A rolling device for working on the surface of a curved structure and a control method thereof

Abstract

The present invention relates to a rolling device for working on a surface of a curved structure and a control method thereof, comprising a loading platform (3) and a motion structure installed on the loading platform (3), the motion structure comprising a plurality of mechanical arms movably connected in sequence, the bottom mechanical arm movably installed on the loading platform (3), the top mechanical arm end being installed with a working unit (4) for working on working on the surface of the curved structure (7), the device further comprising a distance sensor (5) for measuring the distance between the center point of the active node of the bottom mechanical arm and a target point on the surface of the curved structure (7), a pressure sensor (6) for measuring the pressure of the top mechanical arm and the curved structure, and a controller for controlling the movements of each mechanical arm, the mechanical arm, the distance sensor (5) and the pressure sensor (6) being all connected to the controller. Compared with the prior art, the present invention can overcome the risk of manual work, has a high degree of automation and high working reliability.

Description

Technical Field

[0001] The invention belongs to the field of architecture and civil engineering, and in particular relates to a rolling device for operating on the surface of a curved structure and a control method thereof. Background Art

[0002] Due to a series of advantages in terms of shape and stress, curved structures are widely used in tunnels, arch bridges and other public buildings. Usually, in order to allow curved structures to provide open space, their arches are higher than the ground. However, due to the deterioration of structures such as tunnels and bridges caused by natural and man-made impacts, load changes or material aging, the arches of such curved structures often suffer from cracks, peeling and other diseases, requiring frequent inspections and repairs to ensure that these buildings remain safe and continue to provide reliable service levels.

[0003] In practice, curved structures such as tunnels and arch bridges have large cross-sections, large curvatures, and high tops, especially cracks on the tops, which are very difficult to inspect and repair. Traditional inspection and repair work is usually done manually, which is very time-consuming and depends on the technical level of the operator. Inspection and repair quality failures frequently occur. At the same time, transportation infrastructure such as tunnels and arch bridges also operate vehicles and ships, which need to be repaired in an open traffic environment, which brings further inconvenience to inspection and repair operations.

[0004] Therefore, there is an urgent need to develop a mechanical device that can fit the surface of the curved structure vault and carry a variety of operating units at its end to realize the automation, unmanned and intelligent inspection and maintenance of the curved structure vault surface defects. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a rolling device for working on the surface of a curved structure and a control method thereof.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A rolling device for working on the surface of a curved structure, comprising a loading platform and a moving structure installed on the loading platform, the moving structure comprising a plurality of mechanical arms movably connected in sequence, the bottom mechanical arm being movably installed on the loading platform, and a working unit for working on the surface of the curved structure being installed at the end of the top mechanical arm, the device also comprising a distance sensor for measuring the distance between the center point of the active node of the bottom mechanical arm and a target point on the surface of the curved structure, a pressure sensor for measuring the fitting pressure between the top mechanical arm and the curved structure, and a controller for controlling the movement of each mechanical arm, the mechanical arm, the distance sensor and the pressure sensor being all connected to the controller.

[0008] Preferably, the bottom of each section of the robotic arm is movably connected to the robotic arm or loading platform located below and connected thereto via an active node, and the active node is a rotating node and enables the multiple sections of the robotic arm to rotate in the same plane.

[0009] Preferably, the distance sensor is mounted on a rotating mounting block, the center point of the distance sensor is flush with the center point of the active node of the bottom robotic arm, the rotating mounting block is a rotating node and enables the distance sensor and the robotic arm to rotate in the same plane or parallel planes, and the measuring axis of the distance sensor is in the rotating plane of the robotic arm.

[0010] Preferably, the rotating node comprises an electric pin-type node, and the electric pin-type node is connected to the controller.

[0011] Preferably, the pressure sensor is installed at the connection node of the two uppermost mechanical arms.

[0012] Preferably, the distance sensor comprises a laser sensor.

[0013] Preferably, the topmost robotic arm is a fine-tuning robotic arm, the length of which is shorter than that of the other robotic arms.

[0014] Preferably, the robotic arm is provided with three sections.

[0015] A control method for a rolling device for working on a surface of a curved structure, used for the movement of the rolling device, the control method comprising:

[0016] Motion control: Obtain the distance d between the center point of the active node of the bottom robotic arm and the target point on the surface of the curved structure, and the fitting pressure N between the top robotic arm and the curved structure. Calculate the position and posture information of each section of the robotic arm based on d and N, and adjust each robotic arm in linkage.

[0017] Artificial interrupt control: When the interrupt signal is obtained, the current position information of each section of the robot arm is stored, all operations are interrupted, and the current state of the robot arm is maintained. When the interrupt signal is released, motion control continues;

[0018] Manual termination control: When the termination signal is obtained, the control robot arm is reset.

[0019] Preferably, the motion control is specifically:

[0020] Establish the control coordinate system:

[0021] Taking the active node of the bottom robot arm as the origin, a rectangular coordinate system is established in the robot arm motion plane, with the x-axis parallel to the horizontal plane and the y-axis parallel to the plumb line. The motion control equation is constructed based on the distance d between the center point of the active node of the bottom robot arm and the target point on the surface of the curved structure, the rotation angle of each robot arm, and the length of each robot arm.

[0022] Initialization parameters:

[0023] At startup, input initialization parameters for the distance sensor and pressure sensor: working step length Δα of the distance sensor, working starting angle α0, working ending angle α m , α0>α m , the pressure threshold value N0 of the pressure sensor, N0>0; set the initial value of the rotation angle of each robot arm and the initial value d0=0;

[0024] Solving the motion control equations and making linkage adjustments include the following steps:

[0025] S1. Use the topmost robotic arm as the fine-tuning robotic arm, keep the initial value of the rotation angle of the robotic arm unchanged, and use the rotation angles of other robotic arms as unknowns;

[0026] S2, the distance sensor measures the distance d to the next target point;

[0027] S3, keep fine-tuning the current rotation angle of the robotic arm, solve the motion control equation, and determine the rotation angles of the other robotic arms except the top robotic arm;

[0028] S4, determine whether d≥d0 is established. If so, start from the bottom robot arm and adjust the rotation angle of each robot arm from bottom to top to the calculated value. Otherwise, start from the robot arm below the fine-tuning robot arm and adjust the rotation angle of each robot arm from top to bottom to the calculated value.

[0029] S5, the pressure sensor measures the pressure N, and determines whether N≥N0 is established. If so, the posture of the fine-tuning robot arm is maintained and the process goes to step S7, otherwise, the process goes to step S6;

[0030] S6, changing the rotation angle of the fine-tuning mechanical arm to increase it by a fine-tuning angle Δβ, judging whether N increases, if so, continuing to increase the rotation angle of the fine-tuning mechanical arm by a fine-tuning angle Δβ, and returning to step S3, otherwise changing the rotation angle of the fine-tuning mechanical arm to reduce it by two fine-tuning angles Δβ, and returning to step S3;

[0031] S7, determine whether the current target point is the end point, if so, execute step S9, otherwise execute step S8;

[0032] S8, update d0=d, and execute step S2;

[0033] S9, controlling each robot arm to move to an initial state.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] (1) Compared with the existing manual operation method, the present invention can overcome the risks of manual operation on the top of the curved structure, provide a mechanized platform and technical solutions for various tasks such as structural surface crack inspection, lining cavity inspection, surface crack repair, FRP bonding reinforcement, etc., and improve the automation level of various inspection and maintenance tasks.

[0036] (2) The present invention can achieve precise adjustment of the robot arm through the cooperation of the distance sensor and the pressure sensor, ensure the fitting pressure between the top working unit and the surface of the curved structure, and improve the reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of a rolling device for bonding a curved surface structure surface according to the present invention;

[0038] Figure 2 This is a schematic diagram of the installation position of the sensor of the present invention;

[0039] Figure 3 A schematic diagram of a control coordinate system constructed for the present invention;

[0040] Figure 4 It is the working schematic diagram of the distance sensor;

[0041] Figure 5 It is a flowchart of motion control of a rolling device for bonding a curved surface structure surface according to the present invention;

[0042] Figure 6 It is a flowchart of the manual interruption control of a rolling device for bonding a curved surface structure surface according to the present invention;

[0043] Figure 7 The present invention is a flowchart of the manual stop control of a rolling device for bonding a curved surface structure surface.

[0044] In the figure, 11, 12, 13 are robot arms, 21, 22, 23 are active nodes, 3 is a loading platform, 4 is a working unit, 5 is a distance sensor, 6 is a pressure sensor, 7 is a curved structure surface, and 8 is an operating point. DETAILED DESCRIPTION

[0045] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Note that the following embodiments are merely illustrative in nature, and the present invention is not intended to limit its applicable objects or uses, and the present invention is not limited to the following embodiments.

[0046] Example

[0047] like Figure 1 As shown, this embodiment provides a rolling device for bonding to the surface of a curved structure, including a loading platform 3 and a motion structure installed on the loading platform 3, the motion structure includes a plurality of mechanical arms that are movably connected in sequence, the bottom mechanical arm is movably installed on the loading platform 3, and the end of the top mechanical arm is installed with a working unit 4 for bonding to the surface of the curved structure 7. The device also includes a distance sensor 5 for measuring the distance between the center point of the activity node of the bottom mechanical arm and the target point on the surface of the curved structure 7, a pressure sensor 6 for measuring the bonding pressure between the top mechanical arm and the curved structure, and a controller for controlling the movements of each mechanical arm, and the mechanical arm, the distance sensor 5 and the pressure sensor 6 are all connected to the controller. The working unit 4 is in contact with the surface of the curved structure 7, and the bonding point between the two is the working point 8. As the angle between the mechanical arms continues to change, the working unit 4 performs continuous rolling motion on the surface of the curved structure 7. Although the controller is not drawn in this embodiment, it can be naturally imagined that the controller is a terminal device such as a microcomputer or a single-chip microcomputer with a logic calculation function.

[0048] The bottom of each section of the robotic arm is movably connected to the robotic arm or loading platform 3 located below and connected thereto through an active node. The active node is a rotating node and enables the multiple sections of the robotic arm to rotate in the same plane.

[0049] like Figure 2 As shown, the distance sensor 5 is mounted on a rotating mounting block, and the center point of the distance sensor 5 is flush with the center point of the active node of the bottom mechanical arm. The rotating mounting block is a rotating node and allows the distance sensor 5 and the mechanical arm to rotate in the same plane or parallel planes, and the measuring axis of the distance sensor 5 is in the rotating plane of the mechanical arm. The rotating node includes an electric pin-type node, which is connected to the controller. The pressure sensor 6 is installed at the connection node of the two mechanical arms at the top to achieve indirect measurement of the fitting pressure between the top mechanical arm and the curved surface structure, so as not to affect the normal operation of the working unit 4. The distance sensor 5 includes a laser sensor, and the top mechanical arm is a fine-tuning mechanical arm, and its length is less than that of other mechanical arms.

[0050] In this embodiment, as a preferred implementation, the mechanical arm is configured to have three sections, as shown in the following example: Figure 1 In the figure, it includes robot arms 11, 12, 13, active nodes 21, 22 and 23, among which robot arm 13 is a fine-tuning robot arm with the shortest length, on which a working unit 4 is installed, and the motion plane of the three robot arms is the plane where the paper in the figure is located.

[0051] A control method for a rolling device for working on a surface of a curved structure is provided, and is used for the movement of the rolling device. The control method comprises:

[0052] Motion control: Obtain the distance d between the center point of the active node of the bottom robot arm and the target point on the surface 7 of the curved structure, and the fitting pressure N between the top robot arm and the curved structure. Calculate the position and posture information of each section of the robot arm based on d and N, and adjust each robot arm in linkage;

[0053] Artificial interrupt control: When the interrupt signal is obtained, the current position information of each section of the robot arm is stored, all operations are interrupted, and the current state of the robot arm is maintained. When the interrupt signal is released, motion control continues;

[0054] Manual termination control: When the termination signal is obtained, the control robot arm is reset.

[0055] Motion control is as follows:

[0056] 1. Establish control coordinate system:

[0057] Taking the active node of the bottom robot arm as the origin, a rectangular coordinate system is established in the robot arm motion plane, with the x-axis parallel to the horizontal plane and the y-axis parallel to the plumb line. The motion control equation is constructed based on the distance d between the center point of the active node of the bottom robot arm and the target point on the surface 7 of the curved structure, the rotation angle of each robot arm, and the length of each robot arm.

[0058] This embodiment takes a three-section robot arm as an example, and the control coordinate system constructed is a rectangular coordinate system, the origin is the active node 21, the x-axis is parallel to the horizontal plane, and the y-axis is parallel to the plumb line. According to the length relationship of the coordinate system, the following motion control equations can be listed:

[0059]

[0060]

[0061] m is the length of robot arm 111 (the distance from the center of active node 21 to the center of active node 22), n is the length of robot arm 12 (the distance from the center of active node 22 to the center of active node 23), l is the length of robot arm 13 (the distance from the center of active node 23 to the working point), θ is the angle between the x-axis and robot arm 11 (the distance pointed to by active node 21), is the angle between robot arm 1 (from node I to node II) and robot arm 2 (from active node 22 to active node 23), β is the angle between robot arm 12 (from active node 22 to active node 23) and robot arm 13 (from active node 23 to the surface structure), α is the angle between the x-axis and the target vector (from the coordinate origin to the next target point), and d is the distance measured by the distance sensor to a target point.

[0062] 2. Initialization parameters:

[0063] At startup, input initialization parameters for the distance sensor 5 and the pressure sensor 6: the working step length Δα of the distance sensor 5, the working starting angle α0, the working ending angle α m , α0>α m , the pressure threshold value N0 of the pressure sensor 6, N0>0, the above initialization parameters mean: the initial angle α of the distance sensor 5 is α0, and it works until the angle is equal to α m When the rolling device is working, it stops, and a positive pressure greater than N0 is maintained. The initial value of the rotation angle of each robot arm and the initial value of d d0=0 are set.

[0064] 3. Solve the motion control equations and make linkage adjustments:

[0065] The steps include:

[0066] S1. Use the topmost robotic arm as the fine-tuning robotic arm, keep the initial value of the rotation angle of the robotic arm unchanged, and use the rotation angles of other robotic arms as unknowns;

[0067] S2, the distance sensor measures the distance d to the next target point;

[0068] S3, keep fine-tuning the current rotation angle of the robotic arm, solve the motion control equation, and determine the rotation angles of the other robotic arms except the top robotic arm;

[0069] S4, determine whether d≥d0 is established. If so, start from the bottom robot arm and adjust the rotation angle of each robot arm from bottom to top to the calculated value. Otherwise, start from the robot arm below the fine-tuning robot arm and adjust the rotation angle of each robot arm from top to bottom to the calculated value.

[0070] S5, the pressure sensor 6 measures the pressure N and determines whether N≥N0 is established. If so, the posture of the fine-tuning robot arm is maintained and the process goes to step S7, otherwise, the process goes to step S6;

[0071] S6, changing the rotation angle of the fine-tuning mechanical arm to increase it by a fine-tuning angle Δβ, judging whether N increases, if so, continuing to increase the rotation angle of the fine-tuning mechanical arm by a fine-tuning angle Δβ, and returning to step S3, otherwise changing the rotation angle of the fine-tuning mechanical arm to reduce it by two fine-tuning angles Δβ, and returning to step S3;

[0072] S7, determine whether the current target point is the end point, if so, execute step S9, otherwise execute step S8;

[0073] S8, update d0=d, and execute step S2;

[0074] S9, controlling each robot arm to move to an initial state.

[0075] This embodiment takes a rolling device having three mechanical arms for performing surface fitting operations on a curved structure as an example to illustrate the specific control method.

[0076] like Figure 3 As shown, the constructed control coordinate system is a rectangular coordinate system, the origin is the active node 21, the x-axis is parallel to the horizontal plane, and the y-axis is parallel to the plumb line. m is the length of the robot 111 (the distance from the center of the active node 21 to the center of the active node 22), n is the length of the robot 12 (the distance from the center of the active node 22 to the center of the active node 23), l is the length of the robot 13 (the distance from the center of the active node 23 to the operating point), θ is the angle between the x-axis and the robot 11 (the distance pointed to by the active node 21), is the angle between robot arm 1 (from node I to node II) and robot arm 2 (from active node 22 to active node 23), and β is the angle between robot arm 12 (from active node 22 to active node 23) and robot arm 13 (from active node 23 to the curved structure).

[0077] like Figure 4 As shown in the figure, α is the angle between the x-axis and the target vector (from the origin to the next target point). d is the distance from the active node 21 to the next target point measured by the distance sensor; d0 is the control threshold in the motion control algorithm, and d0=0 is set in the initial state. In the non-initial state, after the previous target point is completed, its d value will replace the original d0 value.

[0078] Figure 5 , Figure 6 , Figure 7 The flow charts of motion control algorithm, artificial interruption control algorithm and artificial termination control algorithm are given respectively. The implementation process of the above algorithms is described below in combination with specific parameters.

[0079] a) Motion control algorithm:

[0080] 1. First, assume that m = 2m, n = 3m, l = 1m. Set β = 0°, d0 = 0, pressure threshold N0 = 1kN, step length Δα = 2°, α starting angle α0 = 120°, and end angle α m =60°.

[0081] 2. The next target point here is the initial point. Then rotate the distance sensor 5 to adjust it to α = α0 = 120°, and measure the distance from the distance sensor 5 to the wall at this time. Assume that

[0082] 3. Since α=α0=120°, substitute into the equations:

[0083]

[0084] We can solve for θ = 90°.

[0085] 4. At the beginning, since d = 2m > d0 = 0, the robot arm 11 is first rotated around the active node 21, and θ is adjusted to be equal to 90°. Then the robot arm 12 is rotated around the active node 22, and the adjustment is made. Make it equal to 60°.

[0086] 5. Detect the pressure sensor 6 to determine whether its pressure reaches the threshold value of 1 kN. Assuming that the pressure detected at this time is 0.6 kN < 1 kN, the pressure does not reach the threshold value.

[0087] 6. At this time, the mechanical arm 13 is rotated around the active node 23 to slightly increase the angle β (for example, by 2°), and the pressure is detected again; if the pressure decreases at this time, the angle β is slightly reduced, but the reduced angle should be greater than the increased angle before the detection (for example, by 4°), where β = 0° + 2° - 4° = -2°;

[0088] 5. Substitute β = -2° into the equation again and solve it. Repeat steps 4 and 5. Assume that the threshold has been reached. At this time, α = 120°, which is not the end point, so let d0 = d = 2.2m.

[0089] 6. The distance sensor 5 is rotated, and α=α0-Δα=120°-2°=118° is set. The new distance d is measured by the distance sensor 5, and then steps 4, 5, 6, 7, and 8 are repeated continuously.

[0090] 7. Until the 7th step of a certain cycle, it is detected that α = 60° = α m , then the program jumps out of the loop, rotates the distance sensor 5, makes α = 0°, makes the machine 13 rotate around the active node 23, makes β equal to 0°, makes the robot arm 12 rotate around the active node 22, and adjusts Make it equal to 180°, so as to fold the robot arm, rotate the robot arm 11 around the active node 11, adjust θ to make it equal to 0°, and end the work.

[0091] b) Interrupt control algorithm:

[0092] 1. θ=30°, which was already in the process of moving when the storage was interrupted. β=0°、d0=0、d=2.2m and the result of the current equation is θ1=50°、

[0093] 2. Stop mechanical control and maintain the current state;

[0094] 3. Wait for the recovery signal;

[0095] 4. If a recovery signal is input, continue to rotate the machine 11 around the active node 21, adjust θ to make it equal to 50°, and adjust 0.5° each time during the process, that is, replace the original θ value with the new θ value, and then rotate the robot arm 12 around the active node 22, and adjust Make it equal to 90°, adjust 0.5° each time during the process. Replace the original value value and continue back to the control algorithm process.

[0096] c) Termination control algorithm:

[0097] End the working steps, rotate the robot arm 13 around the active node 23, adjust β to be equal to 0°, rotate the robot arm 12 around the active node 22, and adjust Make it equal to 180°, so as to fold the robot arm, rotate the robot arm 11 around the active node 21, and adjust θ to make it equal to 0°, so as to fold the robot arm back to the starting state of the machine.

[0098] The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments can also be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the technical concept of the present invention.

Claims

1. A rolling device for working on a curved surface structure, characterized in that: The device comprises a loading platform (3) and a motion structure mounted on the loading platform (3), wherein the motion structure comprises a plurality of mechanical arms movably connected in sequence, wherein the bottom mechanical arm is movably mounted on the loading platform (3), and a working unit (4) for bonding to a curved surface structure surface (7) is mounted at the end of the top mechanical arm. The device further comprises a distance sensor (5) for measuring the distance between the center point of the activity node of the bottom mechanical arm and a target point on the curved surface structure surface (7), a pressure sensor (6) for measuring the bonding pressure between the top mechanical arm and the curved surface structure, and a controller for controlling the movement of each mechanical arm, wherein the mechanical arm, the distance sensor (5) and the pressure sensor (6) are all connected to the controller. The bottom of each section of the mechanical arm is movably connected to a mechanical arm or a loading platform (3) located below and connected thereto via a movable node, wherein the movable node is a rotating node and enables the multiple sections of the mechanical arm to rotate in the same plane; The distance sensor (5) is mounted on a rotating mounting block, the center point of the distance sensor (5) is flush with the center point of the active node of the bottom mechanical arm, the rotating mounting block is a rotating node and enables the distance sensor (5) and the mechanical arm to rotate in the same plane or in parallel planes, and the measuring axis of the distance sensor (5) is in the rotating plane of the mechanical arm; The pressure sensor (6) is installed at the connection node of the two uppermost mechanical arms.

2. A rolling device for working on a surface of a curved structure according to claim 1, characterized in that: The rotating node includes an electric pin-type node, and the electric pin-type node is connected to the controller.

3. The rolling device for working on the surface of a curved structure according to claim 1, characterized in that: The distance sensor (5) comprises a laser sensor.

4. The rolling device for working on a surface of a curved structure according to claim 1, characterized in that: The topmost arm is the fine-tuning arm, which is shorter than the other arms.

5. The rolling device for fitting a curved surface structure according to claim 1, characterized in that: The mechanical arm is provided with three sections.

6. A control method for a rolling device for working on a surface of a curved structure, characterized in that: Used to control the movement of the rolling device according to any one of claims 1 to 5, the control method comprises: Motion control: Obtain the distance d between the center point of the active node of the bottom robot arm and the target point on the surface of the curved structure (7) and the fitting pressure N between the top robot arm and the curved structure, calculate the position information of each section of the robot arm based on d and N, and adjust the robot arms in linkage; Artificial interrupt control: When the interrupt signal is obtained, the current position information of each section of the robot arm is stored, all operations are interrupted, and the current state of the robot arm is maintained. When the interrupt signal is released, motion control continues; Manual termination control: After receiving the termination signal, the robot arm is controlled to reset; The motion control is specifically as follows: Establish the control coordinate system: Taking the active node of the bottommost robot arm as the origin, a rectangular coordinate system is established in the robot arm motion plane, with the x-axis parallel to the horizontal plane and the y-axis parallel to the plumb line. The motion control equation is constructed based on the distance d between the center point of the active node of the bottommost robot arm and the target point on the surface of the curved structure (7), the rotation angle of each robot arm, and the length of each robot arm. Initialization parameters: At startup, input initialization parameters for the distance sensor (5) and the pressure sensor (6): the working step length Δα of the distance sensor (5), the working starting angle α0, the working ending angle α m , α0>α m , a pressure threshold value N0 of the pressure sensor (6), N0>0; setting the initial value of the rotation angle of each robot arm and the initial value d0=0; Solving the motion control equations and making linkage adjustments include the following steps: S1. Use the topmost robotic arm as the fine-tuning robotic arm, keep the initial value of the rotation angle of the robotic arm unchanged, and use the rotation angles of other robotic arms as unknowns; S2, the distance sensor (5) measures the distance d of the next target point; S3, keep fine-tuning the current rotation angle of the robotic arm, solve the motion control equation, and determine the rotation angles of the other robotic arms except the top robotic arm; S4, determine whether d≥d0 is established. If so, start from the bottom robot arm and adjust the rotation angle of each robot arm from bottom to top to the calculated value. Otherwise, start from the robot arm below the fine-tuning robot arm and adjust the rotation angle of each robot arm from top to bottom to the calculated value. S5, the pressure sensor (6) measures the pressure N and determines whether N≥N0 is established. If so, the posture of the fine-tuning robot arm is maintained and the process proceeds to step S7; otherwise, the process proceeds to step S6; S6, changing the rotation angle of the fine-tuning mechanical arm to increase it by a fine-tuning angle Δβ, judging whether N increases, if so, continuing to increase the rotation angle of the fine-tuning mechanical arm by a fine-tuning angle Δβ, and returning to step S3, otherwise changing the rotation angle of the fine-tuning mechanical arm to reduce it by two fine-tuning angles Δβ, and returning to step S3; S7, determine whether the current target point is the end point, if so, execute step S9, otherwise execute step S8; S8, update d0=d, and execute step S2; S9, controlling each robot arm to move to an initial state.

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