An adaptive balancing device, method and storage medium for a mobile manipulator

Abstract

The application discloses a kind of self-adaptive balancing device, method and storage medium of mobile mechanical arm, it is related to mechanical arm balance control technical field.Device includes: balancing device and control system;Balancing device is arranged on the mobile chassis of mobile mechanical arm, for adjusting the balance state of the mobile mechanical arm;Control system is used to calculate the center of gravity position of mobile mechanical arm in real time according to multi-axis mechanical arm mass data, balancing device mass data, mobile chassis mass data and mobile chassis inclination data, when judging that the center of gravity position of mobile mechanical arm deviates from preset operation range, timely control balancing device adjusts the center of gravity position of mobile mechanical arm, ensure that mobile mechanical arm is in balanced state.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm balance control, and particularly relates to a self-adaptive balancing device and method of a mobile mechanical arm. BACKGROUND

[0002] The mechanical arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity and strong coupling. Due to its unique operation flexibility, it has been widely used in industrial assembly, safety explosion-proof and other fields. The mechanical arm can be divided into a fixed mechanical arm and a mobile mechanical arm. The fixed mechanical arm works by being fixed on a rack, and the mechanical arm will not fall over due to the shift of the center of gravity. The mobile mechanical arm is usually provided with a small mobile chassis to adapt to flexible material handling and transfer work. When a large heavy workpiece is clamped, the mechanical arm and the mobile chassis are easy to fall over due to the shift of the overall center of gravity, and therefore, counterweights are usually added to prevent the overturning accident caused by the shift of the center of gravity.

[0003] The balancing device of the existing mobile mechanical arm is usually composed of a simple linear motor and a counterweight. The counterweight can only move in a fixed axial direction. When the center of gravity of the mechanical arm, the support point and the center of gravity of the counterweight device are not on a straight line, the balancing effect of the balancing device is poor. SUMMARY

[0004] The present application provides a self-adaptive balancing device and method of a mobile mechanical arm, which solves the technical problem of poor balancing effect of the existing balancing device of the mobile mechanical arm.

[0005] The first aspect of the present application provides a self-adaptive balancing device of a mobile mechanical arm, which is applied to a mobile mechanical arm including a multi-axis mechanical arm and a mobile chassis, and includes a balancing device and a control system.

[0006] The balancing device is arranged on the mobile chassis and is used to adjust the balance state of the mobile mechanical arm.

[0007] The control system is used to determine the center of gravity position of the mobile mechanical arm according to multi-axis mechanical arm mass data, balancing device mass data, mobile chassis mass data and mobile chassis inclination angle data, and to control the balancing device to adjust the balance state of the mobile mechanical arm when the center of gravity position of the mobile mechanical arm exceeds a preset working range.

[0008] Preferably, the balancing device includes a ring-shaped support, a rotating mechanism, a linear mechanism and a counterweight.

[0009] The rotating mechanism is used to control the counterweight to rotate within a preset horizontal range.

[0010] The linear mechanism is used to control the counterweight to move within a preset straight line range.

[0011] The annular support is used for supporting the counterweight.

[0012] Preferably, the multi-axis mechanical arm comprises a gripper sensor, which is used to acquire the mass data of the gripped object.

[0013] Preferably, the multi-axis mechanical arm further comprises a motor rotation angle sensor, which is used to acquire the rotation angle data of the multi-axis mechanical arm and send the rotation angle data of the multi-axis mechanical arm to the control system.

[0014] Preferably, the mobile chassis comprises a chassis gyroscope, which is used to acquire the inclination angle data of the mobile chassis, wherein the inclination angle data of the mobile chassis represents the included angle data between the mobile chassis and the horizontal plane.

[0015] Preferably, the control system comprises a calculation module, a judgment module and a control module.

[0016] The calculation module is used to determine the center of gravity position of the mobile mechanical arm according to the multi-axis mechanical arm mass data, the balancing device mass data, the mobile chassis mass data and the inclination angle data of the mobile chassis, wherein the multi-axis mechanical arm mass data comprises the multi-axis mechanical arm self-mass data and the mass data of the gripped object.

[0017] The judgment module is used to determine the counterweight balance compensation position according to the counterweight mass data, the current position data of the counterweight and the center of gravity position of the mobile mechanical arm when it is judged that the center of gravity position of the mobile mechanical arm exceeds the preset working range.

[0018] The control module is used to control the rotation mechanism and the linear mechanism to move the counterweight to the counterweight balance compensation position.

[0019] Preferably, the mobile chassis comprises a plurality of mobile pulleys, and the preset working range is smaller than the connecting line range of the plurality of mobile pulleys.

[0020] The second aspect of the present application provides a self-adaptive balancing method of a mobile mechanical arm, which is applied to the self-adaptive balancing device of the mobile mechanical arm provided in the first aspect of the present application, and comprises the following steps:

[0021] determining the center of gravity position of the mobile mechanical arm according to the multi-axis mechanical arm mass data, the balancing device mass data, the mobile chassis mass data and the inclination angle data of the mobile chassis;

[0022] judging whether the center of gravity position of the mobile mechanical arm exceeds the preset working range, and if yes, determining the counterweight balance compensation position according to the counterweight mass data, the current position data of the counterweight and the center of gravity position of the mobile mechanical arm.

[0023] The rotating mechanism and the linear mechanism are controlled to move the counterweight to the counterweight balance compensation position.

[0024] Preferably, the moving chassis inclination angle data represents the angle between the moving chassis and the horizontal plane.

[0025] The second aspect of the present application provides a computer readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the self-adaptive balancing method of the mobile manipulator is realized.

[0026] The self-adaptive balancing device of the mobile manipulator has the following advantages: the control system calculates the center of gravity of the mobile manipulator in real time according to the multi-axis manipulator mass data, the balancing device mass data, the moving chassis mass data and the moving chassis inclination angle data, and when it is judged that the center of gravity of the mobile manipulator deviates from the preset working range, the balancing device is controlled to adjust the center of gravity of the mobile manipulator in time, so that the mobile manipulator is kept in a balanced state. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0028] Figure 1 A structural schematic diagram of the self-adaptive balancing device of the mobile manipulator provided by the embodiments of the present application;

[0029] Figure 2 A preset working range schematic diagram provided by the embodiments of the present application

[0030] Figure 3 A structural schematic diagram of the counterweight device provided by the embodiments of the present application;

[0031] Figure 4 A flowchart of the self-adaptive balancing method of the mobile manipulator provided by the embodiments of the present application. DETAILED DESCRIPTION

[0032] In order to make the application purposes, features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings of the embodiments of the present application. Obviously, the following described embodiments are only some 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 those skilled in the art without creative work are within the protection scope of the present application.

[0033] BACKGROUND

[0034] In physics, when the projection of the center of gravity of an object falls within the support surface, the object will not fall over, and when the projection of the center of gravity does not fall within the support surface, the object will fall over. The support surface here refers to the surface formed by the lines connecting the support points of the object. For example, the surface formed by the lines connecting the two feet of a person is the support surface when the person stands. The larger the distance between the two feet, the larger the surface (support surface) formed by the lines connecting the two feet, and the more stable the person stands. When a person stands, it is easy to stand unsteadily forward and backward, but it is relatively stable to stand left and right, because the support surface is approximately rectangular, and the projection of the center of gravity of the body is not easy to exceed the long side of the support surface, but is easy to exceed the short side of the support surface. In order to avoid falling over, the projection of the center of the object needs to be kept within the support surface.

[0035] In order to adapt to flexible material handling and transfer operations, a mobile mechanical arm is usually provided with a small mobile chassis, and the support surface formed by the lines connecting the support points on the mobile chassis is also small. When clamping a large heavy workpiece, the center of gravity of the mobile mechanical arm is easy to deviate outside the support surface and fall over, and therefore, a balancing device (counterweight) is usually added to prevent the falling accident caused by the deviation of the center of gravity.

[0036] The balancing device of the existing mobile mechanical arm is usually composed of a simple linear motor and a counterweight. The counterweight and the mechanical arm are usually fixed on a straight line, and a pressure sensor is arranged on the gripper to detect the weight of the gripped object. When the weight exceeds the set limit, the control counterweight makes fixed axial movement to balance. However, this method is only applicable when the center of gravity of the mechanical arm, the center of the support surface and the center of gravity of the counterweight device are on a straight line. The counterweight adjusts the center of gravity of the mechanical arm by fixed axial movement (the counterweight moves forward and backward in the direction of the mechanical gripper) to avoid the deviation of the center of gravity outside the support surface. When the center of gravity of the mechanical arm, the center of the support surface and the center of gravity of the counterweight device are not on a straight line (rollover), the existing balancing device cannot pull the center of gravity of the mechanical arm back to the support surface (cannot move in the direction forming an angle with the mechanical gripper), and the balancing effect of the balancing device is poor.

[0037] Embodiment 1 of the present application provides a self-adaptive balancing device for a mobile mechanical arm, which is applied to a mobile mechanical arm including a multi-axis mechanical arm and a mobile chassis. Please refer to Figure 1In the embodiment 1, the balancing device comprises an adaptive balancing device and a control system.

[0038] The balancing device is arranged on the mobile chassis and is used to adjust the balance state of the mobile manipulator. The balancing device is connected with the mobile chassis through a gear.

[0039] The mobile rollers are arranged below the mobile chassis and drive the whole mobile chassis to move. When the mobile manipulator reaches a designated work point, the multi-axis manipulator arranged above the mobile chassis performs a grabbing work. It can be understood that when the weight of the object grabbed by the mobile manipulator is too large or a large amplitude shaking occurs during the grabbing process, the center of gravity of the mobile manipulator can deviate greatly. In order to prevent the mobile manipulator from falling over with the deviation of the center of gravity, the balancing device arranged on the mobile chassis is used to adjust the position of the center of gravity of the mobile manipulator, so as to adjust the balance state of the whole mobile manipulator and ensure that the mobile manipulator does not fall over.

[0040] The control system is used to determine the center of gravity position of the mobile manipulator according to the multi-axis manipulator mass data, the balancing device mass data, the mobile chassis mass data and the mobile chassis inclination angle data, and to control the balancing device to adjust the balance state of the mobile manipulator when the center of gravity position of the mobile manipulator exceeds a preset work range.

[0041] The preset work range is smaller than the support surface of the mobile manipulator, and the support surface is the connecting line range of the mobile rollers arranged below the mobile chassis. Based on the foregoing background introduction, it can be understood that when the mobile manipulator is in a safe working state, the projection of the center of gravity of the mobile manipulator must fall within the support surface. When the projection of the center of gravity of the mobile manipulator does not fall within the support surface, the mobile manipulator will fall over. In order to avoid the mobile manipulator from falling over, it is necessary to set the preset work range within the connecting line range of the mobile rollers arranged below the mobile chassis (support surface), and to reserve a preset buffer distance between the edge of the preset work range and the edge of the connecting line range of the mobile rollers arranged below the mobile chassis (support surface). Figure 2 When the center of gravity position of the mobile manipulator exceeds the preset work range, the balancing device is timely controlled to pull the center of gravity of the mobile manipulator back to the preset work range, so as to adjust the balance state of the mobile manipulator.

[0042] The adaptive balancing device of the mobile manipulator provided in the embodiment 1 is used to calculate the center of gravity position of the mobile manipulator in real time according to the multi-axis manipulator mass data, the multi-axis manipulator center of gravity data, the balancing device mass data, the balancing device center of gravity data and the mobile chassis center of gravity data. When it is judged that the center of gravity position of the mobile manipulator deviates from the preset work range, the balancing device is timely controlled to adjust the center of gravity position of the mobile manipulator, so as to ensure that the mobile manipulator is in a balanced state.

[0043] On the basis of the foregoing embodiments, the application provides another preferred embodiment 2, please see Figure 3 In embodiment 2, the balancing device comprises a ring-shaped support, a rotating mechanism, a linear mechanism and a counterweight.

[0044] The ring-shaped support is connected to the mobile chassis through a gear, and the counterweight arranged on the ring-shaped support is used to adjust the balance state of the mobile mechanical arm.

[0045] The linear mechanism controls the movement of the counterweight along a preset straight line range, and the rotating mechanism controls the rotation of the counterweight along a preset horizontal range, so that the counterweight can be moved to any position on the plane of the balancing device, thereby achieving balance adjustment by the counterweight when the mobile mechanical arm is overturned at any angle.

[0046] The multi-axis mechanical arm comprises a gripper sensor, which is used to acquire mass data of the object to be gripped. In this embodiment, the mass data of the gripped object is regarded as part of the mass data of the multi-axis mechanical arm, and the mass of the multi-axis mechanical arm includes the mass of the gripped object and the mass of the multi-axis mechanical arm itself (preset multi-axis mechanical arm mass data).

[0047] The multi-axis mechanical arm further comprises a motor angle sensor, which is used to acquire multi-axis mechanical arm rotation angle data and send the multi-axis mechanical arm rotation angle data to the control system. The control system can calculate the shape of the multi-axis mechanical arm according to the multi-axis mechanical arm rotation angle data. When the mobile mechanical arm is used to grip an object, the center of gravity will change with the weight of the object and the shape and position of the mechanical arm. At the same time, the change of the angle between the mobile chassis and the horizontal plane will also affect the center of gravity position of the mechanical arm. In this embodiment, a chassis gyroscope is arranged on the mobile chassis to acquire real-time mobile chassis inclination data and send the mobile chassis inclination data to the control system. The control system determines the center of gravity position of the mobile mechanical arm in real time according to the multi-axis mechanical arm mass data, the balancing device mass data, the mobile chassis mass data and the mobile chassis inclination data. When the center of gravity position of the mobile mechanical arm is out of the preset working range, the rotating mechanism is controlled to rotate, and the rotating mechanism drives the ring-shaped support to rotate through gear transmission. At this time, the counterweight arranged on the ring-shaped support can rotate along with the ring-shaped support within the preset horizontal range. At the same time, the linear mechanism can also control the linear movement of the counterweight along the radius direction of the circumcircle of the rotating mechanism. The rotating mechanism and the linear mechanism cooperate to move the counterweight, so as to pull the center of gravity of the mobile mechanical arm back to the preset working range.

[0048] In a preferred embodiment, the control system comprises a calculation module, a judgment module and a control module.

[0049] Among them,

[0050] The computing module is configured to determine the center of gravity of the mobile manipulator according to the multi-axis manipulator mass data, the balancing device mass data, the mobile chassis mass data, and the mobile chassis inclination angle data, wherein the multi-axis manipulator mass data comprises multi-axis manipulator self mass data and the mass data of the object to be grabbed.

[0051] In one specific example, assuming that the number of mobile pulleys under the mobile chassis is 4, the determination of the center of gravity of the mobile manipulator specifically comprises:

[0052] According to the force balance formula, it can be known that:

[0053] M*g=F N1 +F N2 +F N3 +F N4

[0054] M is the mass of the mobile manipulator, g is the acceleration of gravity, F N1 is the first pulley support force; F N2 is the second pulley support force; F N3 is the third pulley support force; F N4 is the fourth pulley support force; optionally, the support forces of the pulleys can be obtained by setting pressure sensors on the mobile pulleys.

[0055] A three-dimensional coordinate system is established with the center of the support surface of the mobile manipulator as the origin and the direction perpendicular to the support surface as the z-axis. When the coordinate system of the mobile chassis coincides with the ground coordinate system, the coordinates of the first pulley are (x1, y1, 0), the coordinates of the second pulley are (x2, y2, 0), the coordinates of the third pulley are (x3, y3, 0), and the coordinates of the fourth pulley are (x4, y4, 0). According to the principle of leverage, the moment is equal to the product of the force and the force arm. The product of the force arm and the force of the mobile manipulator in the x-axis direction is equal to the product of the force arm and the force of each pulley in the x-axis direction. The product of the force arm and the force of the mobile manipulator in the y-axis direction is equal to the product of the force arm and the force of each pulley in the y-axis direction.

[0056] M*g*y=F N1 *y1+F N2 *y2+F N3 *y3+F N4 *y4

[0057] M*g*x=F N1 *x1+F N2 *x2+F N3 *x3+F N4 *x4

[0058] M is the mass of the mobile manipulator, g is the acceleration of gravity, F N1 is the first pulley support force; FN2 Fy is the support force of the second pulley; F N3 Fy is the support force of the third pulley; F N4 Fy is the support force of the fourth pulley; y is the longitudinal coordinate of the center of gravity of the mobile manipulator; x is the transverse coordinate of the center of gravity of the mobile manipulator; y1 is the longitudinal coordinate of the first pulley; x1 is the transverse coordinate of the first pulley; y2 is the longitudinal coordinate of the second pulley; x2 is the transverse coordinate of the second pulley; y3 is the longitudinal coordinate of the third pulley; x3 is the transverse coordinate of the third pulley; y4 is the longitudinal coordinate of the first pulley; x4 is the transverse coordinate of the first pulley.

[0059] Based on the above, the center of gravity coordinates of the mobile manipulator are (x, y, 0).

[0060] It can be understood that when the coordinate system of the mobile chassis coincides with the coordinate system of the ground, it is directly judged whether the multi-axis manipulator has a tendency to fall by judging whether the center of gravity position of the manipulator is within the preset working range of the coordinate system of the mobile chassis. When the mobile manipulator is located on a sloping ground, the coordinate system of the mobile chassis does not coincide with the coordinate system of the ground. At this time, the coordinate system of the mobile chassis needs to be converted to the coordinate system of the ground through the measured inclination data of the mobile chassis, and then it is judged whether the center of gravity position of the converted mobile manipulator is within the preset working range of the converted coordinate system of the mobile chassis to determine whether the multi-axis manipulator has a tendency to fall. The above coordinate conversion can refer to the prior art, and will not be described here.

[0061] The judgment module is configured to determine a counterweight balance compensation position according to the counterweight mass data, the current position data of the counterweight, and the center of gravity position of the mobile manipulator when it is judged that the center of gravity position of the mobile manipulator exceeds the preset working range.

[0062] Similarly, according to the principle of the lever, the moment is equal to the product of the force and the force arm. The counterweight balance compensation position is determined by calculating the force arm of the counterweight. Then the control module is used to control the rotating mechanism and the linear mechanism to move the counterweight to the counterweight balance compensation position.

[0063] The self-adaptive balancing device of the mobile manipulator provided in the application, the control system calculates the center of gravity position of the mobile manipulator in real time according to the mass data of the multi-axis manipulator, the mass data of the balancing device, the mass data of the mobile chassis, and the inclination data of the mobile chassis. When it is judged that the center of gravity position of the mobile manipulator deviates from the preset working range, the counterweight is moved along the preset linear range by adjusting the linear mechanism in the balancing device, and the counterweight is rotated along the preset horizontal range by cooperating with the rotating mechanism. The center of gravity position of the mobile manipulator can be balanced and adjusted by the counterweight when the mobile manipulator falls at any angle, so that the mobile manipulator is kept in a balanced state.

[0064] Embodiment 3 of the present application provides an adaptive balancing method of a mobile manipulator, in embodiment 3, the method comprises:

[0065] 100, determining the center of gravity position of the mobile manipulator according to the multi-axis manipulator mass data, the balancing device mass data, the mobile chassis mass data and the mobile chassis inclination angle data.

[0066] 200, judging whether the center of gravity position of the mobile manipulator exceeds the preset working range, if yes, determining the counterweight balancing compensation position according to the counterweight mass data, the current position data of the counterweight and the center of gravity position of the mobile manipulator.

[0067] 300, controlling the rotating mechanism and the linear mechanism to move the counterweight to the counterweight balancing compensation position.

[0068] The adaptive balancing method is applied to the adaptive balancing device in the aforementioned embodiment 1 or embodiment 2.

[0069] The control system determines the center of gravity position of the mobile manipulator according to the acquired multi-axis manipulator mass data, balancing device mass data, mobile chassis mass data and mobile chassis inclination angle data.

[0070] The multi-axis manipulator mass includes the mass of the grasped object and the mass of the multi-axis manipulator itself, the mass of the grasped object is measured by the gripper sensor arranged on the multi-axis manipulator, and the gripper sensor sends the mass of the grasped object to the control system.

[0071] The mobile chassis inclination angle data represents the angle data between the mobile chassis and the horizontal plane, which is measured by the chassis gyroscope arranged on the mobile chassis, and the chassis gyroscope sends the mobile chassis inclination angle to the control system.

[0072] As can be known from the foregoing background introduction, when the mobile manipulator is working safely, the projection of its center of gravity must fall within the support surface, when the projection of the center of gravity of the mobile manipulator does not fall within the support surface, the center of gravity of the mobile manipulator will overturn, in order to avoid the overturning accident of the mobile manipulator, the preset working range is set within the range of the connecting line of the plurality of mobile pulleys below the mobile chassis, the edge of the preset working range and the edge of the connecting line range of the plurality of mobile pulleys below the mobile chassis are reserved with a preset buffer distance, when the center of gravity position of the mobile manipulator exceeds the preset working range, the control system immediately determines the counterweight balancing compensation position according to the counterweight mass data, the current position data of the counterweight and the center of gravity position of the mobile manipulator, then sends a control instruction to the balancing device to control the rotating mechanism and the linear mechanism of the balancing device to move the counterweight to the counterweight balancing compensation position, and the counterweight is used to adjust the center of gravity position of the mobile manipulator, so as to ensure that the mobile manipulator is in a balanced state.

[0073] Embodiment 4 of the present application provides a computer readable storage medium, and the storage medium stores a computer program. When the computer program is executed by a processor, the adaptive balancing method of the mobile manipulator is realized.

[0074] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0075] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described device embodiments are merely schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0076] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, which can be located in one place or distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0077] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0078] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in other words, the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0079] The above-described embodiments are merely used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still make modifications to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some of the technical features; and these modifications or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An adaptive balancing device for a mobile manipulator, applied to a mobile manipulator comprising a multi-axis manipulator and a mobile chassis, characterized in that, The application relates to a mobile mechanical arm balance device and control system. The mobile chassis comprises four mobile pulleys, each of which is provided with a pressure sensor for acquiring support force of the mobile pulley; The balance device is arranged on the mobile chassis and is used for adjusting the balance state of the mobile mechanical arm; The control system is used for determining the mobile mechanical arm barycenter position according to the multi-axis mechanical arm mass data, the balance device mass data, the mobile chassis mass data and the mobile chassis inclination angle data, and controlling the balance device to adjust the balance state of the mobile mechanical arm when the mobile mechanical arm barycenter position exceeds the preset working range; The method for determining the mobile mechanical arm barycenter position by the control system comprises the following steps: S1. The control system is used for establishing a three-dimensional coordinate system with the center of the support surface of the mobile mechanical arm as the origin and the direction perpendicular to the support surface as the z-axis; S2. The control system is used for calculating the mobile mechanical arm barycenter coordinate by using the coordinates of each mobile pulley, the support force of each mobile pulley and the gravity of the mobile mechanical arm based on the barycenter coordinate formula; The expression of the barycenter coordinate formula is as follows: If the coordinate system of the mobile chassis coincides with the ground coordinate system, the control system directly executes S2; if the coordinate system of the mobile chassis does not coincide with the ground coordinate system, the control system converts the coordinate system of the mobile chassis to the ground coordinate system by using the mobile chassis inclination angle data, and then executes S2. M * g * x = F N1 * x1 + F N2 * x2 + F N3 * x3 + F N4 * x4 In the above formula, M is the mass of the mobile manipulator, g is the acceleration of gravity, F N1 is the first mobile pulley support force; F N2 is the second mobile pulley support force; F N3 is the third mobile pulley support force; F N4 is the fourth mobile pulley support force; y is the longitudinal coordinate of the center of gravity of the mobile manipulator; x is the lateral coordinate of the center of gravity of the mobile manipulator; y1 is the longitudinal coordinate of the first mobile pulley; x1 is the lateral coordinate of the first mobile pulley; y2 is the longitudinal coordinate of the second mobile pulley; x2 is the lateral coordinate of the second mobile pulley; y3 is the longitudinal coordinate of the third mobile pulley; x3 is the lateral coordinate of the third mobile pulley; y4 is the longitudinal coordinate of the first mobile pulley; x4 is the lateral coordinate of the first mobile pulley; The balance device comprises a ring-shaped support, a rotating mechanism, a linear mechanism and a counterweight; 2. The self-balancing device for a mobile manipulator arm of claim 1, wherein, The rotating mechanism is used for controlling the counterweight to rotate within a preset horizontal range; The linear mechanism is used for controlling the counterweight to move within a preset linear range; The ring-shaped support is used for supporting the counterweight. The multi-axis mechanical arm comprises a gripper sensor which is used for acquiring the mass data of the gripped object.

3. The self-balancing device for a mobile manipulator arm of claim 2, wherein, The multi-axis mechanical arm further comprises a motor rotation angle sensor which is used for acquiring the rotation angle data of the multi-axis mechanical arm and sending the rotation angle data of the multi-axis mechanical arm to the control system.

4. The self-balancing device for a mobile manipulator arm of claim 3, wherein, The mobile chassis comprises a chassis gyroscope which is used for acquiring the mobile chassis inclination angle data, wherein the mobile chassis inclination angle data represents the included angle data between the mobile chassis and the horizontal plane.

5. The self-balancing device for a mobile manipulator arm of claim 4, wherein, The control system comprises a calculation module, a judgment module and a control module; 6. The self-balancing device for a mobile manipulator arm of claim 5, wherein, The calculation module is used for determining the mobile mechanical arm barycenter position according to the multi-axis mechanical arm mass data, the balance device mass data, the mobile chassis mass data and the mobile chassis inclination angle data; wherein the multi-axis mechanical arm mass data comprises the multi-axis mechanical arm self-mass data and the mass data of the gripped object; The judgment module is used for determining the counterweight balance compensation position according to the counterweight mass data, the current position data of the counterweight and the mobile mechanical arm barycenter position when it is judged that the mobile mechanical arm barycenter position exceeds the preset working range; The control module is used for controlling the rotating mechanism and the linear mechanism to move the counterweight to the counterweight balance compensation position. ​ 7. The self-balancing device for a mobile manipulator arm of claim 6, wherein, The preset working range is smaller than the connecting line range of the plurality of moving pulleys.

8. An adaptive balancing method of a mobile manipulator, applied to the adaptive balancing device of the mobile manipulator according to any one of claims 1-7, characterized in that, The application relates to a mobile mechanical arm adaptive balancing method. The mobile mechanical arm gravity center position is determined according to multi-axis mechanical arm mass data, balancing device mass data, mobile chassis mass data and mobile chassis inclination angle data. It is judged whether the mobile mechanical arm gravity center position exceeds the preset working range, and if yes, the counterweight balancing compensation position is determined according to counterweight mass data, counterweight current position data and the mobile mechanical arm gravity center position. The rotating mechanism and the linear mechanism are controlled to move the counterweight to the counterweight balancing compensation position.

9. The method of claim 8, wherein, The mobile chassis inclination angle data represent the angle data between the mobile chassis and the horizontal plane.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by the processor, the adaptive balancing method of the mobile mechanical arm is realized.

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