly 10, a fourth translation axis assembly 11.

Referring to fig. 1a and 1b, in one embodiment, the plurality of sensors includes a pull wire sensor, the spindle assembly including: the first main shaft 1 is provided with a first encoder 101 and used for measuring the rotation angle of the first main shaft 1 in the world coordinate Z direction; and a second main shaft 3 mounted with a first pull wire sensor 102 for measuring the length of the second main shaft 3.

Specifically, the first spindle 1 in the spindle assembly moves in a left-right swing motion rotating in the world coordinate Z direction, so that the first spindle 1 is mounted with a first encoder 101 for measuring the rotation angle of the first spindle 1 in the world coordinate Z direction. The second spindle 3 in the spindle assembly moves in a manner of extending and contracting along the direction of the shaft arm. When the shaft arm moves, the pull rope of the pull rope sensor can be driven to extend and retract. Therefore, a tension sensor 102 is attached to the second spindle 3 to measure the length of the second spindle 3 when it extends or contracts. In fig. 1a, it can be seen that the spindle assembly is relatively long in the spindle arm assembly, so that the range of paths of the spindle arm ends is greater when the spindle assembly is moving, and a greater range of movement can be achieved. And the arranged encoder and the stay wire sensor can accurately measure the motion parameters of the spindle assembly during motion.

Referring to fig. 1a and 1b, in one embodiment, the plurality of sensors includes a tilt sensor including a single axis tilt sensor and a dual axis tilt sensor, the rotating axis arm assembly including: a first rotary axis arm assembly 2 mounted with a first single-axis tilt angle sensor 103 for measuring a rotation angle of the first rotary axis arm assembly 2 in a world coordinate X direction; a second rotary axis arm assembly 4 mounted with a second single-axis tilt sensor 104 for measuring a rotation angle of the second rotary axis arm assembly 4 in the world coordinate X direction; a third rotation axis arm assembly 5 connected to the second rotation axis arm assembly 4; a fourth rotary axis arm assembly 7 connected with a fifth rotary axis arm assembly 9; a fifth rotary axis arm assembly 9 mounted with a second encoder 105 for measuring a rotation angle of the fifth rotary axis arm assembly 9 in the world coordinate Z direction; a sixth rotating axis arm assembly 12 connected with the fourth rotating axis arm assembly 7 through a translation axis arm assembly, wherein a first biaxial inclination angle sensor 106 is installed at the connection position of the sixth rotating axis arm assembly 12 and the translation axis arm assembly and is used for measuring the rotating angles of the fourth rotating axis arm assembly 7 and the sixth rotating axis arm assembly 12 in the world coordinate X direction; the seventh rotary arm assembly 13 is mounted with a third single-axis tilt sensor 107 for measuring a rotation angle of the seventh rotary arm assembly 13 in the world coordinate X direction.

The single-axis tilt sensor can measure the rotation angle in a certain direction, and the double-axis tilt sensor can measure the rotation angles in two directions of the hammer. The first rotating shaft arm assembly 2 is connected with the first spindle 1 through a connecting rod, the first rotating shaft arm assembly 2 is connected with the second spindle 3, and the first rotating shaft arm assembly 2 and the second spindle 3 can rotate through a hinge point to move relatively. The first rotating shaft arm assembly 2 moves in a variable-amplitude up-and-down motion manner rotating in the world coordinate X direction. A first single-axis tilt angle sensor 103 for measuring the rotation angle of the first rotating-axis arm assembly 2 in the direction of world coordinates X is mounted for the first rotating-axis arm assembly 2. The second rotating shaft arm assembly 4 is connected with the second spindle 3, and the second rotating shaft arm assembly 4 moves in a leveling up-and-down motion mode of rotating around the world coordinate X direction. A second single-axis tilt sensor 104 is mounted for the second rotary-axis arm assembly 4 for measuring the angle of rotation of the second rotary-axis arm assembly 4 in the direction of world coordinates X. The third rotation axis arm assembly 5 is connected to the second rotation axis arm assembly 4, and the third rotation axis arm assembly 5 moves up and down around the fly arm rotating in the world coordinate X direction. The fifth rotary axis arm assembly 9 moves in a side-to-side rocking motion in the Z direction around the world coordinate system. A second encoder 105 is mounted to the fifth rotary arm assembly 9 for measuring a rotation angle of the fifth rotary arm assembly 9 in the world coordinate Z direction. The fourth rotation axis arm assembly 7 is connected to the fifth rotation axis arm assembly 9, and the fourth rotation axis arm assembly 7 moves in a manner of tilting back and forth rotating in the world coordinate X direction. The sixth rotary axis arm assembly 12 moves in a clockwise and counterclockwise direction around the revolution in the world coordinate Y direction. The sixth rotation axis arm assembly 12 and the fourth rotation axis arm assembly 7 are connected by a translation axis arm assembly. A first biaxial inclination sensor 106 is mounted at the connection of the sixth rotary axis arm assembly 12 and the translation axis arm assembly for measuring the rotation angle of the fourth rotary axis arm assembly 7 in the world coordinate X direction and the rotation angle of the sixth rotary axis arm assembly 12 in the world coordinate Y direction. Two ends of the seventh rotating shaft arm assembly 13 are respectively connected with the first rotating shaft arm assembly 2 and the vehicle body, and the seventh rotating shaft arm assembly 13 moves in a variable-amplitude up-and-down motion mode rotating around the world coordinate X direction. And, the seventh rotary arm assembly 13 may be a connection rod connected with the first rotary arm assembly 2. A third single-axis tilt sensor 107 is mounted for the seventh rotary arm assembly 13 for measuring the rotation angle of the seventh rotary arm assembly 13 in the world coordinate X direction.

Further, referring to fig. 1a and 1b, in one embodiment, the plurality of sensors includes a pull wire sensor, a pull wire tilt sensor, and the translation axis arm assembly includes: the first translation axis arm assembly 6 is connected with the third rotation axis arm assembly 5, is provided with a pull wire inclination angle sensor 108 and is used for measuring the rotation angle of the third rotation axis arm assembly 5 in the world coordinate X direction and measuring the length of the first translation axis arm assembly 6; a second translation axis arm assembly 8, equipped with a second pull line sensor 109 for measuring the length of the second translation axis arm assembly 8; a third translation axis arm assembly 10, both ends of which are respectively connected with a sixth rotation axis arm assembly 12 and a fourth translation axis arm assembly 11, the third translation axis arm assembly 10 being provided with a third pull line sensor 110 for measuring the length of the third translation axis arm assembly 10; and two ends of the fourth translation axis arm assembly 11 are respectively connected with the third translation axis arm assembly 10 and the fifth rotation axis arm assembly 9, and the fourth translation axis arm assembly 11 is provided with a fourth pull line sensor 111 for measuring the length of the fourth translation axis arm assembly 11.

The guy wire inclination angle sensor can simultaneously measure the inclination angle and the length of the shaft arm component. The first translational arm assembly 6 is connected to the third rotational arm assembly 5. And the first translation axis arm assembly 6 extends and retracts along the axis arm direction, and the third rotation axis arm assembly 5 moves up and down around the flying arm rotating in the world coordinate X direction. For the third rotation axis arm assembly 5 and the first translation axis arm assembly 6, a wire tilt sensor 108 is mounted for measuring the rotation angle of the third rotation axis arm assembly 5 in the world coordinate X direction and for measuring the length of the first translation axis arm assembly 6. The second translation axis arm assembly 8 is moved in a manner of extending and retracting along the axis arm direction, and a second pull line sensor 109 is installed for the second translation axis arm assembly 8 and used for measuring the length of the second translation axis arm assembly 8. The third translation arm assembly 10 moves in a vertical up and down motion telescoping along the arm. Furthermore, the two ends of the third translation axis arm assembly 10 are respectively connected with the sixth rotation axis arm assembly 12 and the fourth translation axis arm assembly 11 through the second connection, and the up-and-down relative displacement of the sixth rotation axis arm assembly 12 and the fourth translation axis arm assembly 11 can be adjusted through the third translation axis arm assembly 10. A third pull line sensor 110 is mounted for the third translation axis assembly 10 for measuring the length of the third translation axis assembly 10. The fourth translational axis arm assembly 11 moves in a manner of moving to the left and right sides in the axis arm direction. And, the fourth translation axis arm assembly 11 is connected with the third translation axis arm assembly 10 and the fifth rotation axis arm assembly 9, respectively, and the distance of the connection of the third translation axis arm assembly 10 and the fifth rotation axis arm assembly 9 can be adjusted by the fourth translation axis arm assembly 11. A fourth pull line sensor 111 is mounted for the fourth translation axis arm assembly 11 for measuring the length of the fourth translation axis arm assembly 11.

Referring to fig. 1a and 1b, in one embodiment, a plurality of image capturing devices are mounted on the sixth rotary axis arm assembly 12 for acquiring a real-time position of the article to be mounted and a position of a mounting position of the article to be mounted. In particular, the image acquisition device may be a Tof camera. Referring to fig. 1b, the image capturing device may include a camera 1, a camera 2, a camera 3, a camera 4. The Tof camera converts the distance of a shot scene to generate depth information by calculating the time difference or phase difference of light emission and reflection, and presents the three-dimensional outline of an object in a topographic map mode that different colors represent different distances by combining the shooting of a traditional camera. The real-time position of the installation article and the installation position of the article to be installed can be accurately acquired through the plurality of Tof cameras.

Referring to fig. 1b, in one embodiment, the sixth pivot arm assembly 12 is mounted with a navigation device electrically connected to the work implement for determining spatial coordinates of the distal end of the work implement and navigating the front and rear wheel movements of the work implement according to the spatial coordinates of the distal end. Specifically, the working equipment may be an aerial curtain wall suction disc vehicle provided with a vehicle body portion and a chassis portion. Wherein the chassis portion includes front and rear wheels. The navigation equipment can be equipment such as a GPS, an optical camera and a depth camera, is electrically connected with the operation equipment, and can feed back the space coordinate of the adsorption working position at the tail end of the operation equipment. Further, based on the existing automatic navigation technology, the front wheels and the rear wheels of the working equipment can drive the working equipment to move according to the space coordinates of the tail end.

Referring to fig. 1b and 1c, in one embodiment, the working device further includes front wheels and rear wheels, and a second biaxial inclination sensor 112 is mounted on an upper region of the front wheels for measuring rotation angles of a body of the working device in the X-direction and the Y-direction of world coordinates. The vehicle body moves in a manner of rotating around the world coordinates in the X and Y directions. Referring to fig. 1c, the work equipment further includes a body and a chassis portion. For the upper region of the front wheels of the vehicle body, which may be, for example, a chassis portion, the second biaxial inclination sensor 112 is mounted, and the first and second rotation angles of the vehicle body of the working device in the world coordinate X and Y directions may be measured.

Referring to fig. 1b and 1c, in one embodiment, the working device further includes a processor, electrically connected to the plurality of sensors, configured to limit the overall movement of the working device to prevent the working device from rolling over if it is determined from the second biaxial inclination sensor 112 that a first rotation angle of the body of the working device in the X direction of the world coordinate exceeds a first preset rotation angle and/or a second rotation angle in the Y direction exceeds a second preset rotation angle.

When the body of the working equipment is rotated in the X direction around the world coordinate and the first rotation angle is determined to exceed the first preset rotation angle according to the second biaxial inclination angle sensor 112, the working equipment is out of balance to be tilted in the X direction. When the body of the working device is rotated in the Y direction around the world coordinate and the second rotation angle exceeds the second preset rotation angle as determined by the second biaxial inclination sensor 112, the working device is out of balance to be tilted in the Y direction. The processor is electrically connected with the sensors, and based on the prior art, when the processor determines that the two conditions occur through information transmitted by the sensors, the processor can control and adjust the movement of each shaft arm to limit the overall movement of the operation equipment so as to prevent the operation equipment from turning over.

Referring to fig. 1b and 1c, in one embodiment, the working device further includes a processor electrically connected to the plurality of sensors and configured to restrict movement of the front and rear wheels of the working device and prevent the working device from tipping over in case that it is determined that a third rotation angle of the body of the working device in the Z direction in world coordinates exceeds a third preset rotation angle according to the first encoder 101.

In the case where the body of the working equipment is rotated in the Z direction around the world coordinate and it is determined from the first encoder 101 that the third rotation angle of the body of the working equipment in the Z direction in the world coordinate exceeds the third preset rotation angle, the working equipment is out of balance to be tilted in the Z direction. The processor is electrically connected with the sensor, and based on the information transmitted by the sensor in the prior art, the processor can control and adjust the movement of the front wheel and the rear wheel of the chassis part when the condition occurs, so as to prevent the work equipment from tipping.

Through the technical scheme, the rotation angle of the corresponding shaft-arm assembly in the world coordinate X, Y, Z direction and the length of the shaft-arm assembly can be measured by the plurality of sensors and the encoders when the corresponding shaft-arm assembly performs different motions, so that the length and the position information of each shaft-arm assembly can be accurately measured. The position information and the coordinate information acquired by the image acquisition equipment and the navigation equipment can guide the installation operation. Based on the technical scheme, the operation equipment can be applied to high-altitude installation operation, the motion state information of each shaft-arm assembly is obtained through the sensor, the motion states of the shaft-arm assemblies can be controlled, the installation operation can be completed through mutual matching, and the accuracy of the installation operation is improved. And the working equipment also comprises a vehicle body and a chassis part, and the working equipment can more quickly and accurately convey the article to be installed to the installation position by limiting the vehicle body, the front wheels and the rear wheels.

Fig. 2 is a schematic flowchart illustrating a control method for an axle and arm assembly, which is applied to a working device provided in an embodiment of the present application. As shown in fig. 2, the control method includes the steps of:

s202, determining the installation position of the article to be installed.

And S204, determining the distance between the article to be installed and the installation position.

And S206, determining the target position of the shaft-arm assembly according to the separation distance.

And S208, determining the motion parameters of the axis assembly according to the target position.

And S210, controlling the shaft arm assembly to perform corresponding operation according to the motion parameters so as to convey the article to be installed to the target position.

When the processor controls the operation equipment to operate, the processor can determine the installation position of the article to be installed. The operation equipment consists of a chassis, a vehicle body, an arm support and a sucker. The chassis portion may be a wheeled chassis for driving movement of the work implement in accordance with the mounting position determined by the processor. The arm support comprises a plurality of shaft-arm components which are connected with the sucker part and used for conveying the to-be-installed products adsorbed on the sucker to the installation position. A plurality of shaft-arm components of the arm support are mounted on the vehicle body. For example, the working device may be a high-altitude suction cup vehicle, and the object to be installed may be a glass curtain wall. When the high-altitude sucker car works at high altitude, the glass curtain wall to be installed can be installed at a required position, namely an installation position.

Specifically, the processor may first determine the installation location of the item to be installed. Then, the processor may determine a spaced distance between the article to be mounted and the mounting location based on the position of the article to be mounted and the mounting location. The separation distance may be a separation distance between a center point of the article to be mounted and a center point of the mounting position. Wherein, the central point refers to the three-dimensional coordinate central point of the object. The processor may determine a target position of the boom assembly of the working device based on a separation distance between the article to be mounted and the mounting location. In the case where the distance between the article to be mounted and the mounting position is relatively long, the processor may determine that the target position is the first preset position. The first preset position may be a position adjacent to the installation position, for example, when the distance between the article to be installed and the installation position is 1 meter, the processor may determine that the shaft-arm assembly transports the article to be installed to a position where the first preset position is 0.5 meter. In the case where the object to be mounted is relatively close to the mounting position, the processor may determine that the target position is the mounting position. For example, the processor may determine that the shaft-arm assembly directly transports the item to be mounted to the mounting location when the item to be mounted is 0.1 meters away from the mounting location. The processor may determine that the shaft-arm assembly transports the object to be mounted to different target locations according to a difference in a separation distance between the object to be mounted and the mounting location.

Further, depending on how the shaft-arm assembly transports the object to be mounted to the target location, the processor may determine that the shaft-arm assembly performs a remote "coarse" adjustment and/or a close "fine" adjustment to transport the object to be mounted to the target location. Specifically, since the plurality of the shaft-arm assemblies are arranged on the operation equipment, the shaft-arm assemblies are matched with each other to accurately install the article to be installed according to the connection relation of the plurality of the shaft-arm assemblies. The processor may then determine a motion parameter of the axle arm assembly based on the target position of the axle arm assembly. The motion parameters of the shaft-arm assembly comprise an included angle between the shaft-arm assembly and a vehicle body, an included angle between the shaft-arm assemblies, a swinging angle of the shaft-arm assembly, a rotating angle of the shaft-arm assembly, the length of the shaft-arm assembly and the like. The processor may control the shaft arm assembly to perform a corresponding operation to transport the belt-mounted item to the target location based on the determined motion parameter. Wherein the corresponding operation is a rotation, swing, telescopic shaft arm assembly or the like operation performed according to the motion parameter.

In one embodiment, determining the separation distance between the item to be mounted and the mounting location comprises: in the case where the work equipment conveys the article to be mounted to a second preset position adjacent to the mounting position, a separation distance between a center point of the article to be mounted and a center point of the mounting position is determined.

Specifically, the processor may first control the working device to transport the mounting article to a second preset position adjacent to the mounting position. The second predetermined position is a position adjacent to the installation position but farther away from the first predetermined position by a distance. The processor may control the front and rear wheels of the working device to drive the working device to transport the article to be installed to the installation location after the article to be installed is transported to the second preset location. Then, the processor may determine a center point of the article to be mounted on the working device at the second preset position and a center point of the mounting position based on the second preset position. The center point refers to the three-dimensional coordinate center point of the object. The processor may then determine the separation distance between the center point of the installation location and the center point of the central store where the item is to be installed, based on the determined distance. For example, the working device transports the article to be installed to the second preset position, and at this time, the processor may determine the central point of the article to be installed at the second preset position and the central point of the installation position, and the distance between the two central points is 1 meter.

In one embodiment, after the installation position of the article to be installed is determined, the working device is controlled to advance to convey the article to be installed to a second preset position adjacent to the installation position. In the process of controlling the forward movement of the working equipment, forward movement parameters of the working equipment meet constraint conditions shown in formula (4) and formula (5):

wherein, [ x ] _d y _d ]Is the coordinate position of the rear wheel of the chassis of the working equipment in a third coordinate system, epsilon is the deflection angle of the working equipment in the Y-axis direction of the third coordinate system, delta is the deflection angle of the rear wheel of the chassis of the working equipment, f is the wheel center distance of the wheel centers of the front wheel and the rear wheel of the chassis of the working equipment, r is the radius of the rear wheel of the chassis, v _d Is the front wheel movement speed, v, of the working equipment _z The steering speed of the rear wheel of the chassis of the working equipment,

it is meant that the derivative of the epsilon,

means that the delta is derived.

The processor may first control the working device to transport the installation item to a second preset position adjacent to the installation position. The chassis part of the work machine comprises front wheels, which may be used to drive the movement of the work machine, and rear wheels, which may be used to change the direction of movement of the work machine. In the process of controlling the forward movement of the working equipment, forward movement parameters of the working equipment meet constraint conditions shown in formula (4) and formula (5):

wherein, [ x ] _d y _d ]Is the coordinate position of the rear wheel of the chassis of the working equipment in a third coordinate system, epsilon is the deflection angle of the chassis of the working equipment in the Y-axis direction of the third coordinate system, delta is the deflection angle of the rear wheel of the chassis of the working equipment, f is the wheel center distance of the wheel centers of the front wheel and the rear wheel of the chassis of the working equipment, r is the radius of the rear wheel of the chassis, v _d Is the front wheel movement speed, v, of the working equipment _z The steering speed of the rear wheels of the chassis of the working equipment,

it is meant that the derivative of the epsilon,

means that the delta is derived. According to the formula, the processor can control the chassis of the working equipment to control the moving direction and speed of the working equipment according to the motion parameters calculated by the formula, so that the equipment can be moved to the second preset position more quickly and accurately. Meanwhile, according to the formula, the probability of tipping of the operation equipment in the operation process can be reduced by restraining the movement of the front wheels and the rear wheels.

In one embodiment, fig. 3 schematically illustrates a flowchart of step S206 in a control method for an axle and arm assembly applied to a working device provided in an embodiment of the present application. Referring to fig. 3, the step S206 includes:

and S302, determining whether the separation distance is greater than a preset threshold value. If yes, go to step S304, otherwise go to step S306.

S304, determining that the target position of the shaft-arm assembly is a first preset position.

And S306, determining the target position of the shaft-arm assembly as the installation position.

The processor may determine whether the separation distance is greater than a preset threshold value according to determining the separation distance between the center point of the article to be installed and the center point of the installation location. The preset threshold is an empirical threshold calculated by a technician according to operation experience. The processor may retrieve the preset empirical threshold from a database. Further, the processor may determine that the target position of the axle arm assembly is a first predetermined position if the processor determines that the standoff distance is greater than a predetermined threshold. And the spacing distance between the first preset position and the installation position is smaller than or equal to a preset threshold value. That is, the processor may control the shaft-arm assembly to transport the article to be mounted to the first preset position. And under the condition that the processor determines that the separation distance is smaller than or equal to the preset threshold value, the processor can determine that the target position of the shaft-arm assembly is the installation position of the product to be installed. For example, the preset threshold may be 0.5 meters if separated by a distance of 1 meter. The processor may then determine the target position of the shaft arm assembly as the corresponding first preset position. The distance separating the axle arm assembly in the first preset position may then be 0.5 meters equal to the preset threshold. And when the distance is 0.3 m and the preset threshold value is 0.5 m, the processor can determine the target position of the shaft-arm assembly as the installation position. In this embodiment, the shaft-arm assembly is determined to transport the article to be mounted to an adjacent location near the mounting location at a greater distance apart. And under the condition that the distance is short, the shaft arm assembly is determined to convey the product to be installed to the installation position, so that the shaft arm assembly can execute accurate installation operation according to the determined target position.

In one embodiment, the boom of the work machine includes a plurality of boom assemblies including a first boom assembly and a second boom assembly, the method further comprising: and under the condition that the separation distance is greater than a preset threshold value, determining the motion parameter of each first axis arm assembly, and controlling each first axis arm assembly to perform corresponding operation according to the corresponding motion parameter so as to convey the article to be installed to the target position. And under the condition that the separation distance is smaller than or equal to a preset threshold value, determining the motion parameter of each second shaft arm assembly, and controlling each second shaft arm assembly to perform corresponding operation according to the corresponding motion parameter so as to convey the article to be installed to the target position.

The arm support of the working equipment comprises a plurality of shaft-arm assemblies, for convenience of description, the shaft-arm assemblies can be divided into a first shaft-arm assembly and a second shaft-arm assembly, and the processor can control the first shaft-arm assembly and the second shaft-arm assembly to perform different operations according to different target positions of the shaft-arm assemblies. It will be appreciated that the first and second axle assemblies are relative.

In the first case, the target position of the shaft-arm assembly is a first preset position when the distance between the center point of the article to be mounted and the center point of the mounting position is greater than a preset threshold. In this case, the distance between the article to be mounted and the mounting position is large, and it is necessary to perform "rough adjustment" of the position of the article to be mounted. Thus, the processor may control the first axis arm assembly to achieve a "wide range" of coarse motion over a spatial range. For example, when the three-dimensional relative pose error between the article to be mounted and the mounting position is abs [ Δ x Δ y Δ z Δ α Δ β Δ γ ] ≧ 500mm 500mm 5 ° 5 ° 5 °, the processor may determine the motion parameter of each first axis arm assembly, and control each first axis arm to perform a corresponding operation according to the corresponding motion parameter to transport the article to be mounted to the target position, that is, transport the article to be mounted to the first preset position.

In the second case, the target position of the shaft-arm assembly is the installation position when the distance between the center point of the article to be installed and the center point of the installation position is less than or equal to the preset threshold. At this time, the distance between the article to be installed and the installation position is smaller, and the processor can control and adjust the second shaft assembly to perform 'fine adjustment' in a 'small range' in a space range. And the adjustment precision of the second shaft arm assembly is greater than that of the first shaft arm assembly. For example, when the three-dimensional space relative pose error between the article to be mounted and the mounting position is abs [ Δ x Δ y Δ z Δ α Δ β Δ γ ] < [500mm 500mm 5 ° 5 ° ], the processor may determine the motion parameters of each second axis assembly, and control each second axis assembly to perform corresponding operation according to the corresponding motion parameters to transport the article to be mounted to the mounting position. According to the technical scheme, the first shaft arm assembly and the second shaft arm assembly are matched with each other, large-scale transportation is firstly carried out in space, then small-scale transportation is carried out, installation errors can be reduced, and the installation accuracy of the operating equipment is improved.

In one embodiment, in the case that the separation distance is greater than a preset threshold, determining that the target position of the first axis arm assembly is a first preset position; controlling each first axis arm assembly to perform a corresponding operation according to the corresponding motion parameter to transport the article to be mounted to the target position comprises: constructing a motion model of the first shaft-arm assembly according to the arm length and the rotation angle of the first shaft-arm assembly, an included angle between the first shaft-arm assembly and a straight line where a vehicle body of the operating equipment is located, the stretching length and the coordinate position of the first preset position in the second coordinate system; and respectively controlling each first axis assembly to perform corresponding operation according to the corresponding motion parameter according to the motion model of the first axis assembly so as to convey the article to be installed to the first preset position. .

In one embodiment, controlling each second axis assembly to perform a respective operation to transport the article to be mounted to the target location according to the corresponding motion parameter comprises: constructing a motion model of the second shaft-arm assembly according to the arm length of the second shaft-arm assembly, the included angle between the arm length of the second shaft-arm assembly and the straight line of the working equipment, the swing angle and the rotation angle, the three-dimensional space coordinate of the installation position in a first coordinate system and the rotation angle of the second shaft-arm assembly on a X, Y, Z shaft of the first coordinate system;

and respectively controlling each second axis assembly to execute corresponding operation according to the corresponding motion parameter according to the motion model of the second axis assembly so as to convey the article to be installed to the target position.

Specifically, since the plurality of the shaft-arm assemblies are arranged on the operation equipment, the shaft-arm assemblies can be matched with each other according to the connection relation of the plurality of the shaft-arm assemblies to accurately convey the article to be installed to the target position. For example, referring to fig. 1a, each of the axle and arm assemblies may be numbered, one for each axle and arm assembly number, with the first axle and arm assembly including axle and arm assemblies numbered 1 through 3 and axle and arm assembly number 13. The second axle arm assembly comprises axle arm assemblies numbered 4 through 12. Wherein the axle arm assembly numbered 13 may be a connecting rod. Therefore, the processor may determine the motion parameter of each first axis assembly at the time when the target position of the axis assembly is determined to be the first preset position. The motion parameters of the first shaft-arm assembly are the rotation angle of the shaft-arm assembly, the included angle between the connecting rod and the vehicle body, the angle between the shaft-arm assembly and the vehicle body, the distance between the rotation center of the shaft-arm assembly and the rotation center of the connecting rod, the length of the amplitude of the shaft-arm assembly up and down and the length of the shaft-arm assembly in extension and retraction and the like. Specifically, the following data may be obtained from the sensor and the encoder to perform the calculation: a third rotation angle of the first spindle 1 in the Z direction of the world coordinate system, a first rotation angle of the first rotary arm assembly 2 in the X direction, a length of the second spindle 3, a first rotation angle of the seventh rotary arm assembly 13 in the X direction, a distance between a rotation center of the first spindle 1 and a rotation center of the seventh rotary arm assembly 13, and the like. Further, the processor may control each first axis arm assembly to perform a corresponding operation according to the corresponding motion parameter to transport the article to be mounted to the target position. Including rotating shaft arms, swing car bodies, and telescoping shaft arms to perform a wide range of coarse adjustments over a spatial range. Specifically, the processor can control the first spindle 1 of the first spindle assembly to perform left-right rotary motion in the direction of a world coordinate system Z, the first rotating spindle assembly 2 to perform amplitude up-down motion in the X direction, the second spindle 3 to perform telescopic motion in the direction of the spindle arm, the seventh rotating spindle assembly 13 to perform amplitude up-down motion in the X direction and the like. And, the processor may determine that the motion parameter of the first armset satisfies the motion model as shown in equation (6):

wherein, [ x ] ₂ y ₂ z ₂ ]Is the coordinate position of the first preset position in a second coordinate system, the second coordinate system is established by taking the hinge point between the shaft arm component with the number of 1 and the chassis of the operation equipment as the origin, and theta ₀ Number 1, angle of rotation theta ₁ Is the angle between the axle arm assembly numbered 13 and the vehicle body, theta ₂ Is an angle theta between the shaft arm component with the number 2 and the vehicle body ₃ Is an angle between the axle arm assembly numbered 4 and the vehicle body, L ₀ Distance L between the center of rotation of the axle-arm assembly numbered 1 and the center of rotation of the connecting rod of the axle-arm assembly numbered 1 ₁ Length of the axle-arm assembly, L, numbered 13 ₂ LL is the sum of the up and down amplitude of the arm assembly numbered 2 and the length of the main arm of the arm assembly numbered 3, and is the distance from the hinge point of the arm assembly numbered 4 and the arm assembly numbered 2 to the rotation center of the arm assembly numbered 12, which is calculated based on the formula (7). Thus, the processor can control the coordinated movement of the first shaft arm assembly, and the product to be installed is accurately conveyed to a first preset position close to the installation position. And limiting the whole movement of the working equipment according to the movement model so as to reduce the probability of rollover or rollover of the equipment due to unbalance.

The processor, in determining that the target position of the axle arm assembly is the mounting position, may determine a motion parameter of each second axle arm assembly at the time. The motion parameters of the second shaft arm component are an included angle between the shaft arm component and a straight line where the vehicle body is located, a swing angle of the shaft arm component, a rotation angle of the shaft arm component and the like. Specifically, the following data may be obtained from the sensor and the encoder to perform the calculation: the first rotation angle of the second rotating-axis arm assembly 4, the third rotating-axis arm assembly 5, the fourth rotating-axis arm assembly 7 and the sixth rotating-axis arm assembly 12 in the world coordinate X direction, the length of the first translation-axis arm assembly 6, the second translation-axis arm assembly 8, the third translation-axis arm assembly 10 and the fourth translation-axis arm assembly 11 extending and retracting in the axis-arm direction, the third rotation angle of the fifth rotating-axis arm assembly 9 in the world coordinate Z direction, the first rotation angle of the seventh rotating-axis arm assembly 13 in the X direction, the distance between the rotation center of the first spindle 1 and the rotation center of the seventh rotating-axis arm assembly 13, and the like. Then, the processor may control each second axis assembly to perform a corresponding operation according to the corresponding motion parameter to transport the article to be mounted to the target position. Including rotating shaft arm, swing shaft arm, rotary car body and telescopic shaft arm, etc. to implement small-range fine adjustment in space range. Specifically, the processor may control the leveling up-and-down movement of the second rotary-axis arm assembly 4 of the second shaft assembly rotating in the world coordinate X direction, the fly-arm up-and-down movement of the third rotary-axis arm assembly 5 rotating in the world coordinate X direction, the back-and-forth tilt movement of the fourth rotary-axis arm assembly 7 rotating in the world coordinate X direction, the side-to-side sway movement of the fifth rotary-axis arm assembly 9 rotating in the world coordinate X direction, the swivel forward-and-reverse movement of the sixth rotary-axis arm assembly 12 rotating in the world coordinate Y direction, and the telescopic movement of the first, second, third, and fourth

translation shaft assemblies

6, 8, 10, 11 in the shaft-arm direction. And, the processor may determine that the motion parameter of the second armset satisfies the motion model as shown in equations (7) and (8):

wherein, [ x ] ₁ y ₁ z ₁ α β γ]Is a three-dimensional space coordinate of the installation position in a first coordinate system, and alpha, beta and gamma respectively refer to the rotation angles of the second axis arm component on the axis of the first coordinate system X, Y, ZIn degrees, a first coordinate system is established with a hinge point between the shaft-arm assembly numbered 4 and the shaft-arm assembly numbered 3 as an origin. It will be appreciated that the first and second coordinate systems are relative. Theta ₃ Is the angle between the straight line of the axle arm assembly numbered 4 and the vehicle body of the working equipment, theta ₄ Is an angle theta between the shaft arm component with the number 5 and a straight line of the vehicle body ₅ Is the angle theta between the shaft arm component with the number 7 and the straight line of the vehicle body ₆ Is an angle theta between the shaft arm component with the number of 8 and a straight line of the vehicle body ₇ Is the swing angle of the shaft-arm assembly, theta, numbered 9 ₈ Is the rotation angle of the shaft-arm assembly, L, numbered 12 ₄ ～L ₁₁ The lengths of the shaft arm assemblies are numbered from 4 to 11 respectively. Therefore, the processor can control the coordinated movement of the second shaft arm assembly, and can accurately convey the product to be installed to the installation position.

In one embodiment, an arm support of a work device includes a plurality of boom assemblies, with a corresponding sensor provided for each boom assembly. Fig. 4 schematically shows a flowchart of S208. Referring to fig. 4, the step includes:

s402, determining the current position of each shaft-arm component through a sensor corresponding to each shaft-arm component;

s404, determining a position error value of each shaft-arm component according to the current position and the calibration position corresponding to the shaft-arm component;

s406, determining the target moving distance of each shaft-arm component according to the current position and the target position of each shaft-arm component;

and S408, determining the motion parameters of each shaft-arm assembly according to the position error value of each shaft-arm assembly and the target moving distance.

Since there may be some error when the machine is installed or when the equipment is used, the working equipment cannot be operated in an ideal state. Therefore, when the processor controls each shaft-arm assembly to perform a corresponding operation according to the corresponding motion parameter to transport the article to be mounted to the target position, the processor may acquire the current position of each corresponding shaft-arm assembly through a sensor provided on each shaft-arm assembly. The current position refers to the actual position based on the three-dimensional space coordinates at the current moment when the shaft-arm assembly is in the working state. And the calibration position corresponding to the shaft-arm component is a theoretical position calculated and calibrated according to the total station. Then, for each shaft and arm assembly, the processor may determine a position error value for the shaft and arm assembly based on the current position and the calibrated position corresponding to the shaft and arm assembly. I.e. the position error value existing between the theoretical position and the actual position. Further, the processor may determine a target movement distance for each of the axle and arm assemblies based on the current position and the target position of each of the axle and arm assemblies. And in the process of controlling and conveying the product to be installed by the processor, the distance from the current position of each shaft-arm assembly to the target position determined by each shaft-arm assembly in the three-dimensional space coordinates is the target moving distance. At this time, the processor may determine the motion parameter of each shaft and arm assembly according to the position error value determined by each shaft and arm assembly and the target movement distance, so that each shaft and arm assembly can move to its corresponding target position.

In one embodiment, the motion parameters include at least a motion speed and a motion time, and the motion parameters of each shaft and arm assembly are determined according to the position error value and the target moving distance of each shaft and arm assembly: acquiring a data table, wherein the data table comprises a plurality of parameter groups corresponding to each shaft-arm assembly, and each parameter group comprises the movement speed, the movement time and the movement distance of the shaft-arm assembly under a specific control current; determining an optimal parameter group with the highest matching degree with the target moving distance of each shaft-arm assembly; and aiming at each shaft-arm assembly, adjusting parameters included in the optimal parameter set according to the position error value so as to determine the motion parameters of each shaft-arm assembly.

In one embodiment, for each of the axle and arm assemblies, determining the optimal parameter set that matches the target movement distance of the axle and arm assembly most closely comprises determining the optimal parameter set for each of the axle and arm assemblies according to the following equations (1), (2), (3):

f(t)＝A ₁ δ(t)+A ₂ δ(t-t ₂ )+A ₃ δ(t-t ₃ ) (2)

u(t)＝r(t)*f(t) (3)

wherein the content of the first and second substances,

xi is the second-order system damping coefficient, omega _n For the natural oscillation frequency of a second-order system, r (t) is speed planning data of each shaft-arm component in each section of motion curve, f (t) is a preset input shaper, u (t) is the speed planning data of each shaft-arm component after vibration suppression, delta (t) is a pulse of a control current, A (t) is a pulse of a control current, and _i to control the amplitude of the pulses of current, t _i The time interval of the ith pulse train for controlling the current.

The processor may obtain a data table of the operating device during operation, where the data table includes a parameter group corresponding to each of the arm assemblies. Wherein each parameter set includes a speed of movement of the corresponding shaft-arm assembly at a particular control current. Then, for each of the axle arm assemblies, the processor may determine the optimal parameter set with the highest matching degree of the target moving distance of the axle arm assembly according to the data table. That is, the processor can maximally realize the target movement distance of the arm assembly when controlling the arm assembly of the working equipment to perform the installation work with the parameter data in the optimal parameter group. The processor may determine the optimal set of parameters for each of the axle-arm assemblies according to equations (1), (2), (3) below:

f(t)＝A ₁ δ(t)+A ₂ δ(t-t ₂ )+A ₃ δ(t-t ₃ ) (2)

u(t)＝r(t)*f(t) (3)

wherein the content of the first and second substances,

xi is the second-order system damping coefficient, omega _n For the natural oscillation frequency of a second-order system, r (t) is the speed planning data of each shaft-arm component in each motion curve, f (t) is a preset input shaper, u (t) is the speed planning data of each shaft-arm component after vibration suppression, delta (t) is the pulse of a control current, A _i To control the amplitude of the pulses of current, t _i The time interval of the ith pulse train for controlling the current. According to the above formula, it is possible to reduce vibration of the shaft-arm assembly and improve the accuracy of controlling the movement of the shaft-arm assembly. Meanwhile, the time for waiting for photographing of the image acquisition equipment due to vibration of the shaft arm assembly is reduced, and the installation efficiency is improved. Further, the processor may adjust parameters included in the optimal parameter set according to the position error value to determine the adjusted corresponding motion parameters. In this way, the processor can enable each shaft-arm assembly to move to a determined target position more accurately when controlling the operation equipment to carry out installation operation.

Through above-mentioned technical scheme, will wait that the installation article are transported to the second preset position adjacent with the mounted position through operation equipment. And under the condition that the distance between the center point of the article to be installed and the center point of the installation position is greater than a preset threshold value, controlling each first axis arm assembly to execute corresponding operation according to the corresponding motion parameter so as to convey the article to be installed to be a first preset position close to the installation position. And under the condition that the distance between the center point of the article to be installed and the center point of the installation position is smaller than or equal to a preset threshold value, controlling each second shaft arm assembly to execute corresponding operation according to the corresponding motion parameter so as to convey the article to be installed to the installation position. Through controlling the matching operation of the plurality of shaft-arm assemblies, the large-mass product to be installed can be accurately conveyed, and the equipment can be prevented from tipping or turning over. And then, under the condition that the central point of the article to be installed is superposed with the central point of the installation position, determining that the article to be installed is installed completely. Wherein, be provided with sensor, encoder, image acquisition equipment and navigation equipment on the operation equipment, can guide the process of transporting and installing to can accurately and accomplish the installation operation fast.

Fig. 2 to 4 are schematic flowcharts illustrating a control method for an axle and arm assembly applied to a working device according to an embodiment of the present disclosure. It should be understood that although the various steps in the flow charts of fig. 2-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-4 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, there is provided a work apparatus including: an arm support comprising a plurality of shaft arm assemblies; and is configured to execute a control method for the axle arm assembly.

Specifically, the plurality of shaft arm assemblies includes a first shaft arm assembly and a second shaft arm assembly, each shaft arm assembly corresponds to a number, the first shaft arm assembly includes shaft arm assemblies numbered 1 to 3 and 13, and the second shaft arm assembly includes shaft arm assemblies numbered 4 to 12. The arm support composed of the plurality of the shaft arm assemblies comprises a first shaft arm assembly and a second shaft arm assembly. Referring to fig. 1a, the first pivot arm assembly may include a first spindle 1, a first rotary pivot arm assembly 2, a second spindle 3, a seventh rotary pivot arm assembly 13. The second pivot arm assembly may comprise a second pivot arm assembly 4, a third pivot arm assembly 5, a first translation arm assembly 6, a fourth pivot arm assembly 7, a second translation arm assembly 8, a fifth pivot arm assembly 9, a third translation arm assembly 10, a fourth translation arm assembly 11, a sixth pivot arm assembly 12.

In one embodiment, the work apparatus further includes: the sensor of the sensors is arranged corresponding to one shaft arm component of the shaft arm components and is used for measuring a first rotating angle of the shaft arm components in the world coordinate X direction, a second rotating angle of the shaft arm components in the world coordinate Y direction and/or measuring the length of the shaft arm components; and the encoders are arranged on the shaft-arm assembly and are used for measuring a third rotation angle of the shaft-arm assembly in the world coordinate Z direction.

In one embodiment, the work apparatus further includes: a plurality of image capturing devices for acquiring a center position of the article to be mounted and a center position of the mounting position of the article to be mounted, the processor being further configured to: and determining the relative position deviation between the article to be installed and the installation position according to the central position of the article to be installed and the central position of the installation position.

In particular, the image acquisition device may be a Tof camera. Referring to fig. 1b, the image capturing device comprises a camera 1, a camera 2, a camera 3, a camera 4. The center position of the article to be mounted and the center position of the mounting position of the article to be mounted can be accurately acquired by the plurality of Tof cameras. The processor may determine a relative positional deviation between a real-time center position of the article to be installed and a center position of the installation position, and determine that the installation of the article to be installed is completed when it is determined that the center position of the article to be installed and the center position of the installation position coincide with each other. For example, the center position may be a three-dimensional spatial coordinate.

In one embodiment, the work apparatus further includes: the navigation equipment is used for determining the space coordinates of the tail end of the operation equipment; the processor is further configured to: and sending a motion control command to the navigation equipment according to the space coordinate of the tail end and the distance between the installation positions, so that the navigation equipment controls the front wheels and the rear wheels of the operation equipment to move according to the motion control command, and the article to be installed is conveyed to a second preset position adjacent to the installation position of the article to be installed.

Referring to fig. 1b, the navigation device may be, in particular, a GPS, an optical camera, a depth camera, or the like, to feed back spatial coordinates of the adsorption working position of the end of the working device. For example, the navigation device may be mounted to the sixth pivot arm assembly 12. The processor can send a motion control command to the navigation equipment according to the distance between the spatial coordinates of the tail end and the installation position to control the front wheels and the rear wheels of the operation equipment to move so as to quickly convey the object to be installed to a second preset position adjacent to the installation position of the object to be installed. Thus, the installation efficiency of the working equipment and the automation degree of installation can be improved.

In the description of the present application, reference to the description of the terms "one embodiment," "some embodiments," "a particular implementation," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this application, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

It should be noted that the various features described in the foregoing embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described separately in this application.

In addition, any combination of the various embodiments of the present application is also possible, and the same should be considered as disclosed in the present application as long as it does not depart from the idea of the present application.

Claims

1. A work apparatus, characterized in that the work apparatus comprises:

an arm support comprising a plurality of shaft arm assemblies;

and the encoders are arranged on the shaft arm assembly and are used for measuring a third rotating angle of the shaft arm assembly in the Z direction of the world coordinate.

2. The work apparatus of claim 1, wherein said plurality of axle arm assemblies comprises:

a spindle assembly;

the rotating shaft arm assembly is used for carrying out variable amplitude motion;

and the translation axis arm assembly is used for performing translation motion.

3. The work apparatus of claim 2, wherein said plurality of sensors comprises a pull wire sensor, said spindle assembly comprising:

the device comprises a first main shaft (1) and a second main shaft (1), wherein a first encoder (101) is installed on the first main shaft and used for measuring the rotating angle of the first main shaft (1) in the Z direction of world coordinates;

a second spindle (3) fitted with a first pull wire sensor (102) for measuring the length of the second spindle (3).

4. The work apparatus of claim 2, wherein said plurality of sensors comprises tilt sensors including a single axis tilt sensor and a dual axis tilt sensor, said rotating axis arm assembly comprising:

the first rotating shaft arm assembly (2) is provided with a first single-shaft inclination angle sensor (103) and is used for measuring the rotating angle of the first rotating shaft arm assembly (2) in the X direction of world coordinates;

a second rotating axis arm assembly (4) provided with a second single-axis tilt sensor (104) for measuring the rotating angle of the second rotating axis arm assembly (4) in the X direction of the world coordinate;

a third rotating axis arm assembly (5) connected with the second rotating axis arm assembly (4);

a fourth rotating shaft arm assembly (7) connected with the fifth rotating shaft arm assembly (9);

the fifth rotating shaft arm assembly (9) is provided with a second encoder (105) and is used for measuring the rotating angle of the fifth rotating shaft arm assembly (9) in the Z direction of world coordinates;

the sixth rotating shaft arm assembly (12) is connected with the fourth rotating shaft arm assembly (7) through a translation shaft arm assembly, and a first biaxial inclination angle sensor (106) is installed at the connection position of the sixth rotating shaft arm assembly (12) and the translation shaft arm assembly and used for measuring the rotating angle of the fourth rotating shaft arm assembly (7) in the world coordinate X direction and the rotating angle of the sixth rotating shaft arm assembly (12) in the world coordinate Y direction;

and the seventh rotating shaft arm assembly (13) is provided with a third single-shaft inclination angle sensor (107) and is used for measuring the rotating angle of the seventh rotating shaft arm assembly (13) in the X direction of the world coordinate.

5. The work apparatus of claim 4, wherein said plurality of sensors comprises a pull wire sensor, a pull wire tilt sensor, said translation axis arm assembly comprising:

the first translation axis arm assembly (6) is connected with the third rotation axis arm assembly (5), and a stay wire inclination angle sensor (108) is installed on the first translation axis arm assembly and is used for measuring the rotation angle of the third rotation axis arm assembly (5) in the world coordinate X direction and measuring the length of the first translation axis arm assembly (6);

a second translation axis arm assembly (8) fitted with a second pull line sensor (109) for measuring the length of said second translation axis arm assembly (8);

the two ends of the third translation axis arm component (10) are respectively connected with the sixth rotation axis arm component (12) and the fourth translation axis arm component (11), and a third pull line sensor (110) is installed on the third translation axis arm component (10) and used for measuring the length of the third translation axis arm component (10);

and two ends of the fourth translation axis arm component (11) are respectively connected with the third translation axis arm component (10) and the fifth rotation axis arm component (9), and the fourth translation axis arm component (11) is provided with a fourth stay wire sensor (111) for measuring the length of the fourth translation axis arm component (11).

6. The working apparatus according to claim 4, wherein a plurality of image capturing devices are mounted on the sixth rotary axis arm assembly (12) for acquiring a real-time position of an article to be mounted and a position of a mounting position of the article to be mounted.

7. A working device according to claim 4, characterized in that the sixth rotary arm assembly (12) is provided with a navigation device electrically connected to the working device for determining the spatial coordinates of the working device tip and navigating the front and rear wheel movements of the working device according to the spatial coordinates of the tip.

8. The working machine according to claim 1, characterized in that the working machine further comprises front wheels and rear wheels, and in that a second biaxial inclination sensor (112) is mounted in the area above the front wheels for measuring the rotation angle of the body of the working machine in the X-direction and Y-direction of world coordinates.

9. The work machine of claim 8, further comprising a processor, electrically connected to the plurality of sensors, configured to limit overall movement of the work machine to prevent rollover of the work machine if it is determined from the second biaxial inclination sensor (112) that a first angle of rotation of the body of the work machine in the X direction of world coordinates exceeds a first preset angle of rotation and/or a second angle of rotation in the Y direction exceeds a second preset angle of rotation.

10. The work machine of claim 3, further comprising a processor, electrically connected to the plurality of sensors, configured to limit movement of the front and rear wheels of the work machine to prevent the work machine from tipping over if it is determined from the first encoder (101) that a third angle of rotation of the body of the work machine in the Z direction in world coordinates exceeds a third preset angle of rotation.