A control method of a dual-arm cooperative flexible cable parallel hoisting robot

Abstract

A double-arm cooperative flexible cable parallel hoisting robot, comprising a base, a support plate, a lifting arm, a tail arm, a lifting hook, a pulley and a rolling machine; wherein the support plate is installed on the base; the pulley and the lifting hook are arranged on the lifting arm, and the rolling machine is arranged on the tail arm, the lifting hook is connected to the rolling machine on the tail arm through the rope and the pulley on the lifting arm; in addition, a push rod, two connecting sleeves, two lifting arms and two tail arms are arranged; wherein the support plate carries the two lifting arms and the two tail arms; each lifting arm and tail arm is connected by a connecting sleeve; the push rod is arranged between the tail arms; the push rod is used to control the opening angle of the lifting arm. The running state of each sensor, the monitoring data and the three-dimensional environmental model image of the load can be displayed on the man-machine interactive interface in real time, and the hoisting state can be monitored, debugged, processed and safely controlled comprehensively, easily and timely.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent robots, and particularly relates to a dual-arm cooperative flexible cable parallel hoisting robot and a control method thereof. BACKGROUND

[0002] The hoisting robot (hoist) is a common name of the crane, and has a wide application in a series of industrial products such as ships, equipment, machines and molds. With the development of social science and technology, the types and application scenarios of the hoist are more and more, and the size, shape and mass of the required load are different. The current hoist is mostly a single-arm hoist, which has poor carrying capacity, and when hoisting a relatively complex and unbalanced object, an auxiliary device, i.e. a hoisting frame, needs to be connected with the object, which plays a role in keeping the hoisted object balanced during hoisting, and then is connected with the hook of the hoist. This is time-consuming and laborious to use, and has great limitations.

[0003] At present, the hoisting robot has various types in the field of intelligent robots. Although the single-arm hoist has a simple structure and is easy to operate, its carrying capacity is relatively poor, and it is very difficult to hoist a large unbalanced object, and a hoisting frame needs to be used. Moreover, the length of the hoisting arm of some small hoists is designed to be fixed, and the working space is very limited. There are also multiple hoists used for cooperation in hoisting, but in this case, the structure of the hoist is relatively complex, the hoisting space is large, and the control difficulty of the hoist during work is very large.

[0004] Through patent retrieval, the following known technical solutions exist:

[0005] Patent 1, a dual-arm hoist for building construction with the application number of 201621391626.0, mainly relates to a manual hoist, although the dual-arm manual hoist has a rotatable angle, the efficiency and service life of the work are increased, but the two arms are not connected, the two arms are easy to rotate randomly during hoisting, the stability is poor, and the rotation space of the hoisting arm is limited, which reduces the working space.

[0006] Patent 2, a multi-crane cooperative operation auxiliary hoisting device and method with the application number of 201510262833.X. By increasing the number of the same cranes to cooperate in hoisting the load, the multi-crane large working space hoisting is realized without increasing the length of the hoisting arm, the anti-instability ability and hoisting stability of the crane are increased, and the hoisting efficiency is improved. However, when multiple machines work cooperatively, the control of each crane needs to be very accurate, and the control difficulty is large. Moreover, when hoisting a large object, each crane needs to be separated by a proper distance, which will result in that the whole device occupies a large space, and the working scene is limited.

[0007] Due to the above problems of the mentioned crane, in order to ensure that a crane can work accurately, simply and reliably, a double-arm cooperative flexible cable parallel hoisting robot is designed to solve the above problems, so that the hoisting process can be stable, safe and fast. SUMMARY

[0008] The present application is to overcome the deficiencies of the prior art, and provides a design method of a double-arm cooperative flexible cable parallel hoisting robot and a control method thereof. The characteristics are that it does not occupy a large space, the working space is large, the double-arm is stable and firm when starting, the structure is simple, the operation is convenient, and the performance is reliable. It can very quickly and accurately implement the lifting work on the object, and can cope with various situations.

[0009] In order to achieve the above purpose, the present application adopts the following design scheme:

[0010] A double-arm cooperative flexible cable parallel hoisting robot, comprising a base, a support plate, a lifting arm, a tail arm, a lifting hook, a pulley and a rolling machine; wherein the support plate is installed on the base; the pulley and the lifting hook are provided on the lifting arm, and the rolling machine is provided on the tail arm, the lifting hook is connected to the rolling machine on the tail arm through the rope and the pulley on the lifting arm; in addition, a push rod, two connecting sleeves, two lifting arms and two tail arms are provided; wherein the support plate carries the two lifting arms and the two tail arms; the connecting sleeves are connected between each lifting arm and tail arm; the push rod is provided between the tail arms; the push rod is used to control the opening angle of the lifting arm.

[0011] Further, the lifting arm is divided into a main arm and a sub-arm, and the extension and retraction of the lifting arm are controlled by a lead screw.

[0012] Further, the base can rotate 360 degrees; a motor and a gear are provided below the base, and the gear is controlled by the motor; one end of the base above is directly connected to the support plate through a hinge, and the other end is connected to the support plate through a hydraulic rod.

[0013] Further, a motor is fixed on the back of the support plate, the motor is connected to the push rod through a lead screw; two symmetrical rotating shafts are provided on the support plate away from the hydraulic rod, and the connecting sleeves are connected to the support plate through the rotating shafts. The connecting sleeve is in direct contact with the support plate, and a cylindrical roller bearing and a thrust ball bearing are provided at the contact position of the two; a fixed sleeve is provided at the middle and top of the connecting sleeve to fix the connecting sleeve to the support plate.

[0014] Further, the connecting sleeve is V-shaped in shape, and an H-shaped groove is provided in the middle; a bearing groove is provided on the surface of the connecting sleeve, and a ball roller bearing is built-in.

[0015] Further, the rolling machine is fixed on the tail arm through a winding drum support; a bearing is arranged in each of the upper and lower ends of the winding drum support, the tail arm is connected with a push rod, and the push rod is connected with a lead screw.

[0016] Further, the lifting arm is divided into a main arm and a sub-arm; the sub-arm is connected with the main arm through a connecting sleeve; the connecting sleeve is provided with an H-shaped groove;

[0017] A pulley support is arranged at the front end of the main arm, and a turning pulley support is arranged at the tail end; the turning pulley support is located in the region where the tail end of the main arm contacts the connecting sleeve; a motor mounted on the main arm drives the lead screw to drive the extension and retraction of the sub-arm.

[0018] Further, a group of sensors are arranged and connected with the control circuit of the crane; the sensors include a wire displacement sensor, an angular velocity sensor, a grating displacement sensor, a force sensor, a visual sensor and a laser ranging sensor; wherein,

[0019] The wire displacement sensor is mounted on the driving mechanism of the rope, the angular velocity sensor is mounted on the driving device of the lifting arm, the driving device of the base and the rotating shaft between the two lifting arms; the grating force sensor is mounted on the hydraulic rod; the force sensor is mounted on the rope; the visual sensor is arranged on the base, and the laser ranging sensor is arranged on the hook.

[0020] A control method of a double-arm cooperative flexible cable parallel hoisting robot, in the hoisting process, the longitudinal attitude of the load is changed through the length difference of the two ropes, and the lateral attitude of the load is changed through the length difference of the two lifting arms;

[0021] At the same time of the change of the rope length and the lifting arm length, the included angle between the two lifting arms also changes at any time, so that the rope is always perpendicular to the ground, ensuring that the rope will not be too far away from the pulley, ensuring the safety, and also making the control accuracy higher;

[0022] After the final placement attitude and position of the load are determined, the load is lowered, and the hoisting operation is ended.

[0023] Further, a control method of a double-arm cooperative flexible cable parallel hoisting robot, through the data feedback by the sensors, before the crane works, first, the tension test is carried out, when the density of the hoisted object is uniform but the shape is irregular, or the shape is regular but the mass is unbalanced:

[0024] If the force difference between the two ropes is within the expected value, the hoisting is continued; the expected value is 50N-100N;

[0025] If the expected value is exceeded, the LED real-time indicator light will flash, the alarm system will stop lifting, and then, under the operation of the human, the position of the hook on the load body is replaced until the force difference of the two ropes is within the set range; subsequently, the lifting is manually controlled or the parameters are input automatically in the control end of the lifting robot.

[0026] Compared with the prior art, the present application has the following beneficial effects:

[0027] Firstly, the double-arm cooperative lifting robot has two lifting arms, which can constitute a flexible cable parallel mechanism. When the two lifting arms are lifting, they can lift the same object (at both ends), so that the two lifting arms share the gravity of the load during work, and the force on each lifting arm is relatively reduced. Moreover, the posture of the load body can be controlled by the relaxation of the two ropes and the extension and retraction of the lifting arms during lifting, and the whole lifting operation becomes simple, stable and safe through the cooperative control of the included angle between the two lifting arms.

[0028] Secondly, the support part is supported by a support plate and fixed on the support plate by a special connecting sleeve. The middle and top of the fixing sleeve are provided with fixing sleeves to achieve the effect of strengthening the fixation. The movement of the lifting arm relies on the bottom turntable on one hand and the push rod to push the tail arm on the other hand, so that the two lifting arms rotate around their respective axes. At the same time, since the push rod and the lifting arm form a triangular structure, they have strong anti-interference ability, stability and safety during lifting operation.

[0029] Finally, the lifting arm is divided into a main arm and a sub-arm, and the movement of the sub-arm relies on a lead screw, which not only greatly reduces the stress on the main arm, but also makes the position of the lifting arm more accurate. At the same time, due to the existence of the connecting sleeve, the overall structure of the double arms is similar to a compass, so that the whole lifting arm will rotate a large angle as long as the tail arm rotates a little, greatly reducing the occupied space of the device while increasing its working space. It is more practical.

[0030] Through the feedback fusion of information collected by various sensors, the mechanism parameters of the double-arm cooperative flexible cable parallel lifting robot can be effectively controlled, the two ropes and the double arms can be coordinated to operate to complete the high-performance motion output of large load operation and large working space, and the high precision and high stability of the motion of the load body can be realized.

[0031] The control mode composed of a main control industrial computer, a motion control board and a communication device has the advantages of fast system response speed, strong information processing capacity and good reliability; the force sensor and proximity sensor used in the system can monitor the cable tension and the obstacle avoidance and impact prevention of the heavy block movement, thereby greatly improving the movement flexibility, stability and accuracy of the dual-arm cooperative cable parallel hoisting robot; the visual sensor can more clearly and accurately identify the current load body pose. Meanwhile, through the collection, analysis and processing of the sensor information on each end effector, and through the communication device, the running state of each sensor and the monitoring data and the three-dimensional environmental model image of the load can be displayed on the man-machine interactive interface in real time, so that the hoisting state can be comprehensively and easily monitored, debugged and safely controlled in real time. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is the total assembly drawing of the dual-arm cooperative cable parallel hoisting robot in a non-working state of the present application;

[0033] Figure 2 is the assembly drawing of the dual-arm cooperative cable parallel hoisting robot in a working state of the present application;

[0034] Figure 3 is a structure schematic view of a connecting sleeve of the present application;

[0035] Figure 4 is a schematic view of a lifting arm of the present application;

[0036] Figure 5 is a schematic view of a tail arm part of the present application;

[0037] Figure 6 is a schematic view of a hoist mechanism of the present application;

[0038] Figure 7 is a schematic view of a push rod mechanism of the present application;

[0039] Figure 8 is a schematic view of a rotating base structure of the present application;

[0040] Figure 9 is a block diagram of a control system of the present application;

[0041] Figure 10 is a work flow chart of the present application.

[0042] In the diagram: 1. Fixed frame; 2. Base; 3. Bearing seat; 4. Hydraulic rod; 5. Support plate; 6. Hook; 7. Tail boom; 8. Push rod; 9. Winching mechanism; 10. Connecting sleeve A10 (V-shaped); 11. Rotating pulley frame; 12. Boom; 13. Rope; 14. Pulley frame; 15. Load; 101. Fixing screw; 102. Pressure cap; 103. Deep groove ball bearing; 104. Screw A105; 106. Fixing sleeve; 201. Servo motor; 202. Main boom; 203. Main boom motor frame; 204. Screw C204; 205. Auxiliary boom; 206. Hook pulley; 207. Main boom cap; 208. Lead screw A208; Lead screw slider; 209. Connecting sleeve B210; Coupling; 211. Winching motor; 301. Push rod bushing; 302. Screw D3 03, Gear Shaft 304, Helical Gear A 305, Helical Gear B 306, Tail Arm Motor Frame 307, Synchronous Belt 401, Synchronous Belt Pulley 402, Drum Support 403, Bearing 404, Drum 405, Drum Shaft 406, Push Rod Motor 501, Push Rod Motor Frame 502, Connecting Rod 503, Connecting Shaft 504, Push Rod Arm 505, Push Rod Screw Sleeve 506, Screw B 507, Cylindrical Roller Bearing 601, Thrust Ball Bearing 602, Helical Gear C 603, Helical Gear D 604, Base Motor Frame 605, Base Rotary Motor 606. Detailed Implementation

[0043] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0044] like Figure 1 , Figure 2 As shown, the dual-arm collaborative flexible cable parallel lifting robot of this utility model includes a base 2. The base 2 is mounted on a fixed frame 1 via a thrust ball bearing and a deep groove ball bearing. The two bearings are respectively installed in the central circular groove of the fixed frame 1, allowing the base 2 to rotate more stably. The rotation of the base 2 is powered by a servo motor, and the power is transmitted through a helical gear fixed on the central boss of the base 2. Above the base 2, two bearing seats are installed on the left side and are fixed to one side of a support plate 5 via a swivel. On the right side, a hydraulic rod 4 is connected to the bearing seat, and the extension rod of the hydraulic rod 4 is connected to the other side of the support plate 5 via a swivel. The swivel is fixed to the support plate 5 with screws. The hydraulic rod 4 is used to raise the working height of the entire crane. The bearing seat on the right side passes through the perpendicular bisector of the two bearing seats on the left side, and this perpendicular bisector passes through the center of the base 2.

[0045] In the support plate 5 and the base of 2, placed in the support plate 5 is the drive and transmission device of push rod 8, the drive of the mechanism is a push rod motor 501, transmission device is used is the lead screw B507. Push rod 8 through the support plate 5 on the long hole, the upper part is connected to the tail arm 7, the lower part is connected with the slide of the lead screw. Long hole is used to limit the maximum and minimum displacement of push rod 8, so as to realize the limit of the rotation angle of the boom 12. Greatly improve the stability of the whole structure. Through the movement of the lead screw to drive the reciprocating motion of push rod 8, so that the tail arm 7 can rotate around the fixed shaft, so that the boom 12 rotates. There are two symmetrical vertical columns on the support plate 5, which bear two connecting sleeves A10 respectively, which are V-shaped. In the non-working condition, the included angle between the two tail arms 7 is 60 degrees. When the crane works, the push rod 8 pushes the tail arm 7, and the boom 12 opens, and when the final shaping is completed, the two spread angles of the boom 12 are 60 degrees, and the spread angle of the two tail arms 7 is 0 degrees. That is to say, the working angle of the boom 12 of this crane is 0-60 degrees. The boom 12 and the tail arm 7 are connected through the connecting sleeve A10. And through the connection of the thrust ball bearing and the deep groove ball bearing 103, the connecting sleeve A10 is placed on the support plate 5. The connecting sleeve A10 is fixed on the support plate 5 by the top end gland 102 and the middle fixed sleeve 106. The so-called double arm crane is that the whole crane has two booms 12, which are located above the support plate 5 and are symmetrical.

[0046] The boom 12 is divided into two parts, the main arm 202 and the auxiliary arm 205. The main arm 202 and the auxiliary arm 205 are connected through the connecting sleeve B210, and the main arm 202 plays a role in fixing and bearing the whole lifting. The auxiliary arm 205 is connected to the main arm 202 through the motor 201 fixed on the main arm and the lead screw A208, so as to realize the telescopic purpose of the whole boom 12. The pulley frame 14 is arranged at the end of the main arm 202, and the connecting sleeve A10 is provided with a rotating pulley frame 11. The hook 6 is connected to the winch mechanism 9 through the rope 13 and the two pulley frames.

[0047] As Figure 3The connecting sleeve A10 is V-shaped, with an included angle of 75-170 degrees, preferably 120°, 135°, 150° or 165°. This allows the jib 12 to have a good rotation angle with the tail arm 7. Since the jib 12 is longer than the tail arm 7, when the two tail arms 7 are only slightly unfolded, the top of the two jibs 12 is unfolded greatly, which greatly reduces the space occupied by the crane and increases the working space. The connecting sleeve A10 is provided with an H-shaped slot extending through the whole body. This design allows the jib 12 and the tail arm 7 to be clamped in the slot and then fixed by the screw A104, greatly improving the stability of the joint. The upper and lower edges of the connecting sleeve are provided with grooves, and deep groove ball bearings 103 are installed in the grooves.

[0048] As shown in Figure 4 The jib 12 is divided into a main arm 202 and a sub-arm 205, and the main arm 202 is fixed to the connecting sleeve B210 by the screw C204. The main arm 202 and the sub-arm 205 are both composed of two rectangular aluminum plates. The part near the end of the main arm 202 is provided with a motor 201, which is fixed to the middle of each main arm 202 by a motor bracket 203, i.e. the middle of the two aluminum plates. The motor 201 and the lead screw A208 are connected by a shaft coupling 211, and the other end of the lead screw A208 is connected to the main arm cap 207. The main arm cap 207 is fixed to the front end of the main arm 202 by the screw C204. On the one hand, it fixes the other end of the lead screw A208, and on the other hand, it fixes the pulley bracket 14. The sub-arm 205 is connected to the main arm 202 by the connecting sleeve B210. The inside of the connecting sleeve B210 is also H-shaped, and the sub-arm 205 is fixed to the outside of the connecting sleeve B210, and the main arm 202 is fixed in the slot inside. The internal slot also serves as a sliding rail, facilitating the sliding of the sub-arm 205 on the main arm 202. The purpose of the telescopic jib 12 is achieved. The sliding block 209 of the lead screw is fixed in the center of the connecting sleeve B210 by the screw C204. The top end of the sub-arm 205 is provided with a hook pulley 208.

[0049] As shown in Figure 5 The tail arm 7 is fixed to the other end of the connecting sleeve A10. The tail arm 7 is also composed of two rectangular aluminum plates. On the side of the tail arm 7 away from the connecting sleeve, there is a motor 301 that drives the winch mechanism 9, and the motor 301 is fixed to the middle of the tail arm 7 by a motor bracket 307 and a screw D303. On the end close to the connecting sleeve A10, there is a drum bracket 403 fixed by a screw, and a gear shaft 304 penetrates through it. The gear shaft 304 is provided with a helical gear A305, and the power source when lifting the load 15 is transmitted through the helical gear A305 on the gear shaft 304 and the helical gear B306 on the output end of the motor 301.

[0050] As shown in Figure 6As shown, the hoisting mechanism 9 consists of a rope drum 405, a drum support 403, four bearings 404, a gear shaft 304, a drum shaft 406, two synchronous pulleys 402, and a synchronous belt 401. Each drum support 403 has two circular through holes, one for housing the bearings 402, and the other for through which the gear shaft 304 and drum shaft 406 pass. The lower end of the drum support 9 is fixed to the tail arm 7 with screws, while the upper end is where the rope drum 405 is mounted via the drum shaft 406. On the outer side of the drum support 403, two protruding axles secure the synchronous pulleys 402, and the synchronous belt 401 is then mounted on them. The lifting power of the rope 13 is generated by the motor 301 on the tail arm 7, which, through gear transmission and then belt transmission, causes the rope drum 405 to rotate.

[0051] like Figure 7 The diagram shows the structure of push rod 8. The push rod shaft 302 of push rod 8 is fixed to the two tail arms 7 respectively by screws D303. The connecting rod 503 is then connected to the push rod shaft 302 via push rod arms 505, and the connection point is linked together by a connecting shaft 504. The other ends of the two push rod arms 505 are then fixed to the connecting rod 503 via the connecting shaft 504. The other end of the connecting rod 503 is then fixed to the slider of the lead screw below the support plate 5 through an elongated through hole. The movement of the slider drives the movement of push rod 8, thereby rotating the tail arms 7 and achieving the rotation of the entire boom 12. The movement limit of push rod 8 is determined by the lead screw slider and limited by the length of the elongated through hole on the support plate 5.

[0052] like Figure 8 The diagram shows the relationship between the fixed frame 1 and the base 2. A cylindrical roller bearing 601 is fitted onto the shaft of the base 2 and contacts the fixed frame 1 via a thrust ball bearing 602. A helical gear C603 is fixed to the shaft of the base 2. A base motor frame 605 is fixed to the fixed frame, and a base rotary motor 606 is connected to the base motor frame via screws. A helical gear D604 is fixed to the base rotary motor 606, and its end face contacts the helical gear C603.

[0053] The output end of the double-arm cooperative flexible cable parallel hoisting robot is connected with the control circuit of the crane, and various sensors are connected with the feedback input end of the motion control card. The sensors include two wire displacement sensors, four angular velocity sensors, one grating displacement sensor, two force sensors, one vision sensor and two laser ranging sensors. The two wire displacement sensors are installed on the driving mechanism of the cable 13, two of the four angular velocity sensors are installed on the drivers of the hoisting arms 12, one is installed on the driver of the base 2, and one is installed on the rotating shaft of the two hoisting arms 12. The grating displacement sensor is installed on the hydraulic rod 4. The two force sensors are installed on the two cables 13 respectively. The vision sensor is installed on the base 2 near the side of the hydraulic rod 4, and the two laser ranging sensors are installed on the two hooks 6 respectively.

[0054] As shown in Figure 9 The control system of the double-arm cooperative flexible cable parallel hoisting robot includes a main control industrial computer with a communication interface, a motion control card with a communication module, a human-computer interaction interface and a feedback module. The human-computer interaction interface is connected with the main control industrial computer, the main control industrial computer is in communication connection with the motion control card, the input ends of various motor drivers are respectively connected with the motion control card through a CNC bus, and the data output ends of the feedback module including the grating displacement sensor, the laser ranging sensor, the force sensor, the vision sensor, the angular velocity sensor and the wire displacement sensor are respectively connected with the feedback input end of the motion control card. The two wire displacement sensors are installed on the driving mechanism of the cable 13, two of the four angular velocity sensors are installed on the drivers of the hoisting arms 12, one is installed on the driver of the base 2, and one is installed on the rotating shaft of the two hoisting arms 12. The grating displacement sensor is installed on the hydraulic rod 4. The two force sensors are installed on the two cables 13 respectively. The vision sensor is installed on the base 2 near the side of the hydraulic rod 4, and the two laser ranging sensors are installed on the two hooks 6 respectively.

[0055] The control circuit of the double-arm cooperative flexible cable parallel hoisting robot includes the cable 13 and the hoisting arm 12 control circuit. The circuit is composed of two winch motors 301, two servo motors 201 and motor drivers corresponding to the motors. The circuit controls the relaxation of the cable 13 and the extension and contraction of the hoisting arm 12. The base 2 rotation, support plate 5 amplitude variation and hoisting arm 12 rotation control circuit is composed of a base rotation motor 606, a push rod motor 501, a hydraulic rod 4, corresponding motor drivers and hydraulic valves. The circuit controls the rotation of the base 2, the amplitude variation of the support plate 5 and the rotation between the hoisting arms 12. The input ends of the various motor drivers are respectively connected with the control system of the crane.

[0056] The main control industrial computer, the motion control card, the motor drivers and the feedback module communicate with each other in a serial bus mode to form a communication network system.

[0057] As Figure 10 shown, the control method of the control system of the dual-arm cooperative cable parallel hoisting robot includes the following steps:

[0058] Step one: initialize the system, detect the network communication status between each module, manually input the initial coordinates of the end effector, and perform global path planning according to the final position and load 15 attitude. This operating system can be switched between automatic and manual. When automatic, input parameters through keyboard and mouse; when manual, use joystick for manual operation.

[0059] Step two: turn on the sensor unit, detect the real-time state of various sensors installed on the hoisting robot and feedback various signals, plan the motion trajectory of the end effector, and other sensor feedback signals are displayed and updated in real time on the human-computer interaction interface through the communication device, which is convenient for monitoring and debugging.

[0060] Step three: when the load 15 is pulled by the end effector hook 6, the laser ranging sensor installed on the hook 6 (used to detect the spatial position, position and speed signal of the end effector), the vision sensor installed near the front end of the base 2, i.e. the hydraulic rod 4 (used to detect the attitude of the load 15), and the force sensor installed on the two ropes respectively (used to detect the internal force received on the rope). The measured corresponding data is transmitted to the feedback input end of the motion control card, the motion control card analyzes and processes the measurement data in real time and sends the measurement data to the host control computer through the communication device, and timely displays the data of various sensor signals on the human-computer interaction interface, which is convenient for detection and regulation.

[0061] Step four: the host control computer processes and analyzes various received signals, completes human-computer interaction function and various data calculation, obtains control instructions, and transmits the control instructions to the motion control card through the communication device.

[0062] Step five: the motion control card comprehensively analyzes various received control instructions, calculates control signals, and sends signals to various drive circuits of the hoisting machine respectively, realizes real-time hoisting and releasing of the hoisting machine rope 13, extension and retraction of the hoisting arm 12, rotation of the base 4, opening and closing of the hoisting arm 12, and rotation of the support plate 5. Among them, the rope 13 and the hoisting arm 12 are coordinated to realize high-precision control of the load 15.

[0063] (1) The control method of the extension of the rope 13 and the extension of the boom 12: the force sensor installed on the rope 13 is used to measure the tension of each rope, when starting to lift the complex or unbalanced object, first carry out the lifting test, if the difference of the tension of the two ropes is within the set range, continue to lift, if the difference is too large, the LED real-time indicator will flash, the program will automatically stop lifting. Then calculate the approximate position of the hook 6 to be placed by the computer, and change the position of the hook 6 on the load 15 under the manual operation. The displacement sensor is used to measure the displacement and speed of the rope 13, the angular velocity sensor measures the rotation angle and speed of the screw A208 on the boom 12, and then converts the displacement and speed of the boom 12, the motion control card board controls and processes these signals to form a feedback protection mechanism, so as to realize the stable movement of the rope 13 and the boom 12;

[0064] (2) The control method of the rotation of the base 2, the amplitude change of the support plate 5 and the rotation of the boom 12: the angular velocity sensor measures the rotation angle and speed of the base 2 and the rotation angle and speed of the screw A208 in the boom 12, and then measures the rotation angle and speed between the two booms 12. The grating displacement sensor is used to measure the extension displacement and speed signal of the hydraulic rod 4, and then the signal is converted into the rotation angle and speed of the support plate 5. The motion control card board controls and processes these signals to form a feedback protection mechanism, so as to realize the stability of various mechanical rotation angle and speed.

[0065] The above two modules can operate independently or cooperatively to achieve the highest efficiency according to different implementation tasks.

[0066] Step six: through the installed visual sensor and laser ranging sensor, the signals of monitoring the posture and position of the lifted object can be further transmitted to the feedback input end of the motion control card board in time, the motion control card board processes the measurement data in real time and sends the measurement data to the host control computer through the communication device; through the man-machine interface, the position and posture of the lifted object and the three-dimensional space motion image information can be observed in real time, and corresponding operations can be performed to realize tasks such as pausing and continuing to execute until the lifting work is completed.

[0067] Step seven: after the lifting work is completed, the crane is restored to the initial state, and the power is turned off.

[0068] The host control computer, the motion control board, the drivers and the sensors for feedback communicate in a serial bus mode to form a communication network system. The control method described above includes the control system and the feedback system, which are established based on the network system, and the communication network system provides an indispensable platform for the entire control network.

Claims

1. A control method for a dual-arm collaborative flexible cable parallel lifting robot, the robot comprising a base, a support plate, a boom, a tail boom, a hook, pulleys, and a hoisting mechanism; wherein, A support plate is mounted on a base; pulleys and hooks are provided on the booms, and a rolling mechanism is provided on the tail boom. The hooks are connected to the rolling mechanism on the tail boom via ropes through the pulleys on the booms; the support plate supports two booms and two tail booms; each boom and tail boom are connected by a connecting sleeve A; a push rod is provided between the tail booms; the push rod is used to control the opening and closing angle of the booms; the booms are divided into main booms and auxiliary booms, and the extension and retraction of the booms are controlled by lead screws; the base can rotate 360 ​​degrees; a motor and gears are provided below the base, and the motor is connected to the gears for control; one end of the base is directly connected to the support plate via a hinge, and the other end is connected to the support plate via a hydraulic rod; the robot also includes a main control industrial computer and a human... The system comprises a machine-to-machine interface, motion control board, driver, and feedback module, which communicate with each other via a serial bus to form a communication network system. The feedback module includes sensors and LED indicators and is connected to the crane's control circuit. The aforementioned sensors include a wire displacement sensor, an angular velocity sensor, a grating displacement sensor, a force sensor, a vision sensor, and a laser rangefinder. The wire displacement sensor is mounted on the rope drive mechanism, the angular velocity sensor is mounted on the boom driver, the base driver, and the rotating shaft between the two booms, the grating force sensor is mounted on the hydraulic rod, the force sensor is mounted on the rope, the vision sensor is mounted on the base, and the laser rangefinder is mounted on the hook. Its features include: during the lifting process, the longitudinal posture of the load is changed by the difference in length between the two ropes, and the lateral posture of the load is changed by the difference in length between the two booms; while the rope length and boom length change, the angle between the two booms also changes constantly, ensuring that the ropes are always perpendicular to the ground, preventing the ropes from slipping too far from the pulleys, thus ensuring safety and higher control precision; after determining the final placement posture and position of the load, the load is lowered, and the lifting operation ends. Based on data from sensors, when the suspended object has an irregular shape or is unbalanced, a rope tension test is performed first. If the difference in load-bearing capacity between the two ropes is within the expected value, then continue lifting; this expected value is set between 50N and 100N. If the difference in load-bearing capacity between the two ropes exceeds the expected value, the LED real-time indicator will flash as an alarm, and the system will stop lifting. Then, the distance / position of the hook on the load / lifted object is calculated by computer or / and manually. The position of the hook on the load is then manually changed, and the tension of the ropes is tested again based on the data fed back by the sensors until the difference in load-bearing capacity between the two ropes is within the expected range. Subsequently, the lifting is manually controlled, or the lifting is automatically started by inputting parameters at the control terminal of the lifting robot.

2. The control method for a dual-arm cooperative flexible cable parallel hoisting robot according to claim 1, characterized in that: Follow these steps: Step 1: Initialize the system, check the network communication between modules to see if it is good, manually input the initial coordinates of the end effector, and perform global path planning based on the final position and load posture; Step 2: Activate the sensor unit to detect the real-time status of various sensors installed on the hoisting robot and the feedback signals of various types. Plan the motion trajectory of the end effector and other sensor feedback signals are displayed and updated in real time on the human-machine interface through the communication device for easy monitoring and debugging. Step 3: When the load is pulled, the sensor feeds back data to the main industrial computer and displays it on the human-machine interface in a timely manner; Step 4: The main control industrial computer processes and analyzes various received signals, completes human-machine interaction functions and various data calculations, obtains control commands, and transmits the control commands to the motion control board through the communication device. Step 5: The motion control board comprehensively analyzes the various control commands received, calculates the control signals, and sends the signals to the various drive circuits of the crane to complete the real-time operation of the crane ropes, boom extension and retraction, base rotation, boom opening and closing, and support plate rotation. Among these, the ropes and booms operate in coordination, ultimately achieving high-precision load control. Step Six: The load posture and position signals fed back by the sensors are processed in real time by the motion control card and sent to the main control computer through the communication device. The load posture and three-dimensional motion image information can be observed in real time through the human-machine interface, and corresponding operations can be performed to pause and resume execution until the lifting work is completed. Step 7: After finishing the lifting operation, return the crane to its initial state and turn off the power.

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