Self-adaptive flexible enveloping mechanism and control method thereof

Abstract

The invention relates to a self-adaptive flexible enveloping mechanism and a control method thereof, the self-adaptive flexible enveloping mechanism comprises a loading platform, a flexible material and a plurality of bionic mechanism unit bodies, and the bionic mechanism unit bodies are uniformly distributed on the loading platform in a radiation manner; the bionic mechanism unit bodies are connected with the flexible materials and drive the flexible materials to be unfolded or folded. Each bionic mechanism unit body comprises a base, a servo electric cylinder, a unit body fixing block, a driving motor, a pressure telescopic rod, an electric sliding rail, a connecting rod mechanism, a visual sensor and a plurality of ultrasonic distance sensors, the servo electric cylinder, the pressure telescopic rod and the electric sliding rail control the connecting rod mechanism to move integrally, and the driving motor controls the connecting rod mechanism to be unfolded or folded; the visual sensor is installed at the tail end of the connecting rod mechanism, and the ultrasonic distance sensors are distributed at the joint of the bionic mechanism unit body and the flexible material. According to the invention, the bionic mechanism unit body is used for controlling the flexible material to form a self-adaptive enveloping space, so that the pollution to the outside is effectively prevented, and meanwhile, the influence of the space environment on the working device is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of process and flow protection equipment, and in particular to an adaptive flexible envelope mechanism and a control method thereof. Background Art

[0002] In many fields such as construction and processing, it is necessary to meet the specific environmental requirements of working machines or reduce open pollution. Take spraying, grinding and outdoor environmental treatment as examples. They are characterized by open pollution and are greatly affected by environmental factors. Under similar working conditions, it is necessary to ensure the environmental requirements of specific working machines (such as reducing the wind resistance coefficient, avoiding direct high light, etc.), and prevent and control the open pollution caused by the work of the working machines (such as scattering of working liquid, dust scattering, etc.).

[0003] Existing protective measures have poor flexibility, cannot form high protective benefits, do not have the versatility of a variety of customized working machines, and cannot be applied to a variety of environmental scenarios and a variety of working conditions (such as the specific complex requirements of different field scenarios, different working environments, and different working spaces). Therefore, how to provide an adaptive flexible envelope mechanism and its control method that can be flexibly applied to a variety of working conditions is a technical problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0004] The present invention provides an adaptive flexible envelope mechanism and a control method thereof to solve the above technical problems.

[0005] In order to solve the above technical problems, the present invention provides an adaptive flexible envelope mechanism, comprising a loading platform, a flexible material and a plurality of bionic mechanism units.

[0006] The loading platform is used to install the working machine;

[0007] The bionic mechanism units are evenly distributed on the side of the loading platform and extend radially outward;

[0008] The bionic mechanism unit body is connected to the flexible material and drives the flexible material to open or close;

[0009] Each of the bionic mechanism units includes a base, a servo electric cylinder, a unit fixing block, a driving motor, a pressure telescopic rod, a first electric slide rail, a connecting rod mechanism, a visual sensor and a plurality of ultrasonic distance sensors. The servo electric cylinder is installed on the base, and the unit fixing block is installed on the output end of the servo electric cylinder; the driving motor is installed on the unit fixing block, and the connecting rod mechanism is installed on the output end of the driving motor; the servo electric cylinder, the pressure telescopic rod, and the first electric slide rail control the overall movement of the connecting rod mechanism, and the driving motor controls the opening or closing of the connecting rod mechanism; the visual sensor is installed at the end of the connecting rod mechanism, and a plurality of ultrasonic distance sensors are distributed at the connection between the bionic mechanism unit and the flexible material.

[0010] Preferably, the connecting rod mechanism includes an end and a first connecting rod, a second connecting rod, a third connecting rod, a fifth connecting rod and a seventh connecting rod hinged in sequence, the middle part of the second connecting rod is also hinged with a fourth connecting rod and a sixth connecting rod in sequence, the sixth connecting rod is hinged to the seventh connecting rod, and the end is hinged to the middle part of the second connecting rod.

[0011] Preferably, the output end of the driving motor drives the end of the first connecting rod to move in a straight line on the second electric slide rail through the first transmission rod.

[0012] Preferably, each of the bionic mechanism units includes five ultrasonic distance sensors, namely a first ultrasonic distance sensor, a second ultrasonic distance sensor, a third ultrasonic distance sensor, a fourth ultrasonic distance sensor and a fifth ultrasonic distance sensor, which are respectively installed on the unit fixing block, the end, the fifth connecting rod, the sixth connecting rod and the seventh connecting rod.

[0013] Preferably, a compensating motor is also installed on the base, the output end of the compensating motor is connected to the pressure telescopic rod, and the end of the pressure telescopic rod is hinged to the end head.

[0014] Preferably, the output end of the compensation motor drives the end of the pressure telescopic rod to move in a straight line on the first electric slide rail through the second transmission rod.

[0015] Preferably, the pressure telescopic rod is equipped with a pressure sensor, and displacement compensation and self-locking protection are triggered based on a preset critical value of the pressure sensor.

[0016] Preferably, the first distance is obtained based on the first ultrasonic distance sensor, the second distance is obtained based on the second ultrasonic distance sensor, the third distance is obtained based on a weighted average of the third ultrasonic distance sensor and the fourth ultrasonic distance sensor, and the fourth distance is obtained based on the fifth ultrasonic distance sensor.

[0017] Preferably, the movements of the servo electric cylinder, the drive motor and the compensation motor are controlled based on the first distance, the second distance, the third distance, the fourth distance and visual information obtained by a visual sensor.

[0018] The present invention also provides a control method for the adaptive flexible envelope mechanism as described above, comprising the following steps:

[0019] Step 1: Install a working machine on the loading platform, move the adaptive flexible envelope mechanism to a designated position, use the visual sensor to identify the surrounding environment features, and select a mechanism working mode based on the situation, environment, terrain and other factors;

[0020] Step 2: acquiring real-time distance data transformation based on the initial parameter setting of the working machine, the detection results of the visual sensor and the ultrasonic distance sensor;

[0021] Step 3: Complete the motion control of the servo electric cylinder, the compensation motor and the drive motor respectively within a given range.

[0022] Compared with the prior art, the adaptive flexible envelope mechanism and control method thereof provided by the present invention have the following advantages:

[0023] 1. The present invention collects environmental information by means of visual recognition combined with distance sensing, and has autonomous response and execution capabilities for various environmental scenarios (for example, different working field scenarios and working in open and closed environments and terrain spaces), and changes the overall spatial position of the unit body and the movement space of the connecting rod mechanism of the unit body itself to realize multi-unit divisional control, thereby realizing adaptive fitting of multi-form space, forming an effective workspace and environmental response plan to provide guarantee for the customized tool work of the loading platform at the front end of the mechanism;

[0024] 2. The present invention utilizes multiple bionic mechanism units to control flexible materials to form an adaptive envelope space, and utilizes compensation motors to realize multi-drive motion compensation, which has strong flexibility and forms a semi-enclosed working (such as spraying) space, effectively preventing the splashing of unnecessary spraying operations from interfering with and polluting the outside world, while reducing the impact of the space environment on the working device, and playing a good control role in environmental safety, spraying effect and protection of the working device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of an adaptive flexible envelope mechanism in a specific embodiment of the present invention;

[0026] Figure 2 It is a structural schematic diagram of a bionic mechanism unit body in a specific embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the distribution of ultrasonic distance sensors in a specific implementation manner of the present invention;

[0028] Figure 4 It is a schematic diagram of a control method of an adaptive flexible envelope mechanism in a specific implementation manner of the present invention.

[0029] In the figure: 100-loading platform, 200-flexible material, 300-bionic mechanism unit body, 310-base, 320-servo electric cylinder, 330-unit body fixing block, 340-driving motor, 341-first transmission rod, 342-second electric slide rail, 350-connecting rod mechanism, 351-end, 352-first connecting rod, 353-second connecting rod, 354-third connecting rod, 355-fourth connecting rod, 356-fifth connecting rod, 357-sixth connecting rod, 358-seventh connecting rod, 361-visual sensor, 370-ultrasonic distance sensor, 371-first ultrasonic distance sensor, 372-second ultrasonic distance sensor, 373-third ultrasonic distance sensor, 374-fourth ultrasonic distance sensor, 375-fifth ultrasonic distance sensor, 380-pressure telescopic rod, 381-first electric slide rail, 390-compensation motor, 391-second transmission rod. DETAILED DESCRIPTION

[0030] In order to describe the technical solution of the above invention in more detail, specific embodiments are listed below to demonstrate the technical effects; it should be emphasized that these embodiments are used to illustrate the present invention but not to limit the scope of the present invention.

[0031] The adaptive flexible envelope mechanism provided by the present invention is as follows: Figure 1 and Figure 2 As shown, it includes a loading platform 100, a flexible material 200 and a plurality of bionic mechanism units 300.

[0032] The loading platform 100 is used to install a working machine (not shown). The loading platform 100 can be installed with a variety of customized tools, so that the envelope mechanism can be applicable to a variety of environmental working conditions.

[0033] The bionic mechanism unit bodies 300 are evenly distributed on the side of the loading platform 100 and extend radially outward. In this embodiment, the bionic mechanism unit bodies 300 are fixedly connected to the device platform 100 through multiple fixing columns. The number of the bionic mechanism unit bodies 300 can be 3 to 10, which can fit the working machine as closely as possible and reduce the interference between the bionic mechanism unit bodies 300. In this embodiment, the number of the bionic mechanism unit bodies 300 is 6.

[0034] The bionic mechanism unit body 300 is connected to the flexible material 200 and drives the flexible material 200 to open or close, thereby achieving adaptive fitting to multiple forms of space, forming an effective working space to provide guarantee for the customized tool work of the loading platform at the front end of the mechanism.

[0035] Please focus on Figure 2 Each of the bionic mechanism units 300 includes a base 310, a servo electric cylinder 320, a unit body fixing block 330, a drive motor 340, a pressure telescopic rod 380, a first electric slide rail 381, a connecting rod mechanism 350, a visual sensor 361 and a plurality of ultrasonic distance sensors 370. The servo electric cylinder 320 is mounted on the base 310, and the unit body fixing block 330 is mounted on the output end of the servo electric cylinder 320; the drive motor 340 is mounted on the unit body fixing block 330. The connecting rod mechanism 350 is installed at the output end of the driving motor 340; the servo electric cylinder 320, the pressure telescopic rod 380 and the first electric slide rail 381 control the overall movement of the connecting rod mechanism 350, and the driving motor 340 controls the opening or closing of the connecting rod mechanism 350 to achieve adaptive fitting; the visual sensor 361 is installed at the end of the connecting rod mechanism 350, and the plurality of ultrasonic distance sensors 370 are distributed at the connection between the bionic mechanism unit 300 and the flexible material 200. The present invention collects environmental information through visual recognition and distance sensing, initializes the initial position and posture of each drive, and then changes the overall spatial position of the bionic mechanism unit 300 and the movement posture of its own connecting rod mechanism 350. The servo cylinder 320, the pressure telescopic rod 380 and the first electric slide rail 381 imitate the human palm to control the overall movement. The connecting rod mechanism 350 imitates the multi-joint movement of the human palm, thereby achieving adaptive fitting to multiple forms of space, forming an effective working space to provide guarantee for the customized tool work of the loading platform at the front end of the mechanism.

[0036] In some embodiments, please refer to Figure 2 The connecting rod mechanism 350 includes an end 351 and a first connecting rod 352, a second connecting rod 353, a third connecting rod 354, a fifth connecting rod 356 and a seventh connecting rod 358 which are hinged in sequence. The middle part of the second connecting rod 353 is also hinged with a fourth connecting rod 355 and a sixth connecting rod 357 in sequence. The sixth connecting rod 357 is hinged to the seventh connecting rod 358. The end 351 is hinged to the middle part of the second connecting rod 353. The entire connecting rod mechanism 350 can be freely folded at multiple angles, bionic human finger movement effects, and has good ductility and expansibility.

[0037] In some embodiments, please refer to Figure 2The output end of the driving motor 340 drives the end of the first connecting rod 352 to move linearly on the second electric slide rail 342 through the first transmission rod 341, thereby providing power for the movement of the entire connecting rod mechanism 350.

[0038] In some embodiments, please refer to Figure 2 and Figure 3 Each of the bionic mechanism units 300 includes five ultrasonic distance sensors 370, namely a first ultrasonic distance sensor 371, a second ultrasonic distance sensor 372, a third ultrasonic distance sensor 373, a fourth ultrasonic distance sensor 374 and a fifth ultrasonic distance sensor 375, which are respectively installed on the unit body fixing block 330, the end 351, the fifth connecting rod 356, the sixth connecting rod 357 and the seventh connecting rod 358, so as to use the front-end visual sensor 361 and the multiple ultrasonic distance sensors 370 in the middle to identify environmental features and establish an environmental model.

[0039] In some embodiments, please refer to Figure 2 A compensation motor 390 is also installed on the base 310, and the output end of the compensation motor 390 is connected to the pressure telescopic rod 380, and the end of the pressure telescopic rod 380 is hinged to the end head 351. Specifically, the output end of the compensation motor 390 drives the end of the pressure telescopic rod 380 to move along a straight line on the first electric slide rail 381 through the second transmission rod 391, and then drives the connecting rod mechanism 350 to move.

[0040] In some embodiments, the pressure telescopic rod 380 is equipped with a built-in pressure sensor (not shown), which triggers displacement compensation and self-locking protection based on a preset critical value of the pressure sensor. Through multi-stage driving, compensation for spatial displacement is achieved to meet the activity requirements of most complex terrains.

[0041] In some embodiments, please refer to Figure 3 , based on the first ultrasonic distance sensor 371, a first distance D1 is obtained, based on the second ultrasonic distance sensor 372, a second distance D2 is obtained, based on the weighted average of the third ultrasonic distance sensor 373 and the fourth ultrasonic distance sensor 374, a third distance D3 is obtained, and based on the fifth ultrasonic distance sensor 375, a fourth distance D4 is obtained. Specifically, the present application sets the data collected by each distance sensor of each unit as D1 to D4, respectively, and the division method is as follows: Figure 3As shown by the dotted lines, for different numbers of sensors in each section, the bottom and the middle are all single distance sensor inputs and each sensor can be controlled by corresponding drives, that is, the servo cylinder 320 and the compensation motor 390 can collect values ​​D1 and D2, while the front end drive corresponds to multiple sensors and the mechanism movement is a connecting rod linkage movement analysis, which is more complicated. Therefore, the sensor data D3 is calculated by weighted average, and the specific addition ratio can be determined according to the specific parameters of the front end working mechanism; at the same time, the envelope finally determines that the envelope is completed by the value D4 of the distance sensor at the front end. In this embodiment, the minimum safety distance Hsmin is taken. Of course, in practical applications, it is necessary to design the length of each connecting rod and the hinge position, and use an algorithm for the connecting rod movement to specifically solve the relationship between D3 and D4, so as to achieve a better control effect.

[0042] In some embodiments, the movement of the servo cylinder 320 , the drive motor 340 , and the compensation motor 390 is controlled based on the first distance D1 , the second distance D2 , the third distance D3 , the fourth distance D4 , and the visual information obtained by the visual sensor 361 , and the driving linkage mechanism 350 realizes adaptive enveloping.

[0043] Combine the following Figure 4 , the control method of the adaptive flexible envelope mechanism provided by the present invention is introduced in detail:

[0044] First, a working machine is installed on the loading platform 100, and the adaptive flexible envelope mechanism is moved to a specified position. The overall positioning of the mechanism is driven by an external source (such as a robotic arm) for spatial displacement positioning. At the same time, the terminal visual sensor 361 identifies environmental features (such as environmental context, environmental terrain features, etc.), so as to select the mechanism working mode according to the context, environment, terrain and other factors (the mode selection has a certain influence on the setting of the parameters of the working distance Hw and the safety distance Hs when the same working mechanism is loaded);

[0045] The next step is to control the parameters from the sensor input of the mechanism itself, and from the initial parameter setting of the different working machines loaded and the distance data transformation obtained from the change of the working space during the working process.

[0046] During the working process, the driving safety protection is set to complete the motion control of the servo electric cylinder 320, the compensation motor 390 and the driving motor 340 respectively within a given range. At the extreme working position, the pressure telescopic rod 380 is used to trigger the displacement compensation and self-locking protection.

[0047] By adopting the above method, multi-angle visual recognition can be formed and environmental features can be established through the front-end visual sensor 361 and multiple ultrasonic distance sensors 370. The servo electric cylinder 320, compensation motor 390 and drive motor 340 can be used to drive each mechanism to operate collaboratively and adaptively to form an envelope fit for multiple environments and complex terrains. It is efficient and flexible, and can achieve high-precision and rapid response to multiple situations.

[0048] In summary, the adaptive flexible envelope mechanism and its control method provided by the present invention include a loading platform 100, a flexible material 200 and a plurality of bionic mechanism units 300, wherein the loading platform 100 is used to install a working machine; the bionic mechanism units 300 are evenly distributed on the sides of the loading platform 100 and extend radially outward; the bionic mechanism units 300 are connected to the flexible material 200 and drive the flexible material 200 to open or close; each of the bionic mechanism units 300 includes a base 310, a servo electric cylinder 320, a unit fixing block 330, a drive motor 340, a pressure telescopic rod 380, a first electric slide rail 381, a connecting rod mechanism 350, a visual sensor 361 and a plurality of ultrasonic distance sensors The device 370, the servo electric cylinder 320 is installed on the base 310, and the unit body fixing block 330 is installed at the output end of the servo electric cylinder 320; the driving motor 340 is installed on the unit body fixing block 330, and the connecting rod mechanism 350 is installed at the output end of the driving motor 340; the servo electric cylinder 320, the pressure telescopic rod 380, and the first electric slide rail 381 control the overall movement of the connecting rod mechanism 350, and the driving motor 340 controls the opening or closing of the connecting rod mechanism 350 to achieve adaptive fitting; the visual sensor 361 is installed at the end of the connecting rod mechanism 350, and a plurality of the ultrasonic distance sensors 370 are distributed at the connection between the bionic mechanism unit body 300 and the flexible material 200. The present invention collects environmental information through visual recognition and distance sensing, initializes the initial position and posture of each drive according to its own parameters and mode settings, and further changes the overall spatial position of the bionic mechanism unit 300 and the motion posture of its own connecting rod mechanism 350 through sensor information feedback control, thereby achieving adaptive fitting to multiple forms of space and forming an effective working space to provide guarantee for the customized tool work of the loading platform at the front end of the mechanism.

[0049] Obviously, those skilled in the art can make various changes and modifications to the invention without departing from the spirit and scope of the invention. Thus, if these modifications and variations of the invention fall within the scope of the claims of the invention and their equivalents, the invention is also intended to include these modifications and variations.

Claims

1. An adaptive flexible envelope mechanism, characterized in that: It includes a loading platform, flexible materials and multiple bionic mechanism units. The loading platform is used to install the working machine; The bionic mechanism units are evenly distributed on the side of the loading platform and extend radially outward; The bionic mechanism unit body is connected to the flexible material and drives the flexible material to open or close; Each of the bionic mechanism units includes a base, a servo electric cylinder, a unit fixing block, a driving motor, a pressure telescopic rod, a first electric slide rail, a connecting rod mechanism, a visual sensor and a plurality of ultrasonic distance sensors. The servo electric cylinder is installed on the base, and the unit fixing block is installed on the output end of the servo electric cylinder; the driving motor is installed on the unit fixing block, and the connecting rod mechanism is installed on the output end of the driving motor; the servo electric cylinder, the pressure telescopic rod and the first electric slide rail control the overall movement of the connecting rod mechanism, and the driving motor controls the opening or closing of the connecting rod mechanism; the visual sensor is installed at the end of the connecting rod mechanism, and a plurality of ultrasonic distance sensors are distributed at the connection between the bionic mechanism unit and the flexible material.

2. The adaptive flexible envelope mechanism according to claim 1, characterized in that: The connecting rod mechanism includes an end and a first connecting rod, a second connecting rod, a third connecting rod, a fifth connecting rod and a seventh connecting rod which are hinged in sequence. The middle part of the second connecting rod is also hinged with a fourth connecting rod and a sixth connecting rod in sequence. The sixth connecting rod is hinged to the seventh connecting rod, and the end is hinged to the middle part of the second connecting rod.

3. The adaptive flexible envelope mechanism according to claim 2, characterized in that: The output end of the driving motor drives the end of the first connecting rod to move along a straight line on the second electric slide rail through the first transmission rod.

4. The adaptive flexible envelope mechanism according to claim 2, characterized in that: Each of the bionic mechanism units includes five ultrasonic distance sensors, namely a first ultrasonic distance sensor, a second ultrasonic distance sensor, a third ultrasonic distance sensor, a fourth ultrasonic distance sensor and a fifth ultrasonic distance sensor, which are respectively installed on the unit fixing block, the end, the fifth connecting rod, the sixth connecting rod and the seventh connecting rod.

5. The adaptive flexible envelope mechanism according to claim 4, characterized in that: A compensating motor is also installed on the base, the output end of the compensating motor is connected to the pressure telescopic rod, and the end of the pressure telescopic rod is hinged to the end head.

6. The adaptive flexible envelope mechanism according to claim 5, characterized in that: The output end of the compensation motor drives the end of the pressure telescopic rod to move along a straight line on the first electric slide rail through the second transmission rod.

7. The adaptive flexible envelope mechanism according to claim 5, characterized in that: The pressure telescopic rod is equipped with a pressure sensor, which triggers displacement compensation and self-locking protection based on a preset critical value of the pressure sensor.

8. The adaptive flexible envelope mechanism according to claim 5, characterized in that: A first distance is obtained based on the first ultrasonic distance sensor, a second distance is obtained based on the second ultrasonic distance sensor, a third distance is obtained based on a weighted average of the third ultrasonic distance sensor and the fourth ultrasonic distance sensor, and the fourth distance is obtained based on the fifth ultrasonic distance sensor.

9. The adaptive flexible envelope mechanism according to claim 8, characterized in that: The movements of the servo electric cylinder, the drive motor and the compensation motor are controlled based on the first distance, the second distance, the third distance, the fourth distance and the visual information obtained by the visual sensor.

10. A control method for an adaptive flexible envelope mechanism according to any one of claims 1 to 9, characterized in that: The steps include: Step 1: Install a working machine on the loading platform, move the adaptive flexible envelope mechanism to a designated position, use the visual sensor to identify the surrounding environment features, and select a mechanism working mode according to the situation, environment, and terrain factors; Step 2: acquiring real-time distance data transformation based on the initial parameter setting of the working machine, the detection results of the visual sensor and the ultrasonic distance sensor; Step 3: Complete the motion control of the servo electric cylinder, the compensation motor and the drive motor respectively within a given range.

Images