Shipborne gripping robot transmission system and capture method thereof

Abstract

The present invention belongs to the technical field of shipborne robots and provides a shipborne clamping robot transmission system and a capture method thereof, which 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 transmission component includes a hydraulic cylinder, a pulley, 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. The telescopic rod of the hydraulic cylinder is connected to the pulley, the chain passes through the second movable pulley and the second fixed pulley in turn and is connected to the mechanical arm, and the steel cable passes through the first movable pulley and the first fixed pulley in turn and is connected to the mechanical arm. The present invention adopts a rigid-flexible transmission of an inner chain drive and an outer steel cable drive of the mechanical arm. Through the steel cable tensioning force adjustment control strategy, the mechanical arm has both large starting acceleration and capture bearing capacity, while the steel cable is used to absorb the vibration generated by the high-speed operation of the chain drive system, effectively improving the stability, capture speed and accuracy of the mechanical arm capture.

Description

Technical Field

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

[0002] With the continuous improvement of ship automation, shipboard robotics has been widely used in areas such as cargo handling and material delivery. This is particularly true for the transport of heavy cargo on board ships. Robotic technology provides an efficient, stable, and precise material handling method, reducing manual intervention and improving operational safety and stability. Due to the significant swaying of the ship's deck while navigating the sea, a dual-arm gripping method provides more stable control when handling heavy cargo, avoiding the stability issues associated with single-arm manipulators. The dual-arm design achieves more balanced load distribution through coordinated motion, thereby improving handling accuracy and efficiency.

[0003] Existing dual-arm capture systems rely on hydraulic cylinders combined with chain drives to drive the arms for material gripping and handling. While these systems offer significant starting acceleration and handling capacity, they also suffer from issues such as insufficient transmission precision and poor transmission stability. Furthermore, when the gripping distances of the two arms are inconsistent, the system can experience uneven load distribution, leading to uncoordinated gripping movements and compromising the efficiency and accuracy of the shipborne robot's material handling process. Therefore, it is necessary to propose a shipborne gripper robot transmission system and a capture method for the manipulator arms. Summary of the Invention

[0004] In response to 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. It adopts a rigid-flexible transmission system consisting of an inner chain transmission and an outer steel cable transmission for the robotic arm. Through 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 includes a transmission assembly, a synchronization assembly and a force-controlled tensioning assembly. The transmission assemblies are symmetrically arranged on both sides of the force-controlled tensioning assembly, and the pulleys of the transmission assemblies are connected by 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 robotic 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 the base, the second end of the chain is connected to the first end of the dual robotic arm after passing through the second movable pulley and the second fixed pulley in sequence, the first end of the steel cable is connected to the tensioning adjustment mechanism, the second end of the steel cable is connected to the second end of the dual robotic arm after passing through the first movable pulley and the first fixed pulley in sequence, the dual robotic arm includes a first robotic arm and a second robotic 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 dual mechanical arms are provided with a displacement sensor, the acceleration sensor is located in the middle position of the first mechanical arm and the second mechanical arm which 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 the base, the first end of the rope is connected to the telescopic rod of the electric push cylinder, the second end of the rope passes around 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-arm in the force-controlled tensioning assembly is as follows: the tensioning force of the dual-arm includes the proximal tensioning force F n , distal tension F f and the single arm tension F s , specifically:

[0009] F n =K n ·F s F f =K f ·F s

[0010] Where K n is the proximal tension traction coefficient, K f is the distal tension traction coefficient, and the proximal robotic arm motion displacement x nc , remote manipulator movement displacement x fc , the initial capture stroke of the proximal manipulator x n and the initial capture stroke x of the remote robotic 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 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 the chain drives the first robotic arm and the second robotic arm to approach each other for clamping after the second fixed pulley changes direction; 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 the steel cable drives the first robotic arm and the second robotic arm to move away from each other to release the clamped object after the first fixed pulley changes direction.

[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. 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 realizing 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 robotic arm and the second robotic arm are switched from a fixed state to a floating state. During the clamping process, the locked dual robotic arms are displaced or the hydraulic system has abnormal pressure. The limiting mechanism of the locking assembly pops out, and the synchronization rod fixes the pulley to achieve locking of the first robotic arm and the second robotic arm.

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

[0017] S1, initial capture stroke detection of the first and second robotic arms, 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 robotic arm? I2 If satisfied, execute step S21, otherwise execute step S22;

[0020] S2: Determine the remote capture mode, which specifically includes 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 capture stroke 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 manipulator under the current system operating conditions c1 and the acceleration a c1 The motion displacement x of the second robot arm c2 and the acceleration 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 is the current valve opening of the hydraulic control valve;

[0027] S34, determine the current movement displacement x of the robotic arm 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, Robotic 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 robotic arm motion displacement meets x c1 =x I1 And whether the motion displacement of the second manipulator satisfies x c2 =x I2 If the condition that the robot arm reaches the capture end point is met, 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 robotic arm tensioning force control strategy in step S41 includes a starting phase, a braking phase, and a precise capture phase, specifically including the following sub-steps:

[0034] S411, acceleration a of the robotic arm c The traction force F provided by the chain C The tension F provided by the steel cable S Decision, 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 suppose the traction force F provided by the chain in the constant 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 Robot 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 manipulator tension control strategy in step S41 is: first import the current manipulator acceleration a c With the current arm displacement ax c Set 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 conforms to 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 robotic arm s And output.

[0044] Preferably, the dual-manipulator tension control strategy in step S42 is: first, the current remote manipulator displacement x is imported. fc 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 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-arm tension control strategy is called to calculate and output the proximal arm tension F n and the tension force F of the remote robotic arm f .

[0045] Preferably, the capture displacement of the manipulator is x I , the current displacement of the robotic arm 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 manipulator is in different capture displacements, it is in different capture stages. When the manipulator is in different capture stages, the opening of the hydraulic cylinder hydraulic control valve that controls the movement of the manipulator 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 shipborne gripping robot transmission system of the present invention adopts a rigid-flexible transmission system consisting of a chain drive on the inner side of the manipulator arm and a steel cable drive on the outer side. Through the steel cable tension adjustment control strategy, while ensuring that the manipulator arm has both large starting acceleration and capture load-bearing capacity, the steel cable effectively absorbs the vibration generated by the high-speed operation of the chain drive system, significantly improving the stability of the manipulator arm's capture process, thereby ensuring the manipulator arm has high capture speed and accuracy.

[0048] 2. The shipborne gripping robot transmission system of the present invention is locked by the synchronization rod, locking block and 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 precise synchronization interval requirements of the dual robotic arms during clamping are met, 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 working conditions, 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 This is a schematic diagram of the overall structure of the transmission system of the automobile and ship-mounted gripping robot of the present invention;

[0051] Figure 2 Schematic diagram of the structure of the tensioning adjustment mechanism of the present invention;

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

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

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

[0055] Figure 6 This 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, dual robotic 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] To fully describe the technical content, structural features, objectives and effects of the present invention, the following is a detailed description with reference to the accompanying drawings.

[0059] The shipborne gripping robot transmission system of the present invention is as follows: Figure 1 As shown, it includes a transmission assembly, a synchronization assembly and a force-controlled tensioning assembly. The transmission assembly is symmetrically arranged on both sides of the force-controlled tensioning assembly. The pulleys of the transmission assembly are connected by a synchronization rod 24 of the synchronization assembly. The transmission assembly includes a hydraulic cylinder 4, a pulley 3, a first fixed pulley 7, a second fixed pulley 8, a dual robotic 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 and the second fixed pulley 8 in turn and the first end of the dual robotic 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 and the first fixed pulley 7 in turn and the second end of the dual robotic arm 9, the dual robotic arm 9 includes a first robotic arm and a second robotic arm, and the first movable pulley 25 and the second movable pulley 26 are arranged parallel to the pulley 3. The synchronization component includes a synchronization rod 24, a limit block 1, a locking block 2 and a locker 15. The limit block 1 and the locking block 2 are arranged in sequence on the side of the pulley 3 close to the tensioning adjustment mechanism 20. The locker 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 provided on the dual robotic arm 9, and the acceleration sensor 28 is located in the middle position of the symmetrically arranged dual robotic 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 two robotic arms 9 approach each other for clamping, the hydraulic cylinder 4 extends to drive the pulley 3 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 two robotic arms 9 to approach each other to achieve clamping; when the two robotic arms 9 move away from each other, the hydraulic cylinder 4 retracts to drive the pulley 3 approach 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 two 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 synchronization rod 24 from its initial position away from the locking mechanism 14. The hydraulic cylinder 4 on the second side extends, and the pulley 3 moves along the synchronization rod 24 toward the locking mechanism 14. When the dual robotic arms are captured, the pulley 3 contacts the limit block 1, and the lock 15 rotates 180 degrees. 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 achieving 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 whether it is captured at the far end or at the near end. During the dual robotic arm capture process, the tension of the steel cable 17 is adjusted by the tension adjustment mechanism 20 based on the acceleration and displacement signals of the dual robotic arms 9 detected by the sensor. 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 manipulator arm in a shipborne gripping robot transmission system comprises the following steps:

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

[0064] S11, detect the initial capture stroke x of the first and second robotic arms 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 robotic arm? I2 If satisfied, execute step S21, otherwise execute step S22;

[0066] S2: Determine the remote capture mode, which specifically includes 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 manipulator under the current system operating conditions c1 and the acceleration a c1 The motion displacement x of the second robot arm c2 and the acceleration 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 movement displacement x of the robotic arm ci Is >0.8x Ii If the condition is met, go to step S36; otherwise, go to 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 robotic arm, including S41 single robotic arm tension control strategy and S42 dual robotic arm tension control strategy, running the robotic arm tension control strategy in the subroutine;

[0077] S5, double-arm capture progress detection, determine whether the first robotic 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 manipulator tension control strategy in step S41 includes a starting phase, a braking phase, and a precise capture phase. When the manipulator is in different capture displacements, the capture phases are different: the capture displacement of the manipulator is x I , the current displacement of the robotic arm 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 manipulator is in different capture stages, the opening of the hydraulic cylinder hydraulic control valve that controls the movement of the manipulator 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: Single manipulator tension control strategy is: first import the current manipulator acceleration a c With the current arm displacement ax c Set fixed tension F Sc ; Secondly, the current acceleration of the robot arm is determined (a c ≤0.2m / s 2 ), the robot arm control is divided into the acceleration stage control and the deceleration 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 manipulator, determine whether the current state conforms to 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 robotic arm s And output.

[0080] The S41 single-arm tension control strategy includes the following sub-steps:

[0081] S411, acceleration a of the robotic arm c The traction force F provided by the chain C The tension F provided by the steel cable S Decision, 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 suppose the traction force F provided by the chain in the constant 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 Robot 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 robotic 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 speed-up 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 valve opening of the hydraulic control valve fails to be reduced to half in time, and the equipment operates abnormally, the traction coefficient K tx 5, control the robot arm to quickly brake 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 robotic arms 9 is: the robotic arm tension includes the proximal tension F n , distal tension F f and the single arm tension F s , specifically:

[0093] F n =K n ·F s F f =K f ·F s

[0094] Where K n is the proximal tension traction coefficient K n , its value is 1, K f is the distal tension traction coefficient, which is used 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. nc , remote manipulator movement displacement x fc , the initial capture stroke of the proximal manipulator x n and the initial capture stroke x of the remote robotic arm f The relationship is:

[0095]

[0096] Distal tension traction coefficient K f The setting principle is based on the movement 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 speed-up 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 traction coefficient K f Equal to 1; 2) When the proximal manipulator displacement 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 manipulator is in the speed control stage, the proximal manipulator hydraulic control valve is half open, while the distal manipulator valve is fully open. At this time, the proximal manipulator hydraulic control valve stroke throttle hole, excess liquid enters the distal hydraulic cylinder, causing the hydraulic cylinder acceleration to increase, increasing the distal tension traction coefficient K f Reduce the sudden increase of hydraulic cylinder acceleration; 3) 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 manipulator is in the capture stage, the hydraulic control valve of the proximal manipulator is only open a quarter, while the valve of the distal manipulator is fully open, causing the acceleration of the hydraulic cylinder to increase further. At this time, the distal tension traction coefficient K is increased. f 2. Alleviate the problem of sudden acceleration caused by a sudden increase in flow of the remote hydraulic cylinder due to a decrease in the proportional valve opening.

[0097] The shipborne gripping robot transmission system and the capture method of the manipulator arm of the present invention adopt a rigid-flexible transmission of a chain transmission on the inner side of the manipulator arm and a steel cable transmission on the outer side. Through the steel cable tensioning force adjustment control strategy, while ensuring that the manipulator 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 manipulator arm's capture process, thereby ensuring that the manipulator arm has a high capture speed and accuracy.

[0098] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the 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 fall within the scope of protection 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 robotic 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 the base, the second end of the chain is connected to the first end of the dual robotic arm after passing through the second movable pulley and the second fixed pulley in sequence, the first end of the steel cable is connected to the tensioning adjustment mechanism, the second end of the steel cable is connected to the second end of the dual robotic arm after passing through the first movable pulley and the first fixed pulley in sequence, the dual robotic arm includes a first robotic arm and a second robotic 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 dual mechanical arms are provided with a displacement sensor, the acceleration sensor is located in the middle position of the first mechanical arm and the second mechanical arm which 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 the base, the first end of the rope is connected to the telescopic rod of the electric push cylinder, the second end of the rope passes around 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-arm in the force-controlled tensioning assembly is as follows: the tensioning force of the dual-arm includes the proximal tensioning force F n , distal tension F f and the single arm tension F s , specifically: F n =K n ·F s F f =K f ·F s Where K n is the proximal tension traction coefficient, K f is the distal tension traction coefficient, and the proximal robotic arm motion displacement x nc , remote manipulator movement displacement x fc , the initial capture stroke of the proximal manipulator x n and the initial capture stroke x of the remote robotic 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 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. 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 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 approach 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. 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, 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. 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 realizing the synchronous approach or distance between 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. When the hydraulic locking system of the hydraulic cylinder fails, the first robotic arm and the second robotic arm are switched from a fixed state to a floating state. When the locked dual robotic arms are displaced or abnormal pressure occurs in the hydraulic system during the clamping process, the limiting mechanism of the locking assembly pops out, and the synchronization rod fixes the pulley to achieve locking of the first robotic arm and the second robotic arm.

6. A capture method based on the shipborne gripping 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 and second robotic arms, 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 robotic arm? I2 If satisfied, execute step S21, otherwise execute step S22; S2: Determine the remote capture mode, which specifically includes 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 manipulator under the current system operation condition c1 and the acceleration a c1 The motion displacement x of the second robot arm c2 and the acceleration 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 is the current valve opening of the hydraulic control valve; S34, determine the current movement displacement x of the robotic arm 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, Robotic 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 robotic arm motion displacement meets x c1 =x I1 And whether the motion displacement of the second manipulator satisfies x c2 =x I2 If the condition that the robot arm reaches the capture end point is met, 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 gripping robot transmission system according to claim 6, characterized in that: Step S41: The single-arm tension force control strategy includes a startup phase, a braking phase, and a precise capture phase, specifically including the following sub-steps: S411, acceleration a of the robotic arm c The traction force F provided by the chain C The tension F provided by the steel cable S Decision, 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 suppose the traction force F provided by the chain in the constant 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 Robot 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 gripping robot transmission system according to claim 6, characterized in that: Step S41: Single manipulator tension control strategy is: first import the current manipulator acceleration a c With the current arm displacement ax c Set 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 conforms to 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 robotic arm s And output.

9. The capture method of the shipborne gripping 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 and 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 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-arm tension control strategy is called to calculate and output the proximal arm tension F n and the tension force F of the remote robotic arm f .

10. The capture method of the shipborne gripping robot transmission system according to claim 7, characterized in that: The capture displacement of the manipulator is x I , the current displacement of the robotic arm 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 manipulator is in different capture displacements, it is in different capture stages. When the manipulator is in different capture stages, the opening of the hydraulic cylinder hydraulic control valve that controls the movement of the manipulator 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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