Shipborne clamping robot transmission system and capturing method thereof

Abstract

The invention belongs to the technical field of shipborne robots, and provides a shipborne clamping robot transmission system and a capturing method thereof.The shipborne clamping robot transmission system comprises transmission assemblies, a synchronization assembly and a force control tensioning assembly, and the transmission assemblies are symmetrically arranged on the two sides of the force control tensioning assembly; the transmission assembly comprises a hydraulic cylinder, a pulley vehicle, a first fixed pulley, a second fixed pulley, a mechanical arm, a chain, a steel cable, a first movable pulley and a second movable pulley, a telescopic rod of the hydraulic cylinder is connected with the pulley vehicle, the chain sequentially bypasses the second movable pulley and the second fixed pulley to be connected with the mechanical arm, and the steel cable sequentially bypasses the first movable pulley and the first fixed pulley to be connected with the mechanical arm. Rigid-flexible transmission of inner side chain transmission and outer side steel cable transmission of the mechanical arm is adopted, the mechanical arm has large starting acceleration and capturing bearing capacity through a steel cable tension adjusting control strategy, meanwhile, vibration generated by high-speed operation of a chain transmission system is absorbed through the steel cable, and the mechanical arm is high in starting speed and high in capturing bearing capacity. The capturing stability, the capturing speed and the capturing precision of the mechanical arm are effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of shipborne robots, and in particular relates to a shipborne clamping robot transmission system and a capturing method thereof. Background Art

[0002] With the continuous improvement of the level of ship automation, ship-borne robot technology has been widely used in the fields of cargo handling and material delivery. Especially in the process of transporting heavy cargo on board, robot technology can provide efficient, stable and precise material handling methods, reduce manual intervention, and improve the safety and stability of operations. As the deck swings greatly when the ship is sailing on the sea, the dual-arm clamping method can provide more stable control when handling heavy cargo, avoiding the stability problems that occur when operating a single-arm manipulator. The dual-arm design achieves a more balanced load distribution through coordinated movement, thereby improving handling accuracy and efficiency.

[0003] The existing dual-arm capture system relies on hydraulic cylinders combined with chain transmission to drive the robotic arms to clamp and carry materials. Although it can provide a large starting acceleration and carrying capacity, it also has problems such as insufficient transmission accuracy and poor transmission stability. In addition, when the capture distances of the two robotic arms are inconsistent, the system may have uneven load distribution, resulting in uncoordinated clamping actions, which in turn affects the efficiency and accuracy of the shipborne robot material handling process. Therefore, it is necessary to propose a shipborne gripping robot transmission system and a capture method for the robotic arm. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a shipborne clamping robot transmission system and a capture method for a robotic arm, which adopts a rigid-flexible transmission of an inner chain transmission and an outer steel cable transmission of the robotic arm, and a steel cable tensioning force adjustment control strategy. While ensuring that the robotic arm has both a large starting acceleration and a capture carrying capacity, the steel cable is used to effectively absorb the vibration generated by the high-speed operation of the chain transmission system, thereby significantly improving the stability, capture speed and accuracy of the robotic arm capture process.

[0005] The present invention provides a shipborne gripping robot transmission system, which comprises a transmission assembly, a synchronization assembly and a force-controlled tensioning assembly, wherein the transmission assembly is symmetrically arranged on both sides of the force-controlled tensioning assembly, and the pulleys of the transmission assembly are connected through a synchronization rod of the synchronization assembly;

[0006] The transmission assembly includes a hydraulic cylinder, a pulley, a first fixed pulley, a second fixed pulley, a dual mechanical arm, a chain, a steel cable, a first movable pulley and a second movable pulley. The telescopic rod of the hydraulic cylinder is connected to the first end of the pulley, the first end of the chain is connected to a base, the second end of the chain is connected to the first end of the dual mechanical arm after bypassing the second movable pulley and the second fixed pulley in sequence, the first end of the steel cable is connected to a tensioning adjustment mechanism, the second end of the steel cable is connected to the second end of the dual mechanical arm after bypassing the first movable pulley and the first fixed pulley in sequence, the dual mechanical arm includes a first mechanical arm and a second mechanical arm, the first movable pulley and the second movable pulley are arranged in parallel on the pulley.

[0007] The synchronization component includes a synchronization rod, a limit block, a locking block and a locker, the limit block and the locking block are sequentially arranged on a side of the pulley vehicle close to the tensioning adjustment mechanism, the locker is arranged on the synchronization rod, the force-controlled tensioning component includes an acceleration sensor, a displacement sensor and a tensioning adjustment mechanism, the double mechanical arm is provided with a displacement sensor, the acceleration sensor is located at a middle position between a first mechanical arm and a second mechanical arm that are symmetrically arranged, the tensioning adjustment mechanism includes an electric push cylinder, a tensioning pulley and a tension sensor, the first end of the electric push cylinder is connected to a base, the first end of a rope is connected to a telescopic rod of the electric push cylinder, the second end of the rope bypasses the tensioning pulley and is connected to the base, and the tension sensor is connected to the tensioning pulley;

[0008] The tensioning force control strategy of the dual mechanical arms in the force-controlled tensioning assembly is as follows: the tensioning force of the dual mechanical arms includes the proximal tensioning force F n , distal tension F f and the single arm tension force F s , specifically:

[0009] F n =K n ·F s F f =K f ·F s

[0010] In the formula, K n is the proximal tension traction coefficient, K f is the distal tension traction coefficient, and the proximal mechanical arm motion displacement x nc , remote robot arm movement displacement x fc , the initial capture stroke of the proximal manipulator x n and the initial capture stroke x of the remote robot arm f The relationship is:

[0011]

[0012] Preferably, when the first robotic arm and the second robotic arm are close to each other for clamping, the hydraulic cylinder extends out to drive the pulley cart away from each other, and the second movable pulley on the pulley cart drives the chain to move at twice the speed of the pulley cart, and after the chain is reversed by the second fixed pulley, it drives the first robotic arm and the second robotic arm to approach each other to achieve clamping; when the first robotic arm and the second robotic arm are away from each other, the hydraulic cylinder retracts to drive the pulley cart towards each other, and the first movable pulley on the pulley cart drives the steel cable to move at twice the speed of the pulley cart, and after the steel cable is reversed by the first fixed pulley, it drives the first robotic arm and the second robotic arm to move away from each other to release the clamped object.

[0013] Preferably, when the first robotic arm and the second robotic arm begin to capture, the hydraulic cylinder on the first side extends, and the pulley drives the synchronization rod to move from the initial position toward the direction away from the locking assembly; the hydraulic cylinder on the second side extends, and the pulley moves along the synchronization rod toward the direction close to the locking assembly, and when the first robotic arm and the second robotic arm are captured in place, the pulley contacts the limit block and the locker rotates 180°, and the two ends of the pulley are respectively locked by the limit block and the locking block, so that the pulley moves synchronously, thereby achieving the synchronous approach or distance of the first robotic arm and the second robotic arm.

[0014] Preferably, when the displacement sensor detects the distance between the first robotic arm and the second robotic arm, far-end capture and near-end capture are determined, and during the capture process of the first robotic arm and the second robotic arm, the acceleration and displacement signals of the first robotic arm and the second robotic arm are detected by the sensor, and the tension of the steel cable is regulated by the tension adjustment mechanism.

[0015] Preferably, a locking assembly is provided under the transmission assembly. After the hydraulic locking system of the hydraulic cylinder fails, the first mechanical arm and the second mechanical arm are switched from a fixed state to a floating state. During the clamping process, the locked dual mechanical arms are displaced or abnormal pressure occurs in the hydraulic system. The limiting mechanism of the locking assembly pops out, and the synchronization rod fixes the pulley to achieve locking of the first mechanical arm and the second mechanical arm.

[0016] In a second aspect, the present invention provides a method for capturing a mechanical arm in a transmission system of a shipborne gripping robot, which comprises the following steps:

[0017] S1, initial capture stroke detection of the first robotic arm and the second robotic arm, specifically including the following sub-steps:

[0018] S11, detecting the initial capture stroke x of the first robotic arm and the second robotic arm I1 With x I2 ;

[0019] S12, determine the initial capture stroke x of the first robotic arm I1Is it ≥ the initial capture stroke x of the second robot arm? I2 If satisfied, execute step S21, otherwise execute step S22;

[0020] S2, remote capture mode determination, specifically including the following sub-steps:

[0021] S21, set the shipborne robot gripping control system to the first manipulator remote capture mode, and set the remote manipulator capture stroke x f =x I1 , the proximal robotic arm captures the travel x n =x I2 , execute step S31;

[0022] S22, set the shipborne robot gripping control system to the second manipulator remote capture mode, and set the remote manipulator capture stroke x f =x I2 , the proximal robotic arm capture stroke x n =x I1 , execute step S31;

[0023] S3, hydraulic cylinder proportional valve opening control, specifically including the following sub-steps:

[0024] S31, import the motion displacement x of the first robot arm under the current system operation condition c1 and the acceleration of motion a c1 The motion displacement x of the second robot arm c2 and the acceleration of motion a c2 ;

[0025] S32, determine the current robot arm movement displacement x ci Is > 0.4x Ii If it is greater than, execute step S34; if it is less than or equal to, execute step S33;

[0026] S33, make the valve opening X i =X F , execute step S4, where X F is the opening of the hydraulic control valve when the valve port is fully open, X i It is the current valve opening of the hydraulic control valve;

[0027] S34, determine the current robot arm movement displacement x ci Is > 0.8x Ii If it is greater than, execute step S36; if it is less than or equal to, execute step S35;

[0028] S35, make the valve opening X i =0.5X F , execute step S4;

[0029] S36, make the valve opening X i =0.25X F , execute step S4;

[0030] S4, mechanical arm tension adjustment control, including:

[0031] S41 single robot arm tension control strategy; S42 dual robot arm tension control strategy;

[0032] S5, double-arm capture progress detection, determine whether the first robot arm motion displacement meets x c1 =x I1 And whether the motion displacement of the second robot arm satisfies x c2 =x I2 If the robot arm reaches the capture end point, capture is achieved. If not, step S31 is executed to continue the loop until the condition is met and the loop is exited to achieve capture.

[0033] Preferably, the single robot arm tensioning force control strategy in step S41 includes a starting phase, a braking phase and a precise capture phase, and specifically includes the following sub-steps:

[0034] S411, acceleration a of the robot arm c The traction force F provided by the chain C The tension F provided by the steel cable S Determine, where F H =2F C , then the acceleration of the robot arm is a c for:

[0035]

[0036] S412, the proportional valve opening of the robot arm in the capture stage is 1 / 4 of the fully open state, and the robot arm captures the clamped object at a constant speed; then assume that the traction force F provided by the chain in the uniform speed state of the robot arm Cc =0.5F Hc =F Sc ; F Sc That is, the fixed tension force when the robot captures the clamped object at a uniform speed during the capture phase;

[0037] S413, single arm tension force F s The fixed tension F is captured at a constant speed Sc , traction coefficient K based on acceleration ta and the acceleration-based traction coefficient K ta , specifically:

[0038] F s =K ta ·K tx ·F Sc

[0039] Among them, the traction coefficient K based on acceleration ta for:

[0040]

[0041] Displacement-based traction coefficient K tx for:

[0042]

[0043] Preferably, the single robot arm tension control strategy in step S41 is: firstly, the current robot arm acceleration a is imported. c With the current robot arm displacement ax c Set the fixed tension F Sc ; Secondly, determine the current acceleration of the robot arm, a c ≤0.2m / s 2 , the robot arm control is divided into the speed-up stage control and the speed-down stage control, and the traction coefficient K of different accelerations is set ta ; Then determine the current displacement of the robot arm, x c ≤0.4x I According to the capture position of the robot arm, determine whether the current state meets the predetermined control mode and set the traction coefficient K of different accelerations. tx ;Finally, based on the setting of fixed tension F Sc , the traction coefficient K based on acceleration ta and the displacement-based traction coefficient K tx Calculate the tension force F of a single robot arm s And output.

[0044] Preferably, the dual-manipulator tension control strategy in step S42 is: firstly, the current remote-end manipulator displacement x is imported. fc With the current proximal manipulator displacement x nc ; Secondly, the proximal tension traction coefficient K n Set the proximal mechanical tension F n The control strategy and the tension force F of a single manipulator s The control strategy is the same; then the current displacement of the proximal manipulator is determined, and different distal tension traction coefficients K are set according to the proximal manipulator starting stage, braking stage and precise capture stage. f ; Finally, the single robot arm tension control strategy is called to calculate and output the proximal robot arm tension F n and the remote mechanical arm tension F f .

[0045] Preferably, the capture displacement of the robot arm is x I , the current displacement of the robot is x c, then the startup phase 0≤x c ≤0.4x I , braking phase 0.4x I <x c ≤0.8x I , capture phase 0.8x I <x c ≤x I ; When the robot arm is in different capture displacements, it is in different capture stages. When the robot arm is in different capture stages, the opening of the hydraulic cylinder hydraulic control valve that controls the movement of the robot arm is different: the valve opening in the startup stage is X i =X F , valve opening degree X during braking phase i =0.5X F , the valve opening degree X in the capture stage i =0.25X F .

[0046] Compared with the prior art, the present invention has the following advantages:

[0047] 1. The transmission system of the ship-borne gripping robot of the present invention adopts a rigid-flexible transmission of a chain transmission inside the robot arm and a steel cable transmission outside. Through the steel cable tensioning force adjustment control strategy, while ensuring that the robot arm has both a large starting acceleration and a capture bearing capacity, the steel cable is used to effectively absorb the vibration generated by the high-speed operation of the chain transmission system, which significantly improves the stability of the robot arm's capture process, thereby ensuring that the robot arm has a high capture speed and accuracy.

[0048] 2. The shipborne clamping robot transmission system of the present invention is locked by the synchronization rod, the locking block and the locking mechanism, so that the dual robotic arms can capture the two ends of the clamped object at different strokes during the capture process, and the dual robotic arms can accurately meet the synchronization interval requirements during clamping, thereby improving the anti-interference force of fixed clamping in harsh transportation environments.

[0049] 3. The shipborne gripping robot transmission system of the present invention designs corresponding cable tension control strategies according to different stages of the capture condition, and ensures the movement accuracy and stability of the robot arm in each stage by adjusting the cable tension in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the overall structure of the transmission system of the automobile-carrying ship gripping robot of the present invention;

[0051] Figure 2 It is a structural schematic diagram of the tension adjustment mechanism in the present invention;

[0052] Figure 3 This is a schematic diagram of the throttling control principle of the hydraulic system valve port in the present invention;

[0053] Figure 4 It is a flow chart of the capture method of the robot arm in the present invention;

[0054] Figure 5 It is a logic diagram of the tensioning force control strategy of a single mechanical arm of the present invention;

[0055] Figure 6 It is a logic diagram of the dual-manipulator tensioning force control strategy of the present invention.

[0056] Main drawings marked:

[0057] Limit block 1, locking block 2, pulley 3, hydraulic cylinder 4, first fixed pulley 7, second fixed pulley 8, double mechanical arm 9, locking mechanism 14, lock 15, chain 16, steel cable 17, tensioning adjustment mechanism 20, electric push cylinder 201, tensioning pulley 202, tension sensor 203, acceleration sensor 22, synchronization rod 24, displacement sensor 29. DETAILED DESCRIPTION

[0058] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0059] The ship-borne gripping robot transmission system of the present invention is as follows: Figure 1 As shown, it includes a transmission component, a synchronization component and a force-controlled tensioning component. The transmission components are symmetrically arranged on both sides of the force-controlled tensioning component. The pulleys of the transmission component are connected by a synchronization rod 24 of the synchronization component. The transmission component includes a hydraulic cylinder 4, a pulley 3, a first fixed pulley 7, a second fixed pulley 8, a dual mechanical arm 9, a chain 16, a steel cable 17, a first movable pulley 25 and a second movable pulley 26. The telescopic rod of the hydraulic cylinder 4 is connected to the first end of the pulley 3, the first end of the chain 16 is connected to the base, the second end of the chain 16 is connected to the second movable pulley 26 in sequence, the second fixed pulley 8 is connected to the first end of the dual mechanical arm 9, the first end of the steel cable 17 is connected to the tensioning adjustment mechanism 20, the second end of the steel cable 17 is connected to the first movable pulley 25 in sequence, the first fixed pulley 7 is connected to the second end of the dual mechanical arm 9, the dual mechanical arm 9 includes a first mechanical arm and a second mechanical arm, and the first movable pulley 25 and the second movable pulley 26 are arranged in parallel on the pulley 3. The synchronization component includes a synchronization rod 24, a limit block 1, a locking block 2 and a lock 15. The limit block 1 and the locking block 2 are arranged in sequence on one side of the pulley 3 close to the tensioning adjustment mechanism 20. The lock 15 is arranged on the synchronization rod 24. The force-controlled tensioning component includes an acceleration sensor 22, a displacement sensor 29 and a tensioning adjustment mechanism 20. The displacement sensor 29 is arranged on the dual mechanical arm 9, and the acceleration sensor 28 is located in the middle position of the symmetrically arranged dual mechanical arms 9.

[0060] like Figure 2As shown, the tensioning adjustment mechanism 20 includes an electric push cylinder 201, a tensioning pulley 202 and a tension sensor 203. The first end of the electric push cylinder 201 is connected to the base, the first end of the rope is connected to the telescopic rod of the electric push cylinder 201, the second end of the rope passes around the tensioning pulley 202 and is connected to the base, and the tension sensor 203 is connected to the tensioning pulley 202.

[0061] like Figure 3 As shown, when the double robotic arms 9 are approaching each other for clamping, the hydraulic cylinder 4 extends to drive the pulley 3 to move away from each other, and the second movable pulley 26 on the pulley 3 drives the chain 16 to move at twice the speed of the pulley 3. After the chain 16 is reversed by the second fixed pulley 8, it drives the double robotic arms 9 to approach each other to achieve clamping; when the double robotic arms 9 are moving away from each other, the hydraulic cylinder 4 retracts to drive the pulley 3 to move towards each other, and the first movable pulley 25 on the pulley 3 drives the steel cable 17 to move at twice the speed of the pulley 3. After the steel cable 17 is reversed by the first fixed pulley 7, it drives the double robotic arms 9 to move away from each other to release the clamped object. When the dual robotic arms 9 are captured, the hydraulic cylinder 4 on the first side extends, and the pulley 3 drives the synchronous rod 24 to move from the initial position to the direction away from the locking mechanism 14; the hydraulic cylinder 4 on the second side extends, and the pulley 3 moves along the synchronous rod 24 to the direction close to the locking mechanism 14. When the dual robotic arms are captured in place, the pulley 3 contacts the limit block 1 and the locker 15 rotates 180°. The two ends of the pulley 3 are locked by the limit block 1 and the locking block 2 respectively, so that the pulley 3 moves synchronously, thereby realizing the synchronous movement of the dual robotic arms 9. When the displacement sensor 29 detects the distance between the dual robotic arms 9, it determines the far-end capture and the near-end capture, and in the process of dual robotic arm capture, according to the acceleration and displacement signals of the dual robotic arms 9 detected by the sensor, the tension of the steel cable 17 is adjusted by the tension adjustment mechanism 20. A locking mechanism 14 is provided under the transmission assembly. When the hydraulic locking system of the hydraulic cylinder 4 of the clamping mechanism transmission system fails, the dual robotic arms 9 are switched from a fixed state to a floating state. During the clamping process, the locked dual robotic arms 9 are displaced or the hydraulic system has abnormal pressure. The limiting mechanism of the locking mechanism 14 pops out, and the synchronization rod 24 fixes the pulley 3 to achieve locking of the dual robotic arms 9.

[0062] like Figure 4 As shown, a method for capturing a mechanical arm in a transmission system of a shipborne gripping robot comprises the following steps:

[0063] S1, initial capture stroke detection of the dual robotic arm 9, specifically including the following sub-steps:

[0064] S11, detect the initial capture stroke x of the first robotic arm and the second robotic arm I1 With x I2 ;

[0065] S12, determine the initial capture stroke x of the first robotic arm I1Is it ≥ the initial capture stroke x of the second robot arm? I2 If satisfied, execute step S21, otherwise execute step S22;

[0066] S2, remote capture mode determination, specifically including the following sub-steps:

[0067] S21, set the shipborne robot gripping control system to the first manipulator remote capture mode, and set the remote manipulator capture stroke x f =x I1 , the proximal robotic arm capture stroke x n =x I2 , execute step S31;

[0068] S22, set the shipborne robot gripping control system to the second manipulator remote capture mode, and set the remote manipulator capture stroke x f =x I2 , the proximal robotic arm capture stroke x n =x I1 , execute step S31;

[0069] S3, hydraulic cylinder proportional valve opening control, specifically including the following sub-steps:

[0070] S31, import the motion displacement x of the first robot arm under the current system operation condition c1 and the acceleration of motion a c1 The motion displacement x of the second robot arm c2 and the acceleration of motion a c2 ;

[0071] S32, determine the current robot arm movement displacement x ci Is > 0.4x Ii If it is greater than, execute step S34; if it is less than or equal to, execute step S33;

[0072] S33, valve opening X i =X F , execute step S4;

[0073] S34, determine the current robot arm movement displacement x ci Is > 0.8x Ii If the condition is met, execute step S36; otherwise, execute step S35;

[0074] S35, valve opening X i =0.5X F , execute step S4;

[0075] S36, valve opening X i =0.25X F , execute step S4;

[0076] S4, variable tension adjustment control of the robot arm, including S41 single robot arm tension control strategy and S42 double robot arm 9 tension control strategy, running the robot arm tension control strategy on the subroutine;

[0077] S5, double-arm capture progress detection, determine whether the first robot arm movement displacement is x c1 =x I1 And the second robot arm movement displacement x c2 =x I2 If the condition is met that the robot arm reaches the capture end point to achieve capture, if the condition is not met, step S31 is executed to continue the loop until the condition is met to jump out of the loop to achieve capture.

[0078] like Figure 5 As shown, the single mechanical arm tension control strategy in step S41 includes a start-up phase, a braking phase and a precise capture phase. When the mechanical arm is in different capture displacements, it is in different capture phases: the capture displacement of the mechanical arm is x I , the current displacement of the robot is x c , then the startup phase 0≤x c ≤0.4x I , braking phase 0.4x I <x c ≤0.8x I , capture phase 0.8x I <x c ≤x I ; When the robot arm is in different capture stages, the opening of the hydraulic cylinder hydraulic control valve that controls the movement of the robot arm is different: when the hydraulic control valve is fully open, the opening is X F , the current valve opening of the hydraulic control valve is X i , then the valve opening degree X in the startup phase i =X F , valve opening degree X during braking phase i =0.5X F , the valve opening degree X in the capture stage i =0.25X F .

[0079] Step S41: The single robot arm tension control strategy is: firstly, the current robot arm acceleration a is imported. c With the current robot arm displacement ax c Set the fixed tension F Sc ; Secondly, determine the current acceleration of the robot arm (a c ≤0.2m / s 2 ), the robot arm control is divided into the speed-up stage control and the speed-down stage control, and the traction coefficient K of different accelerations is set ta ; Then determine the current displacement of the robot arm (x c≤0.4x I ), according to the capture position of the robot arm, determine whether the current state meets the predetermined control mode, and set the traction coefficient K of different accelerations tx ;Finally, based on the setting of fixed tension F Sc , the traction coefficient K based on acceleration ta and the displacement-based traction coefficient K tx Calculate the tension force F of a single robot arm s And output.

[0080] S41 single robot arm tension control strategy, specifically including the following sub-steps:

[0081] S411, acceleration a of the robot arm c The traction force F provided by the chain C The tension F provided by the steel cable S Determine, where F H =2F C , then the acceleration of the robot arm is a c for:

[0082]

[0083] S412, the proportional valve opening of the robot arm in the capture stage is 1 / 4 of the fully open state, and the robot arm captures the clamped object at a constant speed; then assume that the traction force F provided by the chain in the uniform speed state of the robot arm Cc =0.5F Hc =F Sc ; F Sc That is, the fixed tension force when the robot captures the clamped object at a uniform speed during the capture phase;

[0084] S413, single arm tension force F s The fixed tension F is captured at a constant speed Sc , traction coefficient K based on acceleration ta and the acceleration-based traction coefficient K ta , specifically:

[0085] F s =K ta ·K tx ·F Sc

[0086] Traction coefficient K ta Setting principle: According to the acceleration a of the robot arm c It is divided into three stages: 1) a c >0.2m / s 2 It is the acceleration stage, the robot arm is in the initial position and starts to accelerate. At this time, the traction coefficient K taIn order to adjust to a smaller initial value, the vibration generated by the high-speed operation of the chain transmission system is absorbed by the steel cable transmission system without hindering the increase in the speed of the robot arm; 2) a c ≤0.2m / s 2 This is the speed control stage, that is, when the robot reaches the position, the acceleration begins to drop to the threshold of 0.2m / s 2 When the traction coefficient K is below ta Gradually increase, when a c >0 or a c ≤0 and the traction force F provided by the chain C Greater than the tension F provided by the steel cable S When the robot arm is still in the initial braking stage, the traction coefficient K ta As the acceleration decreases, it increases, thereby achieving the purpose of quickly reducing the speed of the robot arm; 3) When a c ≤0 and the traction force F provided by the chain C Less than the tension F provided by the steel cable S When the robot arm accelerates to a c = 0 convergence, tension F S It decreases with the increase of acceleration and eventually tends to F Cc =F Sc , that is, the uniform speed capture state of the robot arm during the capture phase.

[0087] Among them, the traction coefficient K based on acceleration ta for:

[0088]

[0089] Displacement-based traction coefficient K tx for:

[0090]

[0091] Traction coefficient K tx Setting principle: According to the acceleration a of the robot arm c With displacement x c It is divided into five stages: 1) When a c ≥0.2m / s 2 And x c ≤0.4x I Time (x I is the initial capture stroke of the robot arm), that is, the robot arm is in the acceleration stage, and the equipment is operating normally, then the traction coefficient K tx is 1; 2) when a c ≥0.2m / s 2 And x c ≥0.4x IWhen the robot arm should be in the speed control stage but is still in the speed-up stage, that is, the hydraulic control valve port fails to be reduced to half in time, and the equipment operates abnormally, the traction coefficient K tx is 5, the robot arm is controlled to brake quickly and control the speed; 3) 0< when a c ≤0.2m / s 2 And x c ≤0.4x I When, the same as 1); 4) 0 < when a c ≤0.2m / s 2 And x c ≥0.4x I When a c ≤0m / s 2 When the robot arm is in the speed control stage and the equipment operates normally, the traction coefficient K tx is 1.

[0092] like Figure 6 As shown, in step S42, the tension control strategy of the dual mechanical arms 9 is: the mechanical arm tension includes the proximal tension force F n , distal tension F f and the single arm tension force F s , specifically:

[0093] F n =K n ·F s F f =K f ·F s

[0094] In the formula, K n is the proximal tension traction coefficient K n , its value is 1, K f is the distal tension force traction coefficient. In order to prevent the sudden increase in acceleration caused by the sudden increase in the flow of the distal hydraulic cylinder due to the reduction in the proportional valve opening during the braking or capture process of the proximal robotic arm, it is related to the proximal robotic arm motion displacement x nc , remote robot arm movement displacement x fc , the initial capture stroke of the proximal manipulator x n and the initial capture stroke x of the remote robot arm f The relationship is:

[0095]

[0096] Distal tension traction coefficient K f The setting principle is based on the displacement x of the proximal manipulator nc It is divided into three stages: 1) When the proximal robotic arm moves x nc Greater than 0 and less than 0.4 times the initial capture stroke x of the proximal manipulatorn When , it indicates that the proximal manipulator is in the acceleration stage. At this time, the hydraulic control valve of the proximal manipulator is fully open, and the valve of the distal manipulator is also fully open. At this time, the distal tension force traction coefficient K f =1; 2) When the proximal manipulator moves x nc Greater than 0.4 times and less than 0.8 times the initial capture stroke of the proximal manipulator x n When the proximal mechanical arm is in the speed control stage, the hydraulic control valve of the proximal mechanical arm is half open, while the valve of the distal mechanical arm is fully open. At this time, the hydraulic control valve of the proximal mechanical arm has a throttle hole, and the excess liquid enters the distal hydraulic cylinder, causing the acceleration of the hydraulic cylinder to increase suddenly, increasing the distal tension traction coefficient K. f Reduce the sudden increase of hydraulic cylinder acceleration; 3) When the proximal mechanical arm moves x nc Greater than 0.4 times and less than 0.8 times the initial capture stroke of the proximal manipulator x n When , it indicates that the proximal manipulator is in the capture stage. At this time, the hydraulic control valve of the proximal manipulator is only opened by one quarter, while the valve of the distal manipulator is fully opened, resulting in a further increase in the acceleration of the hydraulic cylinder. At this time, the distal tension traction coefficient K is increased. f 2. To alleviate the problem of sudden acceleration caused by a sudden increase in flow of the remote hydraulic cylinder due to a decrease in the opening of the proportional valve.

[0097] The shipborne clamping robot transmission system and the capture method of the mechanical arm of the present invention adopt a rigid-flexible transmission of an inner chain transmission and an outer steel cable transmission of the mechanical arm, and through a steel cable tensioning force adjustment control strategy, while ensuring that the mechanical arm has both a large starting acceleration and a capture carrying capacity, the steel cable is used to effectively absorb the vibration generated by the high-speed operation of the chain transmission system, which significantly improves the stability of the mechanical arm capture process, thereby ensuring that the mechanical arm has a high capture speed and accuracy.

[0098] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A shipborne gripping robot transmission system, characterized in that: It includes a transmission assembly, a synchronization assembly and a force-controlled tensioning assembly, wherein the transmission assembly is symmetrically arranged on both sides of the force-controlled tensioning assembly, and the pulleys of the transmission assembly are connected through a synchronization rod of the synchronization assembly; The transmission assembly includes a hydraulic cylinder, a pulley, a first fixed pulley, a second fixed pulley, a dual mechanical arm, a chain, a steel cable, a first movable pulley and a second movable pulley. The telescopic rod of the hydraulic cylinder is connected to the first end of the pulley, the first end of the chain is connected to a base, the second end of the chain is connected to the first end of the dual mechanical arm after bypassing the second movable pulley and the second fixed pulley in sequence, the first end of the steel cable is connected to a tensioning adjustment mechanism, the second end of the steel cable is connected to the second end of the dual mechanical arm after bypassing the first movable pulley and the first fixed pulley in sequence, the dual mechanical arm includes a first mechanical arm and a second mechanical arm, the first movable pulley and the second movable pulley are arranged in parallel on the pulley. The synchronization component includes a synchronization rod, a limit block, a locking block and a locker, the limit block and the locking block are sequentially arranged on a side of the pulley vehicle close to the tensioning adjustment mechanism, the locker is arranged on the synchronization rod, the force-controlled tensioning component includes an acceleration sensor, a displacement sensor and a tensioning adjustment mechanism, the double mechanical arm is provided with a displacement sensor, the acceleration sensor is located at a middle position between a first mechanical arm and a second mechanical arm that are symmetrically arranged, the tensioning adjustment mechanism includes an electric push cylinder, a tensioning pulley and a tension sensor, the first end of the electric push cylinder is connected to a base, the first end of a rope is connected to a telescopic rod of the electric push cylinder, the second end of the rope bypasses the tensioning pulley and is connected to the base, and the tension sensor is connected to the tensioning pulley; The tensioning force control strategy of the dual mechanical arms in the force-controlled tensioning assembly is as follows: the tensioning force of the dual mechanical arms includes the proximal tensioning force F n , distal tension F f and the single arm tension force F s , specifically: F n =K n ·F s F f =K f ·F s In the formula, K n is the proximal tension traction coefficient, K f is the distal tension traction coefficient, and the proximal mechanical arm motion displacement x nc , remote robot arm movement displacement x fc , the initial capture stroke of the proximal manipulator x n and the initial capture stroke x of the remote robot arm f The relationship is:

2. The shipborne gripping robot transmission system according to claim 1, characterized in that: When the first robotic arm and the second robotic arm are close to each other for clamping, the hydraulic cylinder extends out to drive the pulley cart to move away from each other, and the second movable pulley on the pulley cart drives the chain to move at twice the speed of the pulley cart, and after the chain is reversed by the second fixed pulley, it drives the first robotic arm and the second robotic arm to move closer to each other for clamping; when the first robotic arm and the second robotic arm are away from each other, the hydraulic cylinder retracts to drive the pulley cart to move closer to each other, and the first movable pulley on the pulley cart drives the steel cable to move at twice the speed of the pulley cart, and after the steel cable is reversed by the first fixed pulley, it drives the first robotic arm and the second robotic arm to move away from each other to release the clamped object.

3. The shipborne gripping robot transmission system according to claim 1, characterized in that: When the first robotic arm and the second robotic arm begin to capture, the hydraulic cylinder on the first side extends out, and the pulley drives the synchronization rod to move from the initial position to the direction away from the locking assembly; the hydraulic cylinder on the second side extends out, and the pulley moves along the synchronization rod to the direction close to the locking assembly. When the first robotic arm and the second robotic arm are captured in place, the pulley contacts the limit block and the locker rotates 180°. The two ends of the pulley are respectively locked by the limit block and the locking block, so that the pulley moves synchronously, thereby achieving the synchronous approach or distance of the first robotic arm and the second robotic arm.

4. The shipborne gripping robot transmission system according to claim 1, characterized in that: When the displacement sensor detects the distance between the first robotic arm and the second robotic arm, far-end capture and near-end capture are determined, and during the capture process of the first robotic arm and the second robotic arm, the acceleration and displacement signals of the first robotic arm and the second robotic arm are detected by the sensor, and the tension of the steel cable is regulated by the tension adjustment mechanism.

5. The shipborne gripping robot transmission system according to claim 1, characterized in that: A locking assembly is provided under the transmission assembly. After the hydraulic locking system of the hydraulic cylinder fails, the first mechanical arm and the second mechanical arm are switched from a fixed state to a floating state. During the clamping process, the locked dual mechanical arms are displaced or abnormal pressure occurs in the hydraulic system. The limiting mechanism of the locking assembly pops out, and the synchronization rod fixes the pulley to achieve locking of the first mechanical arm and the second mechanical arm.

6. A capture method based on the shipborne gripper robot transmission system according to any one of claims 1 to 5, characterized in that: It includes the following steps: S1, initial capture stroke detection of the first robotic arm and the second robotic arm, specifically including the following sub-steps: S11, detecting the initial capture stroke x of the first robotic arm and the second robotic arm I1 With x I2 ; S12, determine the initial capture stroke x of the first robotic arm I1 Is it ≥ the initial capture stroke x of the second robot arm? I2 If satisfied, execute step S21, otherwise execute step S22; S2, remote capture mode determination, specifically including the following sub-steps: S21, set the shipborne robot gripping control system to the first manipulator remote capture mode, and set the remote manipulator capture stroke x f =x I1 , the proximal robotic arm capture stroke x n =x I2 , execute step S31; S22, set the shipborne robot gripping control system to the second manipulator remote capture mode, and set the remote manipulator capture stroke x f =x I2 , the proximal robotic arm capture stroke x n =x I1 , execute step S31; S3, hydraulic cylinder proportional valve opening control, specifically including the following sub-steps: S31, import the motion displacement x of the first robot arm under the current system operation condition c1 and the acceleration of motion a c1 The motion displacement x of the second robot arm c2 and the acceleration of motion a c2 ; S32, determine the current robot arm movement displacement x ci Is > 0.4x Ii If it is greater than, execute step S34; if it is less than or equal to, execute step S33; S33, make the valve opening X i =X F , execute step S4, where X F is the opening of the hydraulic control valve when the valve port is fully open, X i It is the current valve opening of the hydraulic control valve; S34, determine the current robot arm movement displacement x ci Is > 0.8x Ii If it is greater than, execute step S36; if it is less than or equal to, execute step S35; S35, make the valve opening X i =0.5X F , execute step S4; S36, make the valve opening X i =0.25X F , execute step S4; S4, mechanical arm tension adjustment control, including: S41 single robot arm tension control strategy; S42 dual robot arm tension control strategy; S5, double-arm capture progress detection, determine whether the first robot arm motion displacement meets x c1 =x I1 And whether the motion displacement of the second robot arm satisfies x c2 =x I2 If the robot arm reaches the capture end point, capture is achieved. If not, step S31 is executed to continue the loop until the condition is met and the loop is exited to achieve capture.

7. The capture method of the shipborne gripper robot transmission system according to claim 6, characterized in that: Step S41: The single robot arm tension control strategy includes a startup phase, a braking phase, and a precise capture phase, and specifically includes the following sub-steps: S411, acceleration a of the robot arm c The traction force F provided by the chain C The tension F provided by the steel cable S Determine, where F H =2F C , then the acceleration of the robot arm is a c for: S412, the proportional valve opening of the robot arm in the capture stage is 1 / 4 of the fully open state, and the robot arm captures the clamped object at a constant speed; then assume that the traction force F provided by the chain in the uniform speed state of the robot arm Cc =0.5F Hc =F Sc ; F Sc That is, the fixed tension force when the robot captures the clamped object at a uniform speed during the capture phase; S413, single arm tension force F s The fixed tension F is captured at a constant speed Sc , traction coefficient K based on acceleration ta and the acceleration-based traction coefficient K ta , specifically: F s =K ta ·K tx ·F Sc Among them, the traction coefficient K based on acceleration ta for: Displacement-based traction coefficient K tx for:

8. The capture method of the shipborne gripper robot transmission system according to claim 6, characterized in that: Step S41: The single robot arm tension control strategy is: firstly, the current robot arm acceleration a is imported. c With the current robot arm displacement ax c Set the fixed tension F Sc ; Secondly, determine the current acceleration of the robot arm, a c ≤0.2m / s 2 , the robot arm control is divided into the speed-up stage control and the speed-down stage control, and the traction coefficient K of different accelerations is set ta ; Then determine the current displacement of the robot arm, x c ≤0.4x I According to the capture position of the robot arm, determine whether the current state meets the predetermined control mode and set the traction coefficient K of different accelerations. tx ;Finally, based on the setting of fixed tension F Sc , the traction coefficient K based on acceleration ta and the displacement-based traction coefficient K tx Calculate the tension force F of a single robot arm s And output.

9. The capture method of the shipborne gripper robot transmission system according to claim 6, characterized in that: Step S42: The dual-arm tension control strategy is: first, import the current remote-end arm displacement x fc With the current proximal manipulator displacement x nc ; Secondly, the proximal tension traction coefficient K n Set the proximal mechanical tension F n The control strategy and the tension force F of a single manipulator s The control strategy is the same; then the current displacement of the proximal manipulator is determined, and different distal tension traction coefficients K are set according to the proximal manipulator starting stage, braking stage and precise capture stage. f ; Finally, the single robot arm tension control strategy is called to calculate and output the proximal robot arm tension F n and the remote mechanical arm tension F f .

10. The capture method of the shipborne gripper robot transmission system according to claim 7, characterized in that: The capture displacement of the robot arm is x I , the current displacement of the robot is x c , then the startup phase 0≤x c ≤0.4x I , braking phase 0.4x I <x c ≤0.8x I , capture phase 0.8x I <x c ≤x I ; When the robot arm is in different capture displacements, it is in different capture stages. When the robot arm is in different capture stages, the opening of the hydraulic cylinder hydraulic control valve that controls the movement of the robot arm is different: the valve opening in the startup stage is X i =X F , valve opening degree X during braking phase i =0.5X F , the valve opening degree X in the capture stage i =0.25X F .

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