A control method for a new multi-structure columnar telescopic mechanism with high seismic resistance and high precision

Abstract

The present invention belongs to the technical field of telescopic robotic arms, and specifically discloses a control method for a new multi-structure columnar telescopic mechanism with high seismic resistance and high precision. The telescopic mechanism includes a primary telescopic arm, a secondary telescopic arm is arranged inside the primary telescopic arm, and a tertiary telescopic arm is arranged inside the secondary telescopic arm, and it includes the following steps: Step 1, use a distance sensor to measure the distance between the top end of the tertiary telescopic arm and the target, and set the elongation of the telescopic mechanism; Step 2, control the driving device to drive the secondary telescopic arm and the tertiary telescopic arm to extend to the set position; Step 3, when working, the target applies pressure to one end of the tertiary telescopic arm away from the secondary telescopic arm, the tertiary telescopic arm shortens under the pressure, and then control the shock absorption device to perform shock absorption so that the tertiary telescopic arm returns to the set position.

Description

Technical Field

[0001] The present invention belongs to the technical field of telescopic robotic arms, and particularly relates to a control method for a new multi-structured columnar telescopic mechanism with high seismic resistance and high precision. Background Art

[0002] When a robot performs operations with high impact and high vibration, such as when an excavator uses a robotic arm to dig relatively heavy mud and stones or renovate a road, the robotic arm of the robot will receive a large impact and high-frequency vibration due to the reaction force. The structures of traditional robotic arms are simply snap-type or fixed-connection structures, and these structures are prone to loosening or even breaking at the connection structure under the condition of large impact or high-frequency vibration, seriously affecting the normal operation of the robot. Summary of the Invention

[0003] The purpose of the present invention is to provide a control method for a new multi-structured columnar telescopic mechanism with high seismic resistance and high precision.

[0004] Based on the above purpose, the present invention adopts the following technical solutions:

[0005] A control method for a new multi-structured columnar telescopic mechanism with high seismic resistance and high precision, wherein the telescopic mechanism includes a primary telescopic arm, a secondary telescopic arm is arranged inside the primary telescopic arm, and a tertiary telescopic arm is arranged inside the secondary telescopic arm. Both the secondary telescopic arm and the tertiary telescopic arm include a square support base plate and a telescopic barrel. The telescopic barrel is a hollow structure with an opening at one end far from the support base plate; the telescopic mechanism includes a shock-absorbing device, and the shock-absorbing device includes three spiral arm motors fixedly arranged on the support base plate. There is an angle between the spiral arm motors and the length direction of the telescopic barrel. A spiral driving arm is fixedly connected to the rotating shaft of each spiral arm motor, and the end of the driving arm far from the spiral arm motor is rotatably connected to the bottom end of the telescopic barrel; the control method includes the following steps:

[0006] Step 1, use a distance sensor to measure the distance between the top end of the tertiary telescopic arm and the target, and set the elongation of the telescopic mechanism.

[0007] Step 2, control the driving device to drive the secondary telescopic arm and the tertiary telescopic arm to extend to the set position.

[0008] Step 3, when working, the target applies a pressure to the end of the tertiary telescopic arm far from the secondary telescopic arm. After the tertiary telescopic arm is subjected to the pressure, it shortens, and then control the shock-absorbing device to perform shock absorption to reset the tertiary telescopic arm to the set position.

[0009] Further, in step 3, the method of controlling the shock absorber is as follows: Use a force sensor to measure the force information of the third-stage telescopic arm, calculate the instantaneous acceleration of the third-stage telescopic arm based on the force information. When the instantaneous acceleration is less than or equal to 10 m / s^2, control the shock absorber to drive the third-stage telescopic arm to extend; when the instantaneous acceleration is greater than 10 m / s^2, control the shock absorber to drive the third-stage telescopic arm and the second-stage telescopic arm to extend together.

[0010] Further, in step 3, the method of controlling the shock absorber to drive the third-stage telescopic arm to extend is as follows: The spiral arm motor on the third-stage telescopic arm rotates and drives the drive arm to rotate. After the drive arm rotates, it drives the telescopic barrel of the third-stage telescopic arm to extend.

[0011] Further, in step 3, the method of controlling the shock absorber to drive the second-stage telescopic arm to extend is as follows: The spiral arm motor on the second-stage telescopic arm rotates and drives the drive arm to rotate. After the drive arm rotates, it drives the telescopic barrel of the second-stage telescopic arm to extend. The telescopic barrel of the second-stage telescopic arm drives the third-stage telescopic arm to extend through a steel wire rope.

[0012] Further, the shock absorber includes a buffer spring connected between the support barrel and the support bottom plate. In step 3, the process of the third-stage telescopic arm shortening under force is as follows: The telescopic barrel of the third-stage telescopic arm is subjected to force and compresses the buffer spring. At the same time, the telescopic barrel drives the end of the drive arm connected to it to move downward, and the drive arm drives the shaft of the spiral arm motor to rotate.

[0013] Further, the driving device includes a driving spool and a driven spool respectively arranged at both ends of the first-stage telescopic arm, and also includes a driving spool and a driven spool respectively arranged at both ends of the second-stage telescopic arm. Steel wire ropes are sleeved on both the driving spool and the driven spool, and driving motors are connected to the driving spools. In step 2, the method of controlling the driving device to drive the second-stage telescopic arm and the third-stage telescopic arm to extend to a set position is as follows: Measure the distance between the top of the third-stage telescopic arm and the target. When the distance is greater than 0.5 m, control the third-stage telescopic arm and the second-stage telescopic arm to extend simultaneously; when the distance is less than or equal to 0.5 m, only control the third-stage telescopic arm to extend.

[0014] Further, in step 2, the method of controlling the third-stage telescopic arm to extend is as follows: Control the driving motor on the second-stage telescopic arm to start. The driving motor drives the driving spool to rotate. The driving spool drives the steel wire rope to rotate around the driving spool and the driven spool. The steel wire rope connected to the second-stage telescopic arm drives the third-stage telescopic arm to extend.

[0015] Further, in step 2, the method for controlling the elongation of the secondary telescopic arm is as follows: Start the drive motor on the primary telescopic arm. The drive motor drives the active spool to rotate. The active spool drives the wire rope to rotate around the active spool and the passive spool. The wire rope connected to the primary telescopic arm drives the secondary telescopic arm to elongate, and the secondary telescopic arm drives the tertiary telescopic arm to elongate. Finally, the tertiary telescopic arm is elongated to the set distance.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. The present invention measures the distance between the tertiary telescopic arm and the target in real time. When the distance is large, it drives the secondary telescopic arm and the tertiary telescopic arm to elongate together, thereby driving the rapid elongation of the tertiary telescopic arm and quickly approaching the target. When the distance is small, only the tertiary telescopic arm is controlled to elongate, reducing the elongation speed of the tertiary telescopic arm and making the elongation amount of the tertiary telescopic arm more accurate.

[0018] 2. The present invention drives the drive arm through the vibration motor to elongate the telescopic barrel to offset the reaction force transmitted from the target object, and cooperates with the corresponding buffer spring to offset the vibration from the outside as much as possible, ensuring the precise contact between the top of the tertiary telescopic arm and the target object or ensuring a fixed relative position, and enabling the telescopic mechanism to work stably. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of the telescopic mechanism according to Embodiment 1 of the present invention;

[0020] Figure 2 It is a schematic principle diagram of the telescopic mechanism according to Embodiment 1 of the present invention;

[0021] Figure 3 It is a schematic diagram of the control method of the telescopic mechanism according to Embodiment 1 of the present invention.

[0022] In the figure: primary telescopic arm 1, support bottom plate 2, telescopic barrel 3, buffer spring 4, active spool 5, passive spool 6, wire rope 7, spiral arm motor 8, drive arm 9, rotating connector 10. Detailed Embodiments

[0023] Embodiment 1

[0024] A new type of multi-structured columnar telescopic mechanism with high seismic resistance and high precision, as Figure 1As shown in the figure, it includes a first-stage telescopic arm 1. A second-stage telescopic arm is arranged inside the first-stage telescopic arm 1, and a third-stage telescopic arm is arranged inside the second-stage telescopic arm. Both the second-stage telescopic arm and the third-stage telescopic arm include a square support bottom plate 2 and a telescopic barrel 3. The telescopic barrel 3 is a square hollow structure with an opening at one end far from the support bottom plate 2. The telescopic mechanism further includes a driving device and a shock-absorbing device; the driving device includes a driving spool 5 and a driven spool 6 respectively arranged at both ends of the first-stage telescopic arm 1, and also includes a driving spool 5 and a driven spool 6 respectively arranged at both ends of the second-stage telescopic arm; steel wire ropes 7 are sleeved on both the driving spool 5 and the driven spool 6, and driving motors are connected to the driving spool 5. The driving spool 5 and the driven spool 6 are connected to the left and right sides of the first-stage telescopic arm 1 respectively, and the driving motors on both sides of the first-stage telescopic arm 1 are the left first-stage driving motor and the right first-stage driving motor respectively. The driving spool 5 and the driven spool 6 are connected to the front and back sides of the second-stage telescopic arm respectively, and the driving motors on both sides of the second-stage telescopic arm are the front first-stage driving motor and the rear first-stage driving motor respectively.

[0025] The shock-absorbing device includes three spiral arm motors 8 fixedly arranged on the support bottom plate 2. The spiral arm motors 8 are evenly distributed around the center of the support bottom plate 2; there is an included angle between the spiral arm motors 8 and the length direction of the telescopic barrel 3, that is, the axis of the spiral arm motor 8 is not parallel to the length direction of the telescopic barrel 3, and the axis of the spiral arm motor 8 is obliquely upward; a spiral driving arm 9 is fixedly connected to the rotating shaft of each spiral arm motor 8. The end of the driving arm 9 far from the spiral arm motor 8 is rotatably connected to the bottom end of the telescopic barrel 3. A rotating connecting piece 10 is arranged between the driving arm 9 and the telescopic barrel 3 to connect the two. The rotating connecting piece 10 is rotatably connected to the telescopic barrel 3 and rotates around the center line in the length direction of the telescopic barrel 3. A bearing can be used to connect the rotating connecting piece 10 and the telescopic barrel 3, and the axis of the bearing is the center line in the length direction of the telescopic barrel. The rotating connecting piece 10 can use a universal joint to enable the driving arm 9 to rotate in any direction; the driving arm 9 is made of an elastic material. The shock-absorbing device further includes a buffer spring 4 connected between the support barrel and the support bottom plate 2. The spiral arm motor 8 inside the second-stage telescopic arm is a first-second spiral arm motor 8, and the spiral arm motor 8 inside the third-stage telescopic arm is a second-third spiral arm motor 8.

[0026] A control method for a new multi-structured columnar telescopic mechanism with high earthquake resistance and high precision, as Figures 2 - 3 shown, includes the following steps:

[0027] Step 1, use a distance sensor to measure the distance between the top of the third-stage telescopic arm and the target, and set the elongation of the telescopic mechanism.

[0028] Step 2, control the driving device to drive the second-stage telescopic arm and the third-stage telescopic arm to extend to the set position. Measure the distance between the top of the third-stage telescopic arm and the target. When the distance is greater than 0.5 m, control the third-stage telescopic arm and the second-stage telescopic arm to extend simultaneously; when the distance is less than or equal to 0.5 m, only control the third-stage telescopic arm to extend.Figure 2 Point A is the point where the support base plate 2 of the secondary telescopic arm is connected to the steel wire rope 7 on the primary telescopic arm 1. Point B is the point where the support base plate 2 of the tertiary telescopic arm is connected to the steel wire rope 7 on the secondary telescopic arm. Point C is a point on the steel wire rope 7 of the secondary telescopic arm. Point D is a point on the passive spool 6 of the secondary telescopic arm.

[0029] The method for controlling the extension of the tertiary telescopic arm is as follows: Control the driving motor on the secondary telescopic arm to start. The driving motor drives the active spool 5 to rotate. The active spool 5 drives the steel wire rope 7 to rotate around the active spool 5 and the passive spool 6. The steel wire rope 7 connected to the secondary telescopic arm drives the tertiary telescopic arm to extend (rise). Point B moves upward, the distance between B and D decreases, and at the same time, the distance between C and D increases.

[0030] The method for controlling the extension of the secondary telescopic arm is as follows: Control the driving motor on the primary telescopic arm 1 to start. The driving motor drives the active spool 5 to rotate. The active spool 5 drives the steel wire rope 7 to rotate around the active spool 5 and the passive spool 6. The steel wire rope 7 connected to the primary telescopic arm 1 drives the secondary telescopic arm to extend (rise). Point A moves upward, and the secondary telescopic arm drives the tertiary telescopic arm to extend; finally, the tertiary telescopic arm extends to the set distance.

[0031] Step 3: The tertiary telescopic arm is stressed and shortened, and the shock absorption device is controlled to absorb shock. The telescopic barrel 3 of the tertiary telescopic arm is stressed and compresses the buffer spring 4. At the same time, the telescopic barrel 3 drives one end of the driving arm 9 connected to it to move downward, and the driving arm 9 drives the shaft of the spiral arm motor 8 to rotate. Use a force sensor to measure the force information of the tertiary telescopic arm, calculate the instantaneous acceleration of the tertiary telescopic arm according to the force information. When the instantaneous acceleration is less than or equal to 10 m / s^2, control the shock absorption device to drive the tertiary telescopic arm to extend; when the instantaneous acceleration is greater than 10 m / s^2, control the shock absorption device to drive the tertiary telescopic arm and the secondary telescopic arm to extend together.

[0032] The method for controlling the shock absorption device to drive the tertiary telescopic arm to extend is as follows: The spiral arm motor 8 on the tertiary telescopic arm rotates and drives the driving arm 9 to rotate. After the driving arm 9 rotates, it drives the telescopic barrel 3 of the tertiary telescopic arm to extend. The method for controlling the shock absorption device to drive the secondary telescopic arm to extend is as follows: The spiral arm motor 8 on the secondary telescopic arm rotates and drives the driving arm 9 to rotate. After the driving arm 9 rotates, it drives the telescopic barrel 3 of the secondary telescopic arm to extend. The telescopic barrel 3 of the secondary telescopic arm drives the tertiary telescopic arm to extend through the steel wire rope 7.

Claims

1. A control method for a new multi - structure columnar telescopic mechanism with high seismic resistance and high precision. The telescopic mechanism includes a first - stage telescopic arm, a second - stage telescopic arm is arranged inside the first - stage telescopic arm, and a third - stage telescopic arm is arranged inside the second - stage telescopic arm. Both the second - stage telescopic arm and the third - stage telescopic arm include a square support bottom plate and a telescopic barrel. The telescopic barrel is a hollow structure with an opening at one end far from the support bottom plate. It is characterized in that, The telescopic mechanism further includes a shock-absorbing device. The shock-absorbing device includes three spiral arm motors fixedly arranged on the support bottom plate. There is an angle between the spiral arm motors and the length direction of the telescopic barrel. A spiral driving arm is fixedly connected to the rotating shaft of each spiral arm motor. The end of the driving arm far from the spiral arm motor is rotatably connected to the bottom end of the telescopic barrel. The shock-absorbing device includes a buffer spring connected between the support barrel and the support bottom plate. The driving arm is made of an elastic material. The driving device includes a driving spool and a driven spool respectively arranged at both ends of the first-stage telescopic arm, and also includes a driving spool and a driven spool respectively arranged at both ends of the second-stage telescopic arm. Steel wire ropes are sleeved on both the driving spool and the driven spool. A driving motor is connected to each driving spool. The control method includes the following steps: Step 1: Use a distance sensor to measure the distance between the top end of the third-stage telescopic arm and the target, and set the elongation of the telescopic mechanism. Step 2: Control the driving device to drive the second-stage telescopic arm and the third-stage telescopic arm to extend to the set position. Step 3: During operation, the target applies a pressure to the end of the third-stage telescopic arm far from the second-stage telescopic arm. After the third-stage telescopic arm is subjected to the pressure, it shortens. Then, control the shock-absorbing device to perform shock absorption to reset the third-stage telescopic arm to the set position. The process of the third-stage telescopic arm shortening under force is as follows: The telescopic barrel of the third-stage telescopic arm is subjected to force and compresses the buffer spring. At the same time, the telescopic barrel drives the end of the driving arm connected to it to move downward, and the driving arm drives the shaft of the spiral arm motor to rotate.

2. The control method for the new multi - structure columnar telescopic mechanism with high seismic resistance and high precision according to claim 1, characterized in that, In Step 3, the method of controlling the shock-absorbing device to perform shock absorption is as follows: Use a force sensor to measure the force information of the third-stage telescopic arm, calculate the instantaneous acceleration of the third-stage telescopic arm according to the force information. When the instantaneous acceleration is less than or equal to 10 m / s^2, control the shock-absorbing device to drive the third-stage telescopic arm to extend; when the instantaneous acceleration is greater than 10 m / s^2, control the shock-absorbing device to drive the third-stage telescopic arm and the second-stage telescopic arm to extend together.

3. The control method for the new multi - structure columnar telescopic mechanism with high seismic resistance and high precision according to claim 2, characterized in that, In Step 3, the method of controlling the shock-absorbing device to drive the third-stage telescopic arm to extend is as follows: The spiral arm motor on the third-stage telescopic arm rotates and drives the driving arm to rotate. After the driving arm rotates, it drives the telescopic barrel of the third-stage telescopic arm to extend.

4. The control method for the new multi - structure columnar telescopic mechanism with high seismic resistance and high precision according to claim 3, characterized in that, In Step 3, the method of controlling the shock-absorbing device to drive the second-stage telescopic arm to extend is as follows: The spiral arm motor on the second-stage telescopic arm rotates and drives the driving arm to rotate. After the driving arm rotates, it drives the telescopic barrel of the second-stage telescopic arm to extend. The telescopic barrel of the second-stage telescopic arm drives the third-stage telescopic arm to extend through the steel wire rope.

5. The control method for the new multi - structure columnar telescopic mechanism with high seismic resistance and high precision according to any one of claims 1 - 4, characterized in that, In Step 2, the method of controlling the driving device to drive the second-stage telescopic arm and the third-stage telescopic arm to extend to the set position is as follows: Measure the distance between the top end of the third-stage telescopic arm and the target. When the distance is greater than 0.5 m, control the third-stage telescopic arm and the second-stage telescopic arm to extend simultaneously. When the distance is less than or equal to 0.5 m, only control the third-stage telescopic arm to extend.

6. The control method for the new multi - structure columnar telescopic mechanism with high seismic resistance and high precision according to claim 5, characterized in that, In Step 2, the method of controlling the third-stage telescopic arm to extend is as follows: Control the driving motor on the second-stage telescopic arm to start. The driving motor drives the driving spool to rotate. The driving spool drives the steel wire rope to rotate around the driving spool and the driven spool. The steel wire rope connected to the second-stage telescopic arm drives the third-stage telescopic arm to extend.

7. The control method for the new multi - structure columnar telescopic mechanism with high seismic resistance and high precision according to claim 6, characterized in that, In step 2, the method for controlling the extension of the secondary telescopic arm is as follows: control the driving motor on the primary telescopic arm to start. The driving motor drives the driving spool to rotate, and the driving spool drives the wire rope to rotate around the driving spool and the driven spool. The wire rope connected to the primary telescopic arm drives the secondary telescopic arm to extend, and the secondary telescopic arm drives the tertiary telescopic arm to extend; ultimately, the tertiary telescopic arm extends to the set distance.

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