A linear transportation anti-instability linear module, an anti-instability method and related equipment

Abstract

The application discloses a kind of linear transport anti-instability linear module, anti-instability method and related equipment, the linear module includes linear module main body, sliding table and controller, the linear module main body is used to drive sliding table to move, the sliding table is used to support load, further include anti-instability device, the anti-instability device includes driving device and connecting device, the driving device is installed on the sliding table, one end of the connecting device is connected with the driving device, the other end of connecting device is connected with the sliding table;The controller is used to control the connecting strength between sliding table load according to the operating state of the linear module by the anti-instability device.Control the anti-instability device work using controller by obtaining the operating state of linear module and combining the quality data of load, input to controller, to avoid load to dump, and then to the state dynamic adjustment of load and sliding table, improve safety.

Description

Technical Field

[0001] The present application relates to the technical field of linear modules, and more specifically to a linear module for preventing instability in linear transportation, an anti-instability method, and related equipment. Background Art

[0002] With the development of robotics technology and the rising labor costs caused by the aging population, more and more robots are being used in the construction industry to replace human labor, thereby improving production efficiency and reducing labor costs.

[0003] Due to its high acceleration and fast response characteristics, linear modules are widely used in the transportation field. However, due to the high acceleration characteristics of linear modules, the loads they carry are prone to tipping over. In order to prevent the loads from becoming unstable, we propose an anti-instability linear module for linear transportation, an anti-instability method, and related equipment. Summary of the Invention

[0004] In this embodiment, a linear module for preventing instability in linear transportation, an anti-instability method, and related equipment are provided to solve the problem of acceleration of the linear module during transportation.

[0005] In the first aspect, an embodiment of the present invention provides a linear module for preventing instability in linear transportation, which includes a linear module body, a slide and a controller. The linear module body is used to drive the slide to move, and the slide is used to support the load. It also includes an anti-instability device, and the anti-instability device includes a driving device and a connecting device. The driving device is installed on the slide, one end of the connecting device is connected to the driving device, and the other end of the connecting device is connected to the slide; the controller is used to control the connection strength between the slide and the load through the anti-instability device according to the operating status of the linear module.

[0006] In an optional embodiment, a weight sensor is provided on the slide, the load is fixed to the slide by a fastener, and the weight sensor is used to obtain mass data of the load on the slide.

[0007] In an optional embodiment, when the moving speed of the linear module driving the slide combined with the mass data of the load is greater than a preset threshold, the connection strength between the slide and the load is increased by the anti-instability device;

[0008] When the moving speed of the linear module driven slide combined with the mass data of the supported object is less than a preset threshold, the anti-instability device does not intervene in the operation.

[0009] In an optional embodiment, the driving device includes a cylinder, the connecting device includes a connecting rod, the connecting rod is fixed to the telescopic end of the cylinder, and the other end of the connecting rod is fixedly connected to the slide.

[0010] In an optional embodiment, the driving device includes an electric reel, the connecting device includes a connecting rope, the connecting rope is installed on the reel body of the electric reel, and the other end of the connecting rope is connected to the slide.

[0011] In a second aspect, an embodiment of the present invention provides a method for preventing instability of a linear module, based on the linear module described in the first aspect, comprising the following steps:

[0012] Acquiring the running status data of the linear module, wherein the running status data includes the real-time speed data of the slide and the mass data of the load;

[0013] Inputting the operating state data into a pre-trained instability prediction model to obtain a predicted tilt probability of the supported object;

[0014] According to the tilt probability, an anti-instability device is used to control the additional connection strength between the supported object and the slide.

[0015] In an optional embodiment, historical linear module instability data is obtained, wherein the historical linear module instability data includes slide bearing mass data and slide speed data;

[0016] After cleaning the historical linear module instability data, it is classified and labeled to obtain high-quality instability data;

[0017] Inputting the instability data into a prediction model to obtain a preliminary prediction result;

[0018] Adopting supervised learning method and using mean square error loss function, adjust the parameters of the prediction model;

[0019] The optimized prediction model is used as the instability prediction model.

[0020] In an optional embodiment, the real-time speed data of the slide includes current speed data of the slide and acceleration data of the slide;

[0021] Obtaining the operating status data of the linear module, which includes the real-time speed data of the slide and the mass data of the load, specifically includes the following steps:

[0022] Use weight sensors to obtain mass data of the load;

[0023] A functional relationship is constructed between the mass data of the load, the real-time speed data of the slide, and the connection strength between the slide and the load, and the threshold value of the load tilt is obtained.

[0024] Compared with the prior art, the linear transport anti-instability linear module of the present invention has the following beneficial effects:

[0025] By acquiring the operating status of the linear module and combining it with the mass data of the load, the data is input into the controller, and the controller is used to control the operation of the anti-instability device. Specifically, when the moving speed of the linear module-driven slide combined with the mass data of the load is greater than a preset threshold, the anti-instability device is used to increase the connection strength between the slide and the load; when the moving speed of the linear module-driven slide combined with the mass data of the load is less than the preset threshold, the anti-instability device does not intervene in the operation, thereby avoiding the load from tipping over, and then dynamically adjusting the status of the load and the slide, thereby improving safety.

[0026] In a third aspect, an embodiment of the present invention provides an electronic device comprising a processor, a communication interface, a memory and a bus, wherein the processor, the communication interface and the memory communicate with each other through the bus, and the processor can call logic instructions in the memory to execute the steps of the method provided in the second aspect.

[0027] In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the anti-instability method for a linear module as described in the second aspect.

[0028] Compared with the prior art, the beneficial effects of the linear module anti-instability method, electronic device and storage medium of the present invention are the same as those of the linear transport anti-instability linear module described in the first aspect, so they will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 This is a schematic structural diagram of a linear module for preventing instability in linear transportation according to an embodiment of the present invention;

[0031] Figure 2 Schematic diagram of the connection between the anti-instability device and the load in an embodiment of the present invention;

[0032] Figure 3 This is a flow chart of a method for preventing instability of a linear module according to an embodiment of the present invention;

[0033] Figure 4 2 is a structural block diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to more clearly understand the purpose, technical solutions and advantages of this application, this application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0035] Unless otherwise defined, technical or scientific terms used in this application shall have the ordinary meanings as understood by persons of ordinary skill in the art to which this application belongs. The terms "a," "an," "the," "these," and similar expressions in this application do not denote limitations on quantity and may be singular or plural. The terms "comprise," "include," "have," and any variations thereof, as used in this application, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include unlisted steps or modules (units) or other steps or modules (units) inherent to the process, method, product, or device. The terms "connected," "connected," "coupled," and similar expressions used in this application are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. As used in this application, "plurality" means two or more. "And / or" describes an association between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone; A and B exist simultaneously; or B exists alone. Generally, the character " / " indicates that the objects in the preceding and following relationship are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0036] In an embodiment of the present invention, a linear module for preventing instability of linear transportation is provided. Figure 1 This is a schematic diagram of the structure of the linear transport anti-instability linear module of the present invention, as shown in FIG. Figure 1 As shown, the linear transport anti-instability linear module includes a linear module body 110, a slide 120 and a controller. The linear module body 110 is used to drive the slide 120 to move, and the slide 120 is used to support the carrier 10. It also includes an anti-instability device. The anti-instability device includes a driving device and a connecting device. The driving device is installed on the slide 120, one end of the connecting device is connected to the driving device, and the other end of the connecting device is connected to the slide 120; the controller is used to control the connection strength between the slide 120 and the carrier 10 through the anti-instability device according to the operating status of the linear module.

[0037] Furthermore, a weight sensor is provided on the slide 120 , and the load 10 is fixed to the slide 120 via fasteners. The weight sensor is used to obtain mass data of the load 10 on the slide 120 .

[0038] Furthermore, when the moving speed of the linear module driving the slide 120 combined with the mass data of the load 10 is greater than a preset threshold, the anti-instability device increases the connection strength between the slide 120 and the load 10;

[0039] When the moving speed of the linear module driven slide 120 combined with the mass data of the supported object 10 is less than a preset threshold, the anti-instability device does not intervene in the operation.

[0040] like Figure 2 As shown, further, the driving device includes a cylinder 310, and the connecting device includes a connecting rod 320. The connecting rod 320 is fixed to the telescopic end of the cylinder 310, and the other end of the connecting rod 320 is fixedly connected to the slide 120.

[0041] Furthermore, the driving device includes an electric reel 210 , and the connecting device includes a connecting rope 220 . The connecting rope 220 is installed on the disc body of the electric reel 210 , and the other end of the connecting rope 220 is connected to the slide 120 .

[0042] By acquiring the operating status of the linear module and combining it with the mass data of the carrier 10, the data is input into the controller, and the controller is used to control the operation of the anti-instability device. Specifically, when the moving speed of the linear module driving the slide 120 combined with the mass data of the carrier 10 is greater than a preset threshold, the anti-instability device is used to increase the connection strength between the slide 120 and the carrier 10; when the moving speed of the linear module driving the slide 120 combined with the mass data of the carrier 10 is less than the preset threshold, the anti-instability device does not intervene in the operation, thereby preventing the carrier 10 from tipping over, and then dynamically adjusting the status of the carrier 10 and the slide 120, thereby improving safety.

[0043] Figure 4 The flowchart of the anti-instability method of the linear module provided by the embodiment of the present invention is as follows: Figure 4 As shown, an embodiment of the present invention further provides a method for preventing instability of a linear module, based on the above linear module, comprising the following steps:

[0044] S100, obtaining operating status data of the linear module, wherein the operating status data includes real-time speed data of the slide 120 and mass data of the load 10; it should be noted that the real-time speed data of the slide 120 includes current speed data of the slide 120 and acceleration data of the slide 120;

[0045] S200, inputting the operating state data into a pre-trained instability prediction model to obtain a predicted tilt probability of the load 10; specifically, obtaining historical linear module instability data, the historical linear instability data including mass data of the load 10 on the slide 120 and speed data of the slide 120;

[0046] After cleaning the historical linear module instability data, it is classified and labeled to obtain high-quality instability data;

[0047] Inputting the instability data into a prediction model to obtain a preliminary prediction result;

[0048] Adopting supervised learning method and using mean square error loss function, adjust the parameters of the prediction model;

[0049] The optimized prediction model is used as the instability prediction model.

[0050] S300 : Controlling the additional connection strength between the supported object 10 and the slide 120 by using an anti-instability device according to the tilt probability.

[0051] Acquiring the operating status data of the linear module, which includes the real-time speed data of the slide 120 and the mass data of the load 10, specifically includes the following steps:

[0052] Obtaining mass data of the load 10 using a weight sensor;

[0053] A functional relationship is constructed among the mass data of the supported object 10 , the real-time speed data of the slide 120 , and the connection strength between the slide 120 and the supported object 10 , and a threshold value for the tilt of the supported object 10 is obtained.

[0054] It should be noted that, in the present invention, the instability prediction model can be integrated into the controller, and the threshold value of the tilt of the carrier 10 is calculated, and the tilt probability of the carrier 10 is predicted through the operating status data of the linear module. The anti-instability device is controlled to work according to the probability, thereby improving the safety of the linear module during transportation.

[0055] Figure 4 A structural block diagram of an electronic device provided by an embodiment of the present invention, such as Figure 4 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the following method:

[0056] Acquiring the running status data of the linear module, wherein the running status data includes the real-time speed data of the slide and the mass data of the load;

[0057] Inputting the operating state data into a pre-trained instability prediction model to obtain a predicted tilt probability of the supported object;

[0058] According to the tilt probability, an anti-instability device is used to control the additional connection strength between the supported object and the slide.

[0059] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0060] An embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method provided in each of the above embodiments is implemented, for example, including:

[0061] Acquiring the running status data of the linear module, wherein the running status data includes the real-time speed data of the slide and the mass data of the load;

[0062] Inputting the operating state data into a pre-trained instability prediction model to obtain a predicted tilt probability of the supported object;

[0063] According to the tilt probability, an anti-instability device is used to control the additional connection strength between the supported object and the slide.

[0064] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or certain parts of the embodiment.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A linear module for preventing instability in linear transportation, characterized in that: The linear transport anti-instability linear module comprises a linear module body (110), a slide (120) and a controller, wherein the linear module body (110) is used to drive the slide (120) to move, and the slide (120) is used to support the load (10), and further comprises an anti-instability device, wherein the anti-instability device comprises a driving device and a connecting device, wherein the driving device is mounted on the slide (120), one end of the connecting device is connected to the driving device, and the other end of the connecting device is connected to the slide (120); the controller is used to control the connection strength between the slide (120) and the load (10) through the anti-instability device according to the operating state of the linear module; A weight sensor is provided on the slide (120), the load (10) is fixed to the slide (120) via a fastener, and the weight sensor is used to obtain mass data of the load (10) on the slide (120); When the moving speed of the linear module driving the slide (120) combined with the mass data of the carrier (10) is greater than a preset threshold, the anti-instability device increases the connection strength between the slide (120) and the carrier (10); when the moving speed of the linear module driving the slide (120) combined with the mass data of the carrier (10) is less than the preset threshold, the anti-instability device does not intervene in the operation; The driving device includes a cylinder (310), and the connecting device includes a connecting rod (320). The connecting rod (320) is fixed to the telescopic end of the cylinder (310), and the other end of the connecting rod (320) is fixedly connected to the slide (120).

2. The linear transport anti-instability linear module according to claim 1, characterized in that: The driving device includes an electric reel (210), and the connecting device includes a connecting rope (220). The connecting rope (220) is installed on the reel body of the electric reel (210), and the other end of the connecting rope (220) is connected to the slide (120).

3. A method for preventing instability of a linear module, characterized in that: The linear module according to claim 1 or 2 includes the following steps: obtaining operating status data of the linear module, wherein the operating status data includes real-time speed data of the slide (120) and mass data of the load (10); inputting the operating status data into a pre-trained instability prediction model to obtain a predicted tilt probability of the load (10); and controlling the additional connection strength between the load (10) and the slide (120) using an anti-instability device according to the tilt probability.

4. The method for preventing instability of a linear module according to claim 3, characterized in that: Obtain historical linear module instability data, the historical linear module instability data including mass data of a carrier (10) and speed data of a slide (120); clean the historical linear module instability data and classify and label them to obtain high-quality instability data; input the instability data into a prediction model to obtain a preliminary prediction result; use a supervised learning method and a mean square error loss function to adjust the parameters of the prediction model; and use the optimized prediction model as an instability prediction model.

5. The method for preventing instability of a linear module according to claim 4, characterized in that: The real-time speed data of the slide (120) includes the current speed data of the slide (120) and the acceleration data of the slide (120); the operation status data of the linear module is obtained, and the operation status data includes the real-time speed data of the slide (120) and the mass data of the carrier (10), specifically including the following steps: using a weight sensor to obtain the mass data of the carrier (10); constructing a functional relationship between the mass data of the carrier (10), the real-time speed data of the slide (120) and the connection strength between the slide (120) and the carrier (10), and obtaining a threshold value for the tilt of the carrier (10).

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the anti-instability method of the linear module according to any one of claims 3 to 5 is implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for preventing instability of a linear module as claimed in any one of claims 3 to 5 are implemented.

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