A translational mechanism assembly alignment method and system

Abstract

The application provides a translation mechanism assembly alignment method and system, comprising: sampling to obtain the space coordinate information of a steel wire under a static state relative to a scanning area circular coordinate system; self-learning the space coordinate information and converting it into space coordinate information under a rectangular coordinate system as an origin coordinate; real-time sampling of real-time dynamic space coordinate information of the steel wire under a dynamic operation process relative to the scanning area circular coordinate system, and converting it into real-time dynamic space coordinate information of the steel wire relative to a reference point under the rectangular coordinate system with the origin coordinate as the reference point; and automatically controlling the translation mechanism to assemble and align along the XY axis of the rectangular coordinate system. The application greatly increases the alignment accuracy, avoids skewing and oblique hoisting installation operation, effectively solves the fusion of the translation mechanism adjustment and assembly process, and enables the assembly worker to achieve manual alignment by slightly pushing the workpiece, thereby improving the operation efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of auxiliary motion control technology, and relates to a translation mechanism assembly alignment method and system. BACKGROUND

[0002] With the rising cost of labor and the requirement of production efficiency of enterprises, more and more automation equipment has been introduced into enterprises to replace manual operation, thereby improving production efficiency and reducing the production and installation cost of components. In industrial automation production, components often need to be assembled together in a certain orientation. For example, when installing an automobile engine using a traveling crane, the engine needs to be lifted out of the tray first, then translated to a position, and finally lowered onto the mounting base of the vehicle body after multiple fine adjustments. The most time-consuming process in this process is the final fine adjustment, which is also the most critical step. Traditional assembly requires assembly workers to operate in cooperation with drivers, and the operation process cannot be parallel, which greatly reduces the operation efficiency.

[0003] Therefore, how to provide a translation mechanism assembly alignment method and system capable of realizing adaptive assembly fine adjustment is a problem to be solved by those skilled in the art. SUMMARY

[0004] Therefore, the present application provides a translation mechanism assembly alignment method and system to solve the technical problems in the prior art.

[0005] To achieve the above purpose, the present application adopts the following technical solutions:

[0006] The present application discloses a translation mechanism assembly alignment method, and a steel wire rope is hoisted on the translation mechanism, comprising the following steps:

[0007] S1: sampling to obtain spatial coordinate information of the steel wire rope in a circular coordinate system relative to a scanning area in a static state;

[0008] S2: self-learning and calibrating the spatial coordinate information of the steel wire rope cross section in the circular coordinate system in the static state, and converting it into spatial coordinate information of the steel wire rope cross section in a rectangular coordinate system, as the origin coordinate of the dynamic operation process;

[0009] S3: real-time sampling of real-time dynamic spatial coordinate information of the steel wire rope in the circular coordinate system relative to the scanning area in the dynamic operation process, and converting it into real-time dynamic spatial coordinate information of the steel wire rope in the rectangular coordinate system relative to the reference point with the origin coordinate as the reference point;

[0010] S4: automatically controlling the translation mechanism to assemble and align along the XY axis of the rectangular coordinate system according to the real-time dynamic spatial coordinate information of the steel wire rope in the rectangular coordinate system relative to the reference point.

[0011] Preferably, the S1 further comprises a step of determining the limit sampling distance H of the scanning area according to the diameter of the steel wire rope:

[0012]

[0013] wherein D is the diameter of the steel wire rope, θ is the total sampling angle of the scanning area, and N is the number of sampling points under the current scanning frame rate.

[0014] Preferably, in the S1, the steel wire rope is perpendicular to the scanning surface, that is, the sampling tangent is perpendicular to the steel wire rope, and the sampling device is relatively static with the position of the steel wire rope at the outlet.

[0015] Preferably, the S2 comprises:

[0016] S21: selecting the position data of the steel wire rope within the total sampling angle of the scanning area with the position of the sampling device as the origin

[0017] S22: selecting the sampling points within the limit sampling distance of the scanning area, recording the position coordinates of the current sampling point in the polar coordinate system, including the angle of the sampling point and the origin in the polar coordinate system, and the distance of the sampling point from the origin;

[0018] S23: converting the position coordinates of the current sampling point from the polar coordinate system to the rectangular coordinate system as the origin coordinates of the dynamic operation process, which is used as intermediate reference data for calculating the offset angle of the steel wire rope in the dynamic operation process.

[0019] Preferably, the step of converting the position coordinates of the current sampling point from the polar coordinate system to the rectangular coordinate system in the S23 comprises:

[0020]

[0021]

[0022] wherein L xz is the straight-line distance of the sampling point to the Y-axis, L yz is the straight-line distance of the sampling point to the X-axis, α is the angle of the sampling point and the origin in the polar coordinate system, L is the distance of the sampling point from the origin, and θ is the total sampling angle of the scanning area.

[0023] Preferably, the S3 comprises:

[0024] S31: calculating the offset distance of the steel wire rope along the X-axis direction relative to the reference point, and the offset distance of the steel wire rope along the Y-axis direction relative to the reference point,

[0025]

[0026]

[0027] L x = L xz - L xj

[0028] L y = L yj - L yz

[0029] wherein, L xj is the dynamic straight-line distance from the sampling point to the Y-axis, L yj is the dynamic straight-line distance from the sampling point to the X-axis, a is the angle of the sampling point and the origin in the polar coordinate system, L is the distance of the sampling point from the origin, 0 is the total angle of the sampling, L x is the X-axis component offset distance, L y is the Y-axis component offset distance;

[0030] S32: calculating the offset angle by the offset distance of the sampling point in the plane rectangular coordinate system,

[0031] γ x = tan -1 (L x / P)

[0032] γ y = tan -1 (L y / P)

[0033] wherein, P is the length of the sampling point of the steel wire rope to the wire outlet of the steel wire rope, γ x is the offset angle of the sampling point relative to the X-axis, γ y is the offset angle of the sampling point relative to the Y-axis.

[0034] Preferably, before the S4, there is further included a step of judging whether to execute the automatic assembly alignment adjustment:

[0035] setting an automatic assembly identifier T;

[0036] when T = 1, the automatic assembly mode is started, and the S4 is executed; when T = 0, the automatic assembly mode is closed.

[0037] Preferably, the S4 includes:

[0038] calculating the execution speed of the automatic assembly alignment of the translation mechanism according to the offset angle of the sampling point in the plane rectangular coordinate system:

[0039]

[0040]

[0041] wherein, vx is the execution speed of the translation mechanism along the X axis, v y is the execution speed of the translation mechanism along the Y axis, γ x is the offset angle of the sampling point relative to the X axis, γ y is the offset angle of the sampling point relative to the Y axis, K is a proportional coefficient, v nx is the minimum speed of driving the translation mechanism in the X axis direction, v ny is the minimum speed of driving the translation mechanism in the Y axis direction.

[0042] The application further discloses a translation mechanism assembly alignment system, comprising: a translation mechanism, a steel wire rope, a position sensor and a control device.

[0043] The position sensor is arranged on the translation mechanism, and the position sensor is relatively static with the position of the steel wire rope outlet.

[0044] The control device is used for executing the translation mechanism assembly alignment method.

[0045] Preferably, the position sensor comprises a laser radar.

[0046] Via the technical solution, compared with the prior art, the application has the following beneficial effects:

[0047] The application obtains the spatial position of the steel wire rope by scanning the measured steel wire rope, detects and judges the current sling angle through the real-time spatial position of the steel wire rope, obtains the steel wire rope inclination angle through the position sensor when the hoisted article is pushed by the worker for alignment, adjusts the translation mechanism according to the steel wire rope inclination angle, makes the inclination angle zero, and thus completes the automatic alignment process.

[0048] The application can reduce the number of manual operations in the assembly alignment process, avoid the collision problem caused by overshoot, reduce the overall requirement of the operator, automatically execute the installation work by the translation mechanism, avoid the precise alignment process of the operator, greatly increase the alignment accuracy, avoid the skew hoisting installation work, effectively solve the fusion of the translation mechanism adjustment and the assembly process, enable the assembly worker to achieve manual alignment by slightly pushing the workpiece, improve the work efficiency, the hardware sensor structure is simple and convenient to install, and the non-contact sensor has no influence on mechanical movement. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only aim to explain part of the embodiments of the present application, and all other embodiments obtained by a person of ordinary skill in the art without any creative effort belong to the protection scope of the present application.

[0050] Figure 1 The flow chart of the assembly and alignment method of the translation mechanism is provided for an embodiment of the present application.

[0051] Figure 2 The spatial distribution state diagram of the laser radar and the sampling steel wire rope is provided for an embodiment of the present application.

[0052] Figure 3 The horizontal view angle diagram of the scanning direction of the steel wire rope and the laser radar is provided for an embodiment of the present application.

[0053] Figure 4 The overhead view angle diagram of the scanning direction of the steel wire rope and the laser radar is provided for an embodiment of the present application.

[0054] Figure 5 The limit detection distance diagram of the steel wire rope is provided for an embodiment of the present application.

[0055] Figure 6 The enlarged limit detection distance diagram of the steel wire rope is provided for an embodiment of the present application.

[0056] Figure 7 The effective window area of the scanning area is provided for an embodiment of the present application.

[0057] Figure 8 The conversion diagram from the polar coordinate system to the rectangular coordinate system is provided for an embodiment of the present application.

[0058] Figure 9 The real-time inclination angle diagram of the steel wire rope along the X axis is provided for an embodiment of the present application.

[0059] Figure 10 The real-time inclination angle diagram of the steel wire rope along the Y axis is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without any creative effort belong to the protection scope of the present application.

[0061] The first aspect of the present application discloses a translational mechanism assembly alignment method, before executing the method steps, according to Figure 2 The steel wire rope is hoisted on the translational mechanism in the space state shown, and a steel wire rope position sampling device, which can be a position sensor including a laser radar sensor, is installed. The specific implementation includes the following steps:

[0062] S1: Sample to obtain the spatial coordinate information of the steel wire rope in the circular coordinate system relative to the scanning area in the static state;

[0063] S2: Self-learn and calibrate the spatial coordinate information of the steel wire rope cross section in the circular coordinate system in the static state, and convert it into the spatial coordinate information of the steel wire rope cross section in the rectangular coordinate system, as the origin coordinate of the dynamic operation process;

[0064] S3: Real-time sample the real-time dynamic spatial coordinate information of the steel wire rope in the circular coordinate system relative to the scanning area in the dynamic operation process, and convert it into the real-time dynamic spatial coordinate information of the steel wire rope relative to the reference point in the rectangular coordinate system with the origin coordinate as the reference point;

[0065] S4: According to the real-time dynamic spatial coordinate information of the steel wire rope relative to the reference point in the rectangular coordinate system, automatically control the translational mechanism to assemble and align along the XY axis of the rectangular coordinate system.

[0066] In one embodiment, as shown in the specific execution steps: Figure 1 The sampling data of the scanning area in step 1 is provided in frame format, and the frequency of each brand of laser radar is different; steps 2 and 3 are steel wire rope tracking steps, which complete the real-time angle distance stripping of the steel wire rope; step 4 is the position information of the sampling point plane rectangular coordinate system of the steel wire rope in the static state; step 5 is the real-time steel wire rope sampling point plane rectangular coordinate system position information; step 6 is the real-time double mechanism sampling steel wire rope offset when the sampling point in the static state is taken as the origin; step 7 is the inclination of the sampling steel wire rope in each mechanism (X direction mechanism, Y direction mechanism) corresponding to the real-time steel wire rope sampling; step 8 is the assembly mode switch selection; and step 9 is the speed of the double mechanism after the steel wire rope generates an inclination during assembly alignment.

[0067] In one embodiment, S1 further includes the step of determining the limit sampling distance H of the scanning area according to the diameter of the steel wire rope, to determine the installation position of the sensor, i.e., the distance relationship between the sensor and the scanned steel wire rope at the maximum allowable swing angle of the steel wire rope. The limit distance calculation method is as follows:

[0068]

[0069] Wherein, D is the diameter of the steel wire rope, θ is the total angle of the scanning area sampling, and N is the number of sampling points at the current scanning frame rate.

[0070] It should be noted that the farthest sampling steel wire distance of the laser radar is related to the angle resolution of the current frame rate of the laser radar and the diameter of the steel wire (and the light intensity and the reflectivity of the steel wire, but since the sampling point is very close to the laser radar, the reflectivity problem can be ignored), and the angle resolution is Δ θ Since it is necessary to ensure that each laser radar point can sample each steel wire, the sampling interval (i.e., the sampling point) should comply with the Nyquist sampling theorem. Since the distance value of the laser radar ranging is not in the same order of magnitude as the diameter of the steel wire, the steel wire does not consider the arc surface effect. According to the above conditions, the angle resolution Δ of the laser radar can be obtained θ , the sampling limit H of the laser radar when the sampling diameter of the steel wire is L:

[0071]

[0072]

[0073] The formula (1) is obtained by bringing the formula (2) into the formula (3). In the formula (1), H is the farthest sampling point of the laser radar without losing sampling points.

[0074] In one embodiment, S1, a frame of data containing information of the measured steel wire is obtained by scanning using the laser radar. The laser radar needs to be installed vertically to the scanning surface of the laser radar, as shown in Figure 2 : the laser radar sampling tangent and the steel wire are vertically distributed; the laser radar is installed on a translation mechanism, and the sampling device is relatively stationary with the position of the steel wire outlet. The outlet is the fixed connection point of the steel wire and the translation mechanism; the detected steel wire should be within the sampling range of the laser radar.

[0075] The scanning direction of the laser radar needs to be perpendicular to the direction of the steel wire, and at this time the sampling laser point data is the section (cross section) data of the steel wire on the current sampling tangent, which contains the spatial coordinate information of the current steel wire. As shown in Figure 3 : the steel wire and the horizontal view angle of the laser radar scanning direction are shown in the schematic diagram, as shown in Figure 4 : the steel wire and the scanning direction of the laser radar are shown in the schematic diagram, and the shaded area is the scanning range of the laser radar, and the blank area is the scanning blind area of the laser radar. The marked point in the scanning range is the cross section of the steel wire along the scanning section direction. As shown in Figure 5 : the sampled point is located in the scanning area, and the scanning angle is θ; as shown in Figure 6 : the limit sampling distance is H, and when the distance is H, the steel wire at any position can be sampled to at least one effective point, thereby ensuring the continuity and reliability of the sampling.

[0076] In one embodiment, S2 includes:

[0077] S21: Select the steel wire rope position data within the total angle of the scanning area with the position of the sampling device as the origin

[0078] S22: Select the sampling points identified within the limit sampling distance of the scanning area, record the position coordinates of the current sampling point in the polar coordinate system, including the angle of the connecting line between the sampling point and the origin in the polar coordinate system, and the distance of the sampling point from the origin;

[0079] S23: Convert the position coordinates of the current sampling point from the polar coordinate system to the rectangular coordinate system as the origin coordinates of the dynamic operation process, which are used as intermediate reference data for calculating the offset angle of the steel wire rope during the dynamic operation process.

[0080] It should be noted that the laser radar will sample many points of other objects in space, such as walls, goods, and non-target steel wire ropes. In order to find out the data of the target steel wire rope in a frame (and track this point), self-learning and calibration of the steel wire rope in a static state are required, and this self-identification process only needs to be performed once in the self-learning state of the hoist (without shaking). The purpose is to obtain the specific position of the steel wire rope in the laser radar scanning frame in a static state, which is used for angle calculation in the later steps.

[0081] As shown in Figure 7 , W is the farthest sampling distance of the laser radar from the steel wire rope, and Q is the closest sampling distance of the laser radar from the steel wire rope. The system should sample the position of the steel wire rope between Q and W, and the relationship between the maximum sampling distance and the steel wire rope is H>W>Q, and the sampling angle is within . The distance between the laser radar sensor and the sampled steel wire rope should be about Q+W-Q / 2 (i.e. the center of the sampled steel wire rope in the specified area), which can also be used as an index to guide the adjustment of the position of the installed laser radar. Note that there should be no other obstructions in the range area and only the steel wire rope (i.e. pay attention to the obstruction in the actual engineering construction).

[0082] For example, it is necessary to separate the left and right range within the distance Q and W (H>W>Q) of the steel wire rope distribution data in the laser radar data (i.e. the set window data is the above data), as shown in the Figure 7 shadow area in the schematic diagram, which is the set scanning area.

[0083] In specific implementation, the S2 static parameter self-identification method is as follows:

[0084] 1. Select data;

[0085] 2. Select the first point between Q and W in a counterclockwise direction, and record the current point angle and distance;

[0086] 3. Decompose the current point coordinate transformation, i.e. from the polar coordinate system to the XY coordinate system, this data is used as system calibration data, used as intermediate reference data for calculating the angle in the later operation.

[0087] In this embodiment, as shown in Figure 8 , the sampling point distance is L (to distinguish the maximum sampling distance, L is used instead of H here), the sampling angle is a, the total sampling angle of the laser radar is θ, and the corresponding x-axis component after the polar coordinate conversion to the rectangular coordinate system is L xz , and the corresponding y-axis component is L yz . The step of converting the position coordinates of the current sampling point from the polar coordinate system to the rectangular coordinate system in S23 includes:

[0088]

[0089]

[0090] , where L xz is the straight-line distance of the sampling point to the Y-axis, L yz is the straight-line distance of the sampling point to the X-axis, a is the angle of the sampling point and the origin in the polar coordinate system, L is the distance of the sampling point from the origin, and θ is the total sampling angle of the scanning area.

[0091] The above formula considers two cases of the sampling point initially falling in the first quadrant and the second quadrant, and the judgment basis is whether the angle of the current sampling point is greater than half of the sampling angle of the laser radar.

[0092] In the real-time operation dynamic sampling process of S3, the above steps 1, 2, and 3 need to be executed in real time. The difference from static sampling is that the sampling point is in a state of motion in the sampling range, L xz , L yz are not constants.

[0093] In one embodiment, the dynamic real-time plane rectangular coordinate conversion during operation is slightly different from the static state. The coordinate conversion in the static state is to obtain a characteristic point, i.e. the information of the sampling point of the laser radar at this time is this position, and it is fixed and unchanged in the static state. The change value made with reference to the static point in the dynamic real-time reference is that the origin of the dynamic sampling is referenced to the static sampling.

[0094] S3 needs to calculate the current real-time coordinates, and the displacement of the X-axis component is L x , and the displacement of the Y-axis component is L y . These two variables reflect the angle of the displacement of the steel wire along the X direction at the sampling point, and the angle of the displacement of the steel wire along the Y direction at the sampling point. As shown in formulas (6) and (7), specifically including:

[0095] S31: Calculate the offset distance of the steel wire rope along the X-axis direction relative to the reference point, and the offset distance of the steel wire rope along the Y-axis direction relative to the reference point. In actual operation, the real-time component calculation of the X-axis and the Y-axis is shown in formula (4) and formula (5). Formula (6) is the displacement of the current point in the X-axis direction when the reference is stationary; formula (7) is the displacement of the current point in the Y-axis direction when the reference is stationary.

[0096]

[0097]

[0098] L x =L xz -L xj (6)

[0099] L y =L yj -L yz (7)

[0100] wherein, L xj is the dynamic straight line distance of the sampling point to the Y-axis, L yj is the dynamic straight line distance of the sampling point to the X-axis, α is the angle of the sampling point and the origin in the polar coordinate system, L is the distance of the sampling point from the origin, θ is the total angle of the sampling of the scanning area, L x is the X-axis component offset distance, and L y is the Y-axis component offset distance.

[0101] S32: Calculate the offset angle by the offset distance of the sampling point in the plane rectangular coordinate system,

[0102] γ x =tan -1 (L x / P) (8)

[0103] γ y =tan -1 (L y / P) (9)

[0104] wherein, P is the length of the sampling point of the steel wire rope to the wire outlet (the sampling point of the laser radar sampling the steel wire rope to the wire outlet of the fixed pulley), γ x is the offset angle of the sampling point relative to the X-axis, and γ y is the offset angle of the sampling point relative to the Y-axis.

[0105] In one embodiment, before S4, it further includes the step of judging whether to perform automatic assembly alignment adjustment. If yes, it enters S4, otherwise it enters S1:

[0106] The assembly fine-tuning only accounts for a limited part of the whole process, so a switch should be set when the automatic assembly alignment is performed, that is, when the workpiece is manually sent to the assembly range and fine-tuning is needed, the driving control of the mechanism is handed over to the system. A variable should be set as the opening condition during the system execution, and here we set the flag as T. When T = 1, the assembly mode is opened, and when T = 0, the assembly mode is closed. When the assembly mode is opened, S4 is entered, and when the assembly mode is closed, S1 is entered.

[0107] In one embodiment, if the automatic adjustment is opened, the translation double-mechanism moving speed is calculated and executed, and after the end, S4 is entered, including:

[0108] According to the offset angle of the sampling point in the plane rectangular coordinate system, the execution speed of the translation mechanism automatic assembly alignment is calculated:

[0109]

[0110]

[0111] wherein v x is the execution speed of the translation mechanism along the X axis, v y is the execution speed of the translation mechanism along the Y axis, γ x is the offset angle of the sampling point relative to the X axis, γ y is the offset angle of the sampling point relative to the Y axis, K is the proportional coefficient, v nx is the minimum speed of the X axis direction driving translation mechanism, and v ny is the minimum speed of the Y axis direction driving translation mechanism.

[0112] It should be noted that since the displacement generated in the assembly alignment process before assembly is limited, when the angle (the angle is derived from the displacement calculation) is used as a control variable to participate in the control of the mechanism, the variable should be appropriately amplified. For this purpose, we introduce the proportional coefficient K in the system. Because the mechanism has a minimum execution speed when executing, there may be a possibility that the execution mechanism cannot be driven even after the proportional adjustment is added when the angle control is small, so the minimum speed needs to be introduced. Therefore, the minimum execution speed of the mechanism corresponding to the X axis driving is v nx , and the minimum execution speed of the Y axis is v ny . The execution speed of the translation mechanism along the X axis direction is v x , and the execution speed of the translation mechanism along the Y axis direction is v y , and the sign direction of the angle is agreed to be the same as the direction of the movement (that is, the angle in the positive direction corresponds to the positive speed, and the angle in the negative direction corresponds to the negative speed).

[0113] The second aspect of the present application also discloses a translation mechanism assembly alignment system, comprising: a translation mechanism, a steel wire rope, a position sensor and a control device.

[0114] The position sensor is arranged on the translation mechanism, and the position sensor is relatively static with the position of the steel wire rope outlet;

[0115] The control device is used to execute the translation mechanism assembly alignment method disclosed in the first aspect of the present application.

[0116] In one embodiment, the position sensor comprises a laser radar.

[0117] Figures 1-3 And Figure 6 In the figure, 10 is a trolley, 20 is a trolley slide rail, a lifting mechanism drum and a lifting mechanism fixed pulley 40 are arranged in the trolley 10, a lifting hook pulley is hoisted through the steel wire rope 30 below the fixed pulley 40, and the position of the fixed pulley hoisting the steel wire rope is the steel wire rope outlet 90. The trolley 10 bottom is provided with a mounting seat 60 for mounting a laser radar 50, and the laser radar 50 is connected with an external device through a signal line 70. The sampling laser path 80 is perpendicular to the steel wire rope 30 in a static (vertically drooping) state.

[0118] Figures 8-9 In the figure, the position of the steel wire rope 30' is the position in a static state, which is used as real-time alignment reference data of the offset position of the steel wire rope 30 in a dynamic operation process.

[0119] Since the translation mechanism automatically performs translation, if the oblique hoisting process is forcibly installed, the translation mechanism will automatically correct, so that the hoisted workpiece has only a vertical tension, and there is no horizontal component force, thereby improving the safety and reliability of the assembly and improving the operation efficiency. The traditional assembly needs to be matched with the driver operation, and the operation process cannot be parallel. However, the embodiment can effectively solve the fusion of the translation mechanism adjustment and the assembly process, the assembler can realize manual alignment by slightly pushing the workpiece, thereby improving the operation efficiency; the hardware sensor structure is simple and convenient to install, and only a small amount of cost is needed to realize this function; the non-contact sensor has no effect on mechanical movement.

[0120] The translation mechanism assembly alignment method and system provided by the present application are described in detail above, and the principle and implementation mode of the present application are described by applying specific examples in the embodiment. The above embodiment is only used to help understand the method and core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed, and the above description should not be understood as a limitation of the present application.

[0121] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and, while certain embodiments within the scope of the application are submitted as examples, it is the scope of the claims appended hereto that defines the true scope of the application.

Claims

1. A method of assembling a translational mechanism, the translational mechanism hoisting a wire rope, characterized in that, The method comprises the following steps: S1: sampling to obtain the spatial coordinate information of the steel wire rope in the circular coordinate system relative to the scanning area in the static state; S2: self-learning and calibrating the spatial coordinate information of the steel wire rope cross section in the circular coordinate system in the static state, and converting it into the spatial coordinate information of the steel wire rope cross section in the rectangular coordinate system, as the origin coordinate in the dynamic operation process; S21: selecting the position data of the steel wire rope within the total angle of the scanning area for sampling with the position of the sampling device as the origin; S22: selecting the sampling points within the limit sampling distance of the scanning area, recording the position coordinates of the current sampling point in the circular coordinate system, including the angle of the connecting line between the sampling point and the origin in the circular coordinate system, and the distance between the sampling point and the origin; S23: converting the position coordinates of the current sampling point from the circular coordinate system to the rectangular coordinate system, as the origin coordinate in the dynamic operation process, which is used as the intermediate reference data for calculating the offset angle of the steel wire rope in the dynamic operation process; S3: real-time sampling of the real-time dynamic spatial coordinate information of the steel wire rope in the circular coordinate system relative to the scanning area in the dynamic operation process, and converting it into the real-time dynamic spatial coordinate information of the steel wire rope in the rectangular coordinate system relative to the reference point with the origin coordinate as the reference point; S4: automatically controlling the translation mechanism to assemble and align along the XY axis of the rectangular coordinate system according to the real-time dynamic spatial coordinate information of the steel wire rope in the rectangular coordinate system relative to the reference point.

2. The translational mechanism assembly alignment method of claim 1, wherein, The S1 further comprises the step of determining the limit sampling distance H of the scanning area according to the diameter of the steel wire rope: Wherein, D is the diameter of the steel wire rope, θ is the total angle of the scanning area for sampling, and N is the number of sampling points under the current scanning frame rate.

3. The translational mechanism assembly alignment method of claim 1, wherein, In the S1, the direction of the steel wire rope is perpendicular to the scanning surface, that is, the sampling tangent line is vertically distributed with the steel wire rope, and the sampling device is relatively static with the position of the steel wire rope outlet.

4. The translational mechanism assembly alignment method of claim 1, wherein, The step of converting the position coordinates of the current sampling point from the circular coordinate system to the rectangular coordinate system in the S23 comprises: wherein L xz is the straight-line distance of the sampling point to the Y-axis, L yz is the straight-line distance of the sampling point to the X-axis, α is the angle of the sampling point and the origin in the polar coordinate system, L is the distance of the sampling point from the origin, and θ is the total angle of the scanning area sampling.

5. The translational mechanism assembly alignment method of claim 1, wherein, The S3 comprises: S31: calculating the offset distance of the steel wire rope along the X-axis direction relative to the reference point, and the offset distance of the steel wire rope along the Y-axis direction relative to the reference point, Wherein, L xj is the dynamic straight-line distance from the sampling point to the Y axis, L yj is the dynamic straight-line distance from the sampling point to the X axis, α is the angle of the sampling point and the origin in the polar coordinate system, L is the distance of the sampling point from the origin, θ is the total angle of the sampling of the scanning area, L x is the X axis component offset distance, L y is the Y axis component offset distance; S32: calculating the offset angle by the offset distance of the sampling point in the planar rectangular coordinate system, gamma x = tan -1 (L x / P) gamma y = tan -1 (L y / P) Wherein, P is the length from the sampling point of the steel wire rope to the wire outlet, γ x is the offset angle of the sampling point relative to the X axis, γ y is the offset angle of the sampling point relative to the Y axis.

6. The translational mechanism assembly alignment method of claim 1, wherein, The S4 further comprises the step of judging whether to execute the automatic assembly and alignment adjustment: Setting the automatic assembly identifier T; When T=1, the automatic assembly mode is started, and S4 is executed; when T=0, the automatic assembly mode is closed.

7. The translational mechanism assembly alignment method of claim 1, wherein, The S4 comprises: Calculating the execution speed of the automatic assembly and alignment of the translation mechanism according to the offset angle of the sampling point in the planar rectangular coordinate system: wherein v x is the execution speed of the translation mechanism along the X axis, v y is the execution speed of the translation mechanism along the Y axis, γ x is the offset angle of the sampling point relative to the X axis, γ y is the offset angle of the sampling point relative to the Y axis, K is a proportional coefficient, v nx is the minimum speed of the translation mechanism in the X axis direction, v ny is the minimum speed of the translation mechanism in the Y axis direction.

8. A translational mechanism assembly alignment system, comprising: It comprises: A translation mechanism, a steel wire rope, a position sensor and a control device; The position sensor is arranged on the translation mechanism, and the position sensor is relatively static with the position of the steel wire rope outlet; The control device is used to execute the translation mechanism assembly and alignment method in any one of claims 1-7.

9. A translational mechanism assembly alignment system according to claim 8, wherein, The position sensor comprises a laser radar.

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