Carrying balance control system of power-assisted manipulator

Abstract

The invention relates to the technical field of manipulator control, and provides a carrying balance control system of a power-assisted manipulator, which comprises a configuration module used for configuring a sensor for acquiring carrying information of the power-assisted manipulator and configuring a control platform for controlling the power-assisted manipulator; the acquisition module is used for acquiring carrying data of the power-assisted manipulator based on the sensor and the control platform; the calculation module is used for carrying out carrying balance calculation on the carrying data to obtain a calculation result; and the control module is used for controlling the carrying balance of the power-assisted manipulator according to the calculation result. According to the method, carrying balance calculation is conducted on the weight of the carried casting ladle and the carrying advancing speed of the carried casting ladle, carrying balance of the power-assisted manipulator is controlled according to the calculation result, the carried casting ladle can achieve weight and speed balance in the carrying process, the operation effect of the power-assisted manipulator is improved, and aluminum water is prevented from being scattered in the carrying process.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator control, and in particular to a handling balance control system of a power-assisted manipulator. Background Art

[0002] In the aluminum molten casting operation workshop, workshop workers need to operate the manipulator to move the ladle containing aluminum liquid to the casting shell position and directly pour it into the casting shell to complete the casting. In the process of moving aluminum liquid, the weight and speed of the aluminum liquid need to be considered to ensure the balance and stability of the movement and avoid the problem of aluminum liquid spilling during the movement.

[0003] The existing manipulator's handling balance control still has problems such as insufficient control quality, aluminum liquid spilling during the ladle handling process, and unstable handling speed of the manipulator, which affects the handling efficiency of the power-assisted manipulator.

[0004] Therefore, it is necessary to provide a handling balance control system for a power-assisted manipulator. Summary of the invention

[0005] The present invention provides a handling balance control system for a power-assisted manipulator, which performs handling balance calculation on the weight of a ladle and the handling travel speed of the ladle, and controls the handling balance of the power-assisted manipulator according to the calculation result, so that the ladle being handled can achieve weight and speed balance during the handling process, thereby improving the operation effect of the manipulator and preventing aluminum liquid from spilling during the handling process.

[0006] The present invention provides a handling balance control system for a power-assisted manipulator, comprising:

[0007] A configuration module, used to configure a sensor for collecting handling information of the power-assisting manipulator, and to configure a control platform for controlling the power-assisting manipulator;

[0008] An acquisition module is used to acquire the handling data of the power manipulator based on sensors and a control platform;

[0009] A calculation module is used to perform a transportation balance calculation on the transportation data to obtain a calculation result;

[0010] The control module is used to control the handling balance of the power-assisted manipulator according to the calculation results.

[0011] Furthermore, a sensor for collecting the handling information of the assisting manipulator is configured, and a control platform for controlling the assisting manipulator is configured, including:

[0012] A first sensor for collecting the weight of the ladle carried by the assisting manipulator and a second sensor for collecting the carrying speed of the assisting manipulator are configured;

[0013] A control platform for controlling the power-assisted manipulator is configured, and a network connection between the control platform and the first sensor and the second sensor is set.

[0014] Furthermore, the handling data of the power manipulator is obtained based on the sensor and control platform, including:

[0015] According to the handling workflow of the power-assisting manipulator, the working phase of the power-assisting manipulator is obtained;

[0016] According to the working stage, obtain the handling operation content of the assisting manipulator;

[0017] According to the content of the handling operation, the first sensor and the second sensor are used to obtain the handling data of the power-assisting manipulator, and the handling data is sent to the control platform.

[0018] Furthermore, according to the handling workflow of the power-assisting manipulator, the working phase of the power-assisting manipulator is obtained, including:

[0019] Based on the workflow of the power-assisted manipulator forking the ladle from the casting shell position to the aluminum water furnace, the first working stage is obtained;

[0020] Based on the operation process of the power-assisted manipulator forking the ladle to receive the molten aluminum, the first work conversion stage is obtained;

[0021] The second working stage is obtained based on the workflow of the auxiliary manipulator forking the ladle containing molten aluminum from the molten aluminum furnace to the casting shell position;

[0022] Based on the operation process of forking the ladle filled with molten aluminum by the power-assisted manipulator and pouring the molten aluminum into the casting shell to complete the casting, the second work conversion stage is obtained.

[0023] Furthermore, according to the working stage, the handling operation content of the assisting manipulator is obtained, including:

[0024] According to the first working stage and the first working conversion stage, the first pneumatic joint brake operation content and the main lifting reducer operation content of the power-assisted manipulator are obtained;

[0025] According to the second working stage and the second working conversion stage, the second pneumatic joint braking operation content and the fixture flipping and unloading operation content of the power-assisted manipulator are obtained;

[0026] According to the first pneumatic joint brake operation content, the main lifting reducer operation content, the second pneumatic joint brake operation content and the fixture flipping and unloading operation content, the handling operation content of the power-assisted manipulator is summarized.

[0027] Furthermore, according to the content of the handling operation, the first sensor and the second sensor are used to obtain the handling data of the assisting manipulator, including:

[0028] According to the content of the handling operation, a first sensor is used to obtain a first weight of the ladle and a second weight of the ladle containing molten aluminum;

[0029] Using the second sensor to obtain the first moving speed change after the first pneumatic joint brake operation content;

[0030] Using the second sensor to obtain the second moving speed change after the second pneumatic joint brake operation content;

[0031] The first weight, the second weight, the first handling travel change speed, and the second handling travel change speed are summarized to obtain handling data of the power-assisting manipulator.

[0032] Furthermore, a transport balance calculation is performed on the transport data to obtain calculation results, including:

[0033] Construct a handling stability regression model for the power manipulator;

[0034] Obtain a historical data set of the handling data of the power manipulator;

[0035] Based on the historical data set, the handling stability regression model of the power manipulator is used to calculate and solve to obtain the optimal handling stability regression value;

[0036] Based on the optimal transport stability regression value, the transport balance calculation is performed on the transport data to obtain the calculation result.

[0037] Furthermore, a handling stability regression model of the power manipulator is constructed, including:

[0038] Using the multivariate linear regression method, a transport stability regression model between the transport stability of the power manipulator and its weight and transport speed is established. The transport stability regression model is expressed as:

[0039] W=a0+a1*G+a2*V

[0040] Among them, W represents the handling stability, a0, a1, a2 are regression coefficients, G represents weight, and V represents the handling speed.

[0041] Further, the control module includes a first control unit and a second control unit;

[0042] A first control unit is used to obtain a transport speed that maintains optimal transport stability based on the first weight and the second weight using a transport stability regression model, and control the transport balance of the power-assisted manipulator based on the transport speed;

[0043] The second control unit is used to control the counterweight assembly of the power-assisting manipulator to perform adaptive adjustment according to the first moving travel change speed and the second moving travel change speed.

[0044] Further, according to the first moving travel change speed and the second moving travel change speed, the counterweight assembly of the power assist manipulator is controlled to perform adaptive adjustment, including:

[0045] Based on the time length of the first handling movement change speed decelerating to zero, first change data of handling stability is obtained according to the handling stability regression model; the first change data is analyzed, and when the handling stability is less than the set first stability threshold, the function is adaptively adjusted by adjusting the counterweight component of the power-assisting manipulator to ensure that the handling stability is greater than the set first stability threshold;

[0046] Based on the time length for the second transport movement change speed to decelerate to zero, according to the transport stability regression model, the second change data of the transport stability is obtained; the second change data is analyzed, and when the transport stability is less than the set second stability threshold, the function is adaptively adjusted by adjusting the counterweight assembly of the power-assisted manipulator to ensure that the transport stability is greater than the set second stability threshold.

[0047] Compared with the prior art, the present invention has the following advantages and beneficial effects: by performing a handling balance calculation on the weight of the transported ladle and the transporting speed of the transported ladle, the handling balance of the power-assisted manipulator is controlled according to the calculation result, so that the ladle being transported can achieve weight and speed balance during the transportation process, thereby improving the operation effect of the manipulator and preventing aluminum liquid from spilling during the transportation process.

[0048] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0049] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0051] Figure 1 A schematic diagram of the structure of the handling balance control system for the assisting manipulator;

[0052] Figure 2 A schematic diagram of the method steps for configuring a sensor for collecting handling information of a power-assisted manipulator and configuring a control platform for controlling the power-assisted manipulator;

[0053] Figure 3It is a schematic diagram of the control module structure. DETAILED DESCRIPTION

[0054] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0055] The present invention provides a handling balance control system for a power-assisted manipulator, such as Figure 1 As shown, including:

[0056] A configuration module, used to configure a sensor for collecting handling information of the power-assisting manipulator, and to configure a control platform for controlling the power-assisting manipulator;

[0057] An acquisition module is used to acquire the handling data of the power manipulator based on sensors and a control platform;

[0058] A calculation module is used to perform a transportation balance calculation on the transportation data to obtain a calculation result;

[0059] The control module is used to control the handling balance of the power-assisted manipulator according to the calculation results.

[0060] The working principle of the above technical scheme is: in order to realize the handling balance control system of the power-assisted manipulator, the present invention proposes a configuration module, which is used to configure sensors for collecting the handling information of the power-assisted manipulator, and configure a control platform for controlling the power-assisted manipulator; proposes an acquisition module, which is used to obtain the handling data of the power-assisted manipulator based on the sensor and the control platform; proposes a calculation module, which is used to perform handling balance calculation on the handling data to obtain the calculation results; and proposes a control module, which is used to control the handling balance of the power-assisted manipulator according to the calculation results.

[0061] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, the weight of the transported ladle and the transport speed of the transported ladle are calculated for the transport balance, and according to the calculation result, the transport balance of the power-assisted manipulator is controlled, so that the ladle being transported can achieve weight and speed balance during the transport process, thereby improving the operation effect of the manipulator and preventing aluminum liquid from spilling during the transport process.

[0062] In one embodiment, Figure 2 As shown, a sensor for collecting the handling information of the assisting manipulator is configured, and a control platform for controlling the assisting manipulator is configured, including:

[0063] A first sensor for collecting the weight of the ladle carried by the assisting manipulator and a second sensor for collecting the carrying speed of the assisting manipulator are configured;

[0064] A control platform for controlling the power-assisted manipulator is configured, and a network connection between the control platform and the first sensor and the second sensor is set.

[0065] The working principle of the above technical solution is: in order to configure sensors for collecting the handling information of the power-assisted manipulator and to configure a control platform for controlling the power-assisted manipulator, the present invention first configures a first sensor for collecting the weight of the ladle handled by the power-assisted manipulator and a second sensor for collecting the handling speed of the power-assisted manipulator; then configures the control platform for controlling the power-assisted manipulator, and sets a network connection between the control platform and the first sensor and the second sensor.

[0066] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, by configuring sensors for collecting the handling information of the power-assisted manipulator, and configuring a control platform for controlling the power-assisted manipulator, conditions are provided for achieving effective control of the power-assisted manipulator.

[0067] In one embodiment, the handling data of the power assist manipulator is obtained based on the sensor and the control platform, including:

[0068] According to the handling workflow of the power-assisting manipulator, the working phase of the power-assisting manipulator is obtained;

[0069] According to the working stage, obtain the handling operation content of the assisting manipulator;

[0070] According to the content of the handling operation, the first sensor and the second sensor are used to obtain the handling data of the power-assisting manipulator, and the handling data is sent to the control platform.

[0071] The working principle of the above technical solution is: in order to achieve the acquisition of the handling data of the power-assisted manipulator, the present invention first obtains the working stage of the power-assisted manipulator according to the handling workflow of the power-assisted manipulator; then obtains the handling operation content of the power-assisted manipulator according to the working stage; finally, according to the handling operation content, the first sensor and the second sensor are used to obtain the handling data of the power-assisted manipulator, and the handling data is sent to the control platform.

[0072] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, the handling data of the power-assisted manipulator is obtained, which provides a basis for subsequent calculation and control.

[0073] In one embodiment, according to the handling workflow of the power-assisting manipulator, the working phase of the power-assisting manipulator is obtained, including:

[0074] Based on the workflow of the power-assisted manipulator forking the ladle from the casting shell position to the aluminum water furnace, the first working stage is obtained;

[0075] Based on the operation process of the power-assisted manipulator forking the ladle to receive the molten aluminum, the first work conversion stage is obtained;

[0076] The second working stage is obtained based on the workflow of the auxiliary manipulator forking the ladle containing molten aluminum from the molten aluminum furnace to the casting shell position;

[0077] Based on the operation process of forking the ladle filled with molten aluminum by the power-assisted manipulator and pouring the molten aluminum into the casting shell to complete the casting, the second work conversion stage is obtained.

[0078] The working principle of the above technical scheme is: in order to obtain the working stage of the power-assisted manipulator, the present invention first obtains the first working stage based on the workflow of the transportation and movement of the power-assisted manipulator holding the ladle from the casting shell position to the molten aluminum furnace; then obtains the first working conversion stage based on the operation process of the power-assisted manipulator holding the ladle to receive the molten aluminum; then obtains the second working stage based on the workflow of the transportation and movement of the ladle filled with molten aluminum from the molten aluminum furnace to the casting shell position by the power-assisted manipulator; then obtains the second working conversion stage based on the operation process of the power-assisted manipulator holding the ladle filled with molten aluminum to pour the molten aluminum into the casting shell to complete the pouring.

[0079] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, by acquiring the working stage of the power-assisted manipulator, conditions are provided for subsequent data acquisition.

[0080] In one embodiment, according to the working stage, obtaining the handling operation content of the power assist manipulator includes:

[0081] According to the first working stage and the first working conversion stage, the first pneumatic joint brake operation content and the main lifting reducer operation content of the power-assisted manipulator are obtained;

[0082] According to the second working stage and the second working conversion stage, the second pneumatic joint braking operation content and the fixture flipping and unloading operation content of the power-assisted manipulator are obtained;

[0083] According to the first pneumatic joint brake operation content, the main lifting reducer operation content, the second pneumatic joint brake operation content and the fixture flipping and unloading operation content, the handling operation content of the power-assisted manipulator is summarized.

[0084] The working principle of the above technical scheme is: in order to obtain the handling operation content of the power-assisted manipulator, the present invention first obtains the first pneumatic joint brake operation content and the main lifting reducer operation content of the power-assisted manipulator according to the first working stage and the first working conversion stage; then obtains the second pneumatic joint brake operation content and the fixture flipping and unloading operation content of the power-assisted manipulator according to the second working stage and the second working conversion stage; finally, according to the first pneumatic joint brake operation content, the main lifting reducer operation content, the second pneumatic joint brake operation content and the fixture flipping and unloading operation content, the handling operation content of the power-assisted manipulator is summarized.

[0085] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, by obtaining the handling operation content of the power-assisted manipulator, conditions and basis are provided for further analysis and calculation.

[0086] In one embodiment, according to the content of the handling operation, the first sensor and the second sensor are used to obtain the handling data of the assisting manipulator, including:

[0087] According to the content of the handling operation, a first sensor is used to obtain a first weight of the ladle and a second weight of the ladle containing molten aluminum;

[0088] Using the second sensor to obtain the first moving speed change after the first pneumatic joint brake operation content;

[0089] Using the second sensor to obtain the second moving speed change after the second pneumatic joint brake operation content;

[0090] The first weight, the second weight, the first handling travel change speed, and the second handling travel change speed are summarized to obtain handling data of the power-assisting manipulator.

[0091] The working principle of the above technical solution is: in order to obtain the handling data of the power-assisted manipulator, the present invention first uses the first sensor to obtain the first weight of the ladle and the second weight of the ladle containing molten aluminum according to the handling operation content; then uses the second sensor to obtain the first handling travel change speed after the first pneumatic joint brake operation content; finally, uses the second sensor to obtain the second handling travel change speed after the second pneumatic joint brake operation content; summarizes the first weight, the second weight, the first handling travel change speed and the second handling travel change speed to obtain the handling data of the power-assisted manipulator.

[0092] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, by obtaining the handling data of the power-assisted manipulator, a basis and basis are provided for better calculation of the handling data.

[0093] In one embodiment, a transport balance calculation is performed on the transport data to obtain a calculation result, including:

[0094] Construct a handling stability regression model for the power manipulator;

[0095] Obtain a historical data set of the handling data of the power manipulator;

[0096] Based on the historical data set, the handling stability regression model of the power manipulator is used to calculate and solve to obtain the optimal handling stability regression value;

[0097] Based on the optimal transport stability regression value, the transport balance calculation is performed on the transport data to obtain the calculation result.

[0098] The working principle of the above technical solution is: in order to realize the handling balance calculation of the handling data and obtain the calculation result, the present invention first constructs a handling stability regression model of the power-assisted manipulator; then obtains the historical data set of the handling data of the power-assisted manipulator; then, based on the historical data set, the handling stability regression model of the power-assisted manipulator is used to calculate and solve to obtain the optimal handling stability regression value; finally, based on the optimal handling stability regression value, the handling balance calculation is performed on the handling data to obtain the calculation result.

[0099] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, the transport balance calculation is performed on the transport data to obtain the calculation result, which provides a decision-making basis for subsequent control.

[0100] In one embodiment, constructing a handling stability regression model of the power assist manipulator includes:

[0101] Using the multivariate linear regression method, a transport stability regression model between the transport stability of the power manipulator and its weight and transport speed is established. The transport stability regression model is expressed as:

[0102] W=a0+a1*G+a2*V

[0103] Among them, W represents the handling stability, a0, a1, a2 are regression coefficients, G represents weight, and V represents the handling speed.

[0104] The working principle of the above technical solution is: in order to construct a handling stability regression model of the power manipulator, the present invention uses a multivariate linear regression method to establish a handling stability regression model between the handling stability of the power manipulator and the weight and handling travel speed. The handling stability regression model is expressed as:

[0105] W=a0+a1*G+a2*V

[0106] Among them, W represents the handling stability, a0, a1, a2 are regression coefficients, G represents weight, and V represents the handling speed.

[0107] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment and the multivariate linear regression method, a transport stability regression model between the transport stability of the power-assisted manipulator and the weight and transport travel speed is established, so as to facilitate accurate calculation of the transport stability.

[0108] In one embodiment, Figure 3 As shown, the control module includes a first control unit and a second control unit;

[0109] A first control unit is used to obtain a transport speed that maintains optimal transport stability based on the first weight and the second weight using a transport stability regression model, and control the transport balance of the power-assisted manipulator based on the transport speed;

[0110] The second control unit is used to control the counterweight assembly of the power-assisting manipulator to perform adaptive adjustment according to the first moving travel change speed and the second moving travel change speed.

[0111] The working principle of the above technical solution is: in order to achieve accurate and effective control of the power-assisted manipulator, the present invention first obtains the transport speed that maintains the optimal transport stability based on the first weight and the second weight using a transport stability regression model, and controls the transport balance of the power-assisted manipulator based on the transport speed; then a second control unit is used to control the counterweight assembly of the power-assisted manipulator to perform adaptive adjustment according to the first transport speed change speed and the second transport speed change speed.

[0112] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, the counterweight component of the power-assisted manipulator is controlled to perform adaptive adjustment, thereby improving the counterweight adjustment quality of the power-assisted manipulator.

[0113] In one embodiment, according to the first moving speed change and the second moving speed change, controlling the weight assembly of the power assist manipulator to perform adaptive adjustment includes:

[0114] Based on the time length of the first handling movement change speed decelerating to zero, first change data of handling stability is obtained according to the handling stability regression model; the first change data is analyzed, and when the handling stability is less than the set first stability threshold, the function is adaptively adjusted by adjusting the counterweight component of the power-assisting manipulator to ensure that the handling stability is greater than the set first stability threshold;

[0115] Based on the time length for the second transport movement change speed to decelerate to zero, according to the transport stability regression model, the second change data of the transport stability is obtained; the second change data is analyzed, and when the transport stability is less than the set second stability threshold, the function is adaptively adjusted by adjusting the counterweight assembly of the power-assisted manipulator to ensure that the transport stability is greater than the set second stability threshold.

[0116] The working principle of the above technical solution is: in order to realize adaptive adjustment of the counterweight assembly of the power-assisted manipulator according to the first moving travel change speed and the second moving travel change speed, the present invention obtains first change data of the transport stability based on the time length for the first moving travel change speed to decelerate to zero according to the transport stability regression model; the first change data is analyzed, and when the transport stability is less than the set first stability threshold, the functional adaptive adjustment is performed by adjusting the counterweight assembly of the power-assisted manipulator to ensure that the transport stability is greater than the set first stability threshold; the second change data of the transport stability is obtained according to the time length for the second moving travel change speed to decelerate to zero according to the transport stability regression model; the second change data is analyzed, and when the transport stability is less than the set second stability threshold, the functional adaptive adjustment is performed by adjusting the counterweight assembly of the power-assisted manipulator to ensure that the transport stability is greater than the set second stability threshold.

[0117] The beneficial effect of the above technical solution is: by adopting the solution provided in this embodiment, the transport stability is affected by the difference in the time for the first transport travel change speed and the second transport travel change speed to decelerate to zero. By setting different stability thresholds, the transport stability can be accurately adjusted.

[0118] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A handling balance control system for a power-assisted manipulator, characterized in that: include: A configuration module, used to configure a sensor for collecting handling information of the power-assisting manipulator, and to configure a control platform for controlling the power-assisting manipulator; An acquisition module is used to acquire the handling data of the power manipulator based on sensors and a control platform; A calculation module is used to perform a transportation balance calculation on the transportation data to obtain a calculation result; The control module is used to control the handling balance of the power-assisted manipulator according to the calculation results.

2. A handling balance control system for an assistive manipulator according to claim 1, characterized in that: Configure sensors for collecting handling information of the assisting manipulator, and configure a control platform for controlling the assisting manipulator, including: A first sensor for collecting the weight of the ladle carried by the assisting manipulator and a second sensor for collecting the carrying speed of the assisting manipulator are configured; A control platform for controlling the power-assisted manipulator is configured, and a network connection between the control platform and the first sensor and the second sensor is set.

3. A handling balance control system for an assistive manipulator according to claim 2, characterized in that: Based on sensors and control platform, the handling data of the power manipulator is obtained, including: According to the handling workflow of the power-assisting manipulator, the working phase of the power-assisting manipulator is obtained; According to the working stage, obtain the handling operation content of the assisting manipulator; According to the content of the handling operation, the first sensor and the second sensor are used to obtain the handling data of the power-assisting manipulator, and the handling data is sent to the control platform.

4. A handling balance control system for an assistive manipulator according to claim 3, characterized in that: According to the handling workflow of the power manipulator, the working stages of the power manipulator are obtained, including: Based on the workflow of the power-assisted manipulator forking the ladle from the casting shell position to the aluminum furnace, the first working stage is obtained; Based on the operation process of the power-assisted manipulator forking the ladle to receive the molten aluminum, the first work conversion stage is obtained; The second working stage is obtained based on the workflow of the auxiliary manipulator forking the ladle containing molten aluminum from the molten aluminum furnace to the casting shell position; Based on the operation process of forking the ladle filled with molten aluminum by the power-assisted manipulator and pouring the molten aluminum into the casting shell to complete the casting, the second work conversion stage is obtained.

5. A handling balance control system for an assistive manipulator according to claim 4, characterized in that: According to the working stage, obtain the handling operation content of the assisting manipulator, including: According to the first working stage and the first working conversion stage, the first pneumatic joint brake operation content and the main lifting reducer operation content of the power-assisted manipulator are obtained; According to the second working stage and the second working conversion stage, the second pneumatic joint braking operation content and the fixture flipping and unloading operation content of the power-assisted manipulator are obtained; According to the first pneumatic joint brake operation content, the main lifting reducer operation content, the second pneumatic joint brake operation content and the fixture flipping and unloading operation content, the handling operation content of the power-assisted manipulator is summarized.

6. The handling balance control system of the power-assist manipulator according to claim 3, characterized in that: According to the content of the handling operation, the first sensor and the second sensor are used to obtain the handling data of the assisting manipulator, including: According to the content of the handling operation, a first sensor is used to obtain a first weight of the ladle and a second weight of the ladle containing molten aluminum; Using the second sensor to obtain the first moving speed change after the first pneumatic joint brake operation content; Using the second sensor to obtain the second moving speed change after the second pneumatic joint brake operation content; The first weight, the second weight, the first handling travel change speed, and the second handling travel change speed are summarized to obtain handling data of the power-assisting manipulator.

7. A handling balance control system for an assistive manipulator according to claim 3, characterized in that: Perform transport balance calculation on the transport data to obtain calculation results, including: Construct a handling stability regression model for the power manipulator; Obtain a historical data set of the handling data of the power manipulator; Based on the historical data set, the handling stability regression model of the power manipulator is used to calculate and solve the optimal handling stability regression value; Based on the optimal transport stability regression value, the transport balance calculation is performed on the transport data to obtain the calculation result.

8. The handling balance control system of the power-assisting manipulator according to claim 7, characterized in that: Construct a handling stability regression model for the power manipulator, including: Using the multivariate linear regression method, a transport stability regression model between the transport stability of the power manipulator and its weight and transport speed is established. The transport stability regression model is expressed as: W=a0+a1*G+a2*V Among them, W represents the handling stability, a0, a1, a2 are regression coefficients, G represents weight, and V represents the handling speed.

9. The handling balance control system of the power-assisting manipulator according to claim 7, characterized in that: The control module includes a first control unit and a second control unit; A first control unit is used to obtain a transport speed that maintains optimal transport stability based on the first weight and the second weight using a transport stability regression model, and control the transport balance of the power-assisted manipulator based on the transport speed; The second control unit is used to control the counterweight assembly of the power-assisting manipulator to perform adaptive adjustment according to the first moving travel change speed and the second moving travel change speed.

10. A handling balance control system for an assistive manipulator according to claim 9, characterized in that: According to the first moving speed change and the second moving speed change, the counterweight assembly of the power assist manipulator is controlled to perform adaptive adjustment, including: Based on the time length of the first handling movement change speed decelerating to zero, first change data of handling stability is obtained according to the handling stability regression model; the first change data is analyzed, and when the handling stability is less than the set first stability threshold, the function is adaptively adjusted by adjusting the counterweight component of the power-assisting manipulator to ensure that the handling stability is greater than the set first stability threshold; Based on the time length for the second transport movement change speed to decelerate to zero, according to the transport stability regression model, the second change data of the transport stability is obtained; the second change data is analyzed, and when the transport stability is less than the set second stability threshold, the function is adaptively adjusted by adjusting the counterweight assembly of the power-assisted manipulator to ensure that the transport stability is greater than the set second stability threshold.

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