Large-weight test piece dynamic self-adaptive connecting device for intelligent collaborative operation

Abstract

The invention discloses an intelligent collaborative operation large-weight test piece dynamic self-adaptive connecting device which comprises a mechanical structure and a control system, the mechanical structure comprises a connecting clamp, an adjusting mechanism and a driving device, and the control system comprises a sensor, a controller and an actuator. An intelligent control algorithm adopts a mode of combining a fuzzy control algorithm and a neural network algorithm, and a plurality of connecting devices communicate through a wireless network to realize collaborative operation. Automatic connection is adopted, large-weight test pieces are rapidly and accurately connected, the connection efficiency is improved, manual operation is reduced, and potential safety hazards are reduced. The position and the posture of the heavy-weight test piece are monitored in real time through the sensor, the connecting device is controlled to automatically adjust the position and the posture, accurate connection is achieved, and the connecting precision is improved. The connecting device can automatically adjust the position and the posture so as to adapt to the dynamic change of the large-weight test piece, and the connecting reliability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical engineering, and particularly to a dynamic adaptive connection device for large-weight test pieces with intelligent collaborative operation. Background Art

[0002] In the field of mechanical engineering, various tests and experiments are often required for large-weight test pieces. Traditional connection methods usually require manual operation, which is not only inefficient but also poses safety hazards. In addition, due to the large size and weight of large-weight test pieces, traditional connection methods often make it difficult to achieve precise connection, thus affecting the results of tests and experiments.

[0003] With the continuous development of technology, the application of automation technology in the field of mechanical engineering is becoming more and more extensive. However, there are still some problems with current automated connection methods. For example, the robotic arms in machinery factories are usually used for the transfer, bolt connection, or welding of light-quality items, and the moving distance is small, making them unable to adapt to the dynamic changes of large-weight test pieces, with low connection accuracy and poor reliability. Large objects are usually transferred by overhead cranes, resulting in large swings of the test pieces due to flexible connection. The connection at the end of the test piece usually relies on manual operation, with a large workload and the inability to ensure that multiple connection points on the same cross-section are completely aligned, affecting the final connection effect. Summary of the Invention

[0004] Object of the Invention: The present invention proposes a dynamic adaptive connection device for large-weight test pieces with intelligent collaborative operation, which solves the problems of sudden change in structural internal force caused by the phase difference of dynamic response due to traditional rigid connection, the risk of local stress exceeding the standard caused by uneven dynamic distribution of multi-hoisting-point loads, and the out-of-control phenomenon of assembly accuracy due to the lack of real-time attitude collaborative control ability under complex working conditions.

[0005] Technical Solution: To achieve the object of the present invention, the technical solution adopted by the present invention is: A dynamic adaptive connection device for large-weight test pieces with intelligent collaborative operation, comprising a mechanical structure and a control system.

[0006] The mechanical structure includes a support frame, a connection assembly, a displacement control assembly, and an adjustment mechanism;

[0007] The support frame includes vertical steel columns and cross beams, and the support frame is used to bear the load of hoisting the test piece and fix the connection assembly, the displacement control assembly, and the adjustment mechanism;

[0008] The connection assembly is a telescopic structure, fixed on the support frame, and is used to adjust the horizontal positioning of the hoisted test piece;

[0009] The displacement control assembly is fixedly connected to the cross beam of the support frame, and is used to receive the center point height of the horizontal loading device and send a signal to the control system;

[0010] The adjustment mechanism is used to adjust the vertical height of the hoisted specimen.

[0011] The control system is used to control the adjustment mechanism to adjust the vertical height of the hoisted specimen, so that the center point of the vertical loading device and the center point of the hoisted specimen are in the same vertical plane.

[0012] The control system is used to control the connection component to adjust the horizontal positioning of the hoisted specimen, so that the center point of the horizontal loading device and the center point of the end face of the hoisted specimen are in the same horizontal plane.

[0013] Furthermore, the connection component includes a connection fixture and a robotic arm.

[0014] The connection fixture is a retractable semi-circular structure, which is used to clamp the hoisted specimen and is fixed on the vertical steel column of the support frame through the robotic arm.

[0015] The robotic arm is used to drive the connection fixture and the hoisted specimen according to the instructions of the control system to complete the horizontal positioning adjustment of the hoisted specimen.

[0016] Furthermore, the displacement control component includes a displacement sensor, a retractable fixing rod, and a signal receiver.

[0017] The displacement sensor is connected to the cross beam of the support frame through the retractable fixing rod, and the signal receiver is installed at the center point of the cross section of the hoisted specimen.

[0018] The displacement sensor is used to receive the height of the center point of the horizontal loading device and send the height data of the displacement sensor to the signal receiver.

[0019] The signal receiver is used to receive the data of the displacement sensor and feedback it to the control system, and the control system controls the retractable fixing rod to adjust the height of the displacement sensor.

[0020] Furthermore, the adjustment mechanism includes a hoisting control component and a hook.

[0021] The hoisting control component is used to receive the instructions sent by the control system and control the hook to adjust the vertical height of the hoisted specimen.

[0022] Furthermore, the control system includes a sensor, a controller, an actuator, and a communication module.

[0023] The sensor is used to monitor the position and attitude of the hoisted specimen in real time.

[0024] The controller is configured to calculate the vertical and horizontal positioning differences of the hoisted specimen according to the sensor monitoring data by using an intelligent control algorithm, and send instructions to the actuator.

[0025] The actuator is configured to control the position and angle of the connection assembly according to the instructions of the controller, and adjust the position and attitude of the hoisted specimen.

[0026] The actuator is configured to control the adjustment mechanism to adjust the vertical height of the hoisted specimen according to the instructions of the controller.

[0027] The communication module is configured to process the monitoring data transmitted by the sensor and the feedback signal of the controller to the actuator.

[0028] Furthermore, the intelligent control algorithm combines a fuzzy control algorithm and a neural network algorithm to perform the following operations:

[0029] Data preprocessing: Collect and preprocess the data during the specimen connection process, including the weight, connection speed, and connection force of the specimen. The collected data is used as the input information for the fuzzy control algorithm and the neural network algorithm.

[0030] Fuzzy logic control: Based on the fuzzy control algorithm, design a fuzzy logic controller. The controller outputs corresponding control instructions according to the real-time input information and the preset rule base. The instructions are used to adjust the working state of the connection device.

[0031] Neural network optimization: Use the neural network algorithm to optimize the output of the fuzzy logic controller. The neural network learns historical data and adjusts the control parameters.

[0032] Feedback and adjustment: The dynamic adaptive connection device obtains feedback information in real time by monitoring various parameters during the connection process. If abnormal situations or deviations from the expected target are found, the control strategy is adjusted.

[0033] Furthermore, it further includes a driving device.

[0034] The driving device is a crawler-type automatic walking device, which realizes forward, backward, and left-right azimuth adjustment within a plane. The vertical steel column of the support frame is connected to the upper part of the driving device.

[0035] Furthermore, the driving device adopts an electric or hydraulic driving method.

[0036] Furthermore, it further includes: a human-machine interface, which is used to display the working state of the connection device, receive control instructions and parameter settings input by the user.

[0037] Advantageous effects: Compared with the prior art, the technical solution of the present invention has the following beneficial technical effects:

[0038] The present invention adopts intelligent collaborative operation technology to achieve the automatic connection of large-weight test pieces, which can quickly and accurately connect large-weight test pieces, improving the connection efficiency. By using sensors to monitor the position and attitude of large-weight test pieces in real time and controlling the connection device to automatically adjust the position and attitude, accurate connection can be achieved, improving the connection accuracy. The automatic connection adopted by the present invention reduces manual operation and reduces potential safety hazards.

[0039] The connection device of the present invention can automatically adjust the connection position and attitude according to the position and attitude of large-weight test pieces to adapt to the dynamic changes of large-weight test pieces, improving the reliability of connection. Sensors are used to monitor the position and attitude of large-weight test pieces in real time, providing accurate data support for the automatic adjustment of the connection device. The large-weight test pieces after connection are detected to ensure the reliability of connection, improving the accuracy of testing and experiments.

[0040] Aiming at the three major technical bottlenecks existing in the multi-point collaborative hoisting operation of large-tonnage special-shaped test pieces (weight > 50 tons): (1) the problem of sudden change in structural internal force caused by the phase difference of dynamic response due to traditional rigid connection; (2) the risk of local stress exceeding the standard caused by uneven dynamic load distribution of multiple lifting points; (3) the phenomenon of out-of-control assembly accuracy caused by the lack of real-time attitude collaborative control ability under complex working conditions; the present invention proposes a dynamic adaptive connection device and control method integrating multi-source information perception and swarm intelligence decision-making. By constructing a "perception - decision - execution" closed-loop control system, the following can be achieved: (1) the three-dimensional pose error during hoisting ≤ ±1.5 mm, (2) the dynamic load balance degree ≥ 95%, (3) the decay response time of sudden impact load < 200 ms, (4) the synchronous accuracy of multi-machine collaborative movement < 0.1°, significantly improving the hoisting safety and assembly process quality of key equipment such as aerospace large structural parts and nuclear power pressure vessels. Brief Description of the Drawings

[0041] Figure 1 It is a schematic diagram of the structure of the test device.

[0042] Among them, 1 - support frame, 2 - connection fixture, 3 - displacement sensor, 4 - hoisting control component, 5 - driving device, 6 - robotic arm, 7 - telescopic fixing rod, 8 - hook, 9 - control system, 10 - hoisting test piece, 11 - horizontal loading device, 12 - reaction frame, 13 - vertical loading device, 14 - signal receiver. Detailed Embodiment

[0043] The technical solutions of the present invention will be further described below in conjunction with the drawings and embodiments.

[0044] The embodiment of the present invention provides a dynamic adaptive connection device for large-weight test pieces with intelligent collaborative operation, and the structure is as Figure 1As shown, it includes a mechanical structure and a control system.

[0045] The mechanical structure includes a support frame 1, a connection assembly, a displacement control assembly, an adjustment mechanism, and a driving device 5. The support frame 1 includes vertical steel columns and cross beams. The vertical steel columns of the support frame 1 are connected to the upper part of the driving device 5 and are used to bear the load of hoisting the test piece 10 and the self-weights of the fixed connection assembly, displacement control assembly, and adjustment mechanism. The connection assembly includes a connection fixture 2 and a robotic arm 6. The displacement control assembly includes a displacement sensor 3, a telescopic fixed rod 7, and a signal receiver 14. The adjustment mechanism includes a hoisting control assembly 4 and a hook 8.

[0046] In the connection assembly, the connection fixture 2 is fixed on the vertical steel column of the support frame 1 through the robotic arm 6. It is a telescopic semi-circular structure and is used to clamp the hoisted test piece to complete the fine adjustment of the horizontal positioning of the hoisted test piece 10.

[0047] In the displacement control assembly, the displacement sensor 3 is connected to the cross beam of the support frame 1 through the telescopic fixed rod 7, and the signal receiver 14 is installed at the center point of the cross-section of the hoisted test piece 10. The displacement sensor 3 receives the height of the center point of the horizontal loading device 11 and sends the height data of the displacement sensor to the signal receiver 14. The signal receiver 14 feeds back the data to the control system 9, and the control system 9 controls the telescopic fixed rod 7 to adjust the height of the displacement sensor. After accurate positioning, the signal receiver 14 installed at the center point of the hoisted test piece is fed back, thereby feeding back to the control system 9. The control system 9 controls the hoisting control assembly 4 to control the hook 8 to adjust the vertical height of the hoisted test piece to ensure that the center point of the horizontal loading end device and the center point of the end face of the hoisted test piece are on the same horizontal plane.

[0048] The reaction frame 12 is used as a reference for the positioning of the test piece. The horizontal loading device 11 and the vertical loading device 13 are fixed on the reaction frame 12, and the reaction frame 12 is fixed on the ground, thereby ensuring that the positions of the horizontal loading device 11 and the vertical loading device 13 remain unchanged.

[0049] In the adjustment mechanism, the hoisting control assembly 4 controls the hook 8 to adjust the vertical height of the hoisted test piece according to the instructions received from the control system 9 to ensure that the center point of the vertical loading device and the center point of the hoisted test piece are on the same vertical plane.

[0050] The control system 9 includes sensors, a controller, an actuator, and a communication module; the sensors are used to monitor the position and attitude of the large-weight test piece in real time; the controller calculates the vertical and horizontal positioning differences of the hoisted test piece using an intelligent control algorithm based on the sensor monitoring data and sends instructions to the actuator; the actuator adjusts the position and angle of the connection device according to the instructions of the controller to control the connection fixture 2 and the hook 8 to automatically adjust the position and attitude, thereby effectively controlling the positioning of the hoisted test piece.

[0051] The driving device 5 is a crawler-type automatic walking device, which can realize forward, backward, and fine adjustment of the left and right positions in the plane.

[0052] The working principle of the intelligent collaborative operation large-weight specimen dynamic adaptive connection device provided by the present invention is as follows: The position and posture of the large-weight specimen are monitored in real time through sensors; according to the information monitored by the sensors, the connection device is controlled to automatically adjust its position and posture to adapt to the dynamic changes of the large-weight specimen; when the position and posture of the connection device match those of the large-weight specimen, the connection operation is automatically performed; the connected large-weight specimen is detected to ensure the reliability of the connection.

[0053] The present invention also provides an intelligent collaborative operation large-weight specimen dynamic adaptive connection device, including sensors, a controller, a connection mechanism, and a detection mechanism. The sensors are used to monitor the position and posture of the large-weight specimen in real time; the controller controls the connection mechanism to automatically adjust its position and posture according to the information monitored by the sensors to adapt to the dynamic changes of the large-weight specimen; the connection mechanism is used to perform the connection operation on the large-weight specimen; the detection mechanism is used to detect the connected large-weight specimen to ensure the reliability of the connection.

[0054] 1. Connection device design:

[0055] The connection device consists of a mechanical structure and a control system. The mechanical structure includes a connection fixture, an adjustment mechanism, and a driving device. The connection fixture is made of high-strength steel and can withstand the tensile and compressive forces of large-weight specimens. The adjustment mechanism can automatically adjust the connection position and angle according to the shape and size of the specimen to achieve dynamic adaptive connection. The driving device adopts an electric or hydraulic driving method to provide the power required for connection.

[0056] The control system includes sensors (displacement sensors, force sensors, angle sensors), a controller, actuators, and a communication module. The sensors are used to monitor the connection state in real time, including connection force, displacement, and angle parameters. The controller calculates the optimal connection parameters using an intelligent control algorithm based on the information fed back by the sensors and adjusts the position and angle of the connection device through the actuators to achieve automatic control. The communication module is responsible for processing the monitoring data transmitted by the sensors and the feedback signals of the controller to the actuators.

[0057] 2. Intelligent control algorithm:

[0058] A combination of a fuzzy control algorithm and a neural network algorithm is adopted to achieve intelligent control of the connection device. The fuzzy control algorithm can quickly make decisions and adjust the connection parameters according to the fuzzy information fed back by the sensors. The neural network algorithm can continuously optimize the control strategy by learning historical data to improve the control accuracy and stability.

[0059] Establish a connection status evaluation model to evaluate the connection status based on the information feedback by the sensors. When the connection status is abnormal, it can issue an alarm in a timely manner and automatically adjust the connection parameters to ensure the reliability and security of the connection.

[0060] 3. Cooperative operation mechanism:

[0061] Multiple connection devices communicate through a wireless network to achieve cooperative operation. Each connection device can work independently and can also be adjusted according to the status of other connection devices to improve the connection efficiency and accuracy.

[0062] Establish a cooperative operation scheduling algorithm to reasonably allocate connection tasks according to the task requirements and the status of the connection devices, and achieve the optimal allocation of resources.

Claims

1. A dynamic adaptive connection device for large-weight test pieces with intelligent collaborative operation, characterized in that, It includes a mechanical structure and a control system; The mechanical structure includes a support frame, a connection component, a displacement control component, and an adjustment mechanism; The support frame includes vertical steel columns and cross beams. The support frame is used to bear the load of the hoisted specimen and fix the connection component, the displacement control component, and the adjustment mechanism; The connection component is a telescopic structure fixed on the support frame and is used to adjust the horizontal positioning of the hoisted specimen; The displacement control component is fixedly connected to the cross beam of the support frame and is used to receive the center point height of the horizontal loading device and send a signal to the control system; The adjustment mechanism is used to adjust the vertical height of the hoisted specimen; The control system is used to control the adjustment mechanism to adjust the vertical height of the hoisted specimen so that the center point of the vertical loading device and the center point of the hoisted specimen are in the same vertical plane; The control system is used to control the connection component to adjust the horizontal positioning of the hoisted specimen so that the center point of the horizontal loading device and the center point of the end face of the hoisted specimen are in the same horizontal plane.

2. The dynamic adaptive connection device for large-weight test pieces in intelligent collaborative operation according to claim 1, characterized in that, The connection component includes a connection fixture and a robotic arm; The connection fixture is a telescopic semi-circular structure used to clamp the hoisted specimen and is fixed on the vertical steel column of the support frame through the robotic arm; The robotic arm is used to drive the connection fixture and the hoisted specimen according to the instructions of the control system to complete the horizontal positioning adjustment of the hoisted specimen.

3. The dynamic adaptive connection device for large-weight test pieces in intelligent collaborative operation according to claim 1, characterized in that, The displacement control component includes a displacement sensor, a telescopic fixing rod, and a signal receiver; The displacement sensor is connected to the cross beam of the support frame through the telescopic fixing rod, and the signal receiver is installed at the center point of the cross section of the hoisted specimen; The displacement sensor is used to receive the center point height of the horizontal loading device and send the displacement sensor height data to the signal receiver; The signal receiver is used to receive the data of the displacement sensor and feedback it to the control system, and the control system controls the telescopic fixing rod to adjust the height of the displacement sensor.

4. The dynamic adaptive connection device for large-weight test pieces in intelligent collaborative operation according to claim 1, characterized in that, The adjustment mechanism includes a hoisting control component and a hook; The hoisting control component is used to receive the instructions sent by the control system and control the hook to adjust the vertical height of the hoisted specimen.

5. The dynamic adaptive connection device for large-weight test pieces in intelligent collaborative operation according to claim 1, wherein, The control system includes a sensor, a controller, an actuator, and a communication module; The sensor is used to monitor the position and attitude of the hoisted specimen in real time; The controller is used to calculate the vertical and horizontal positioning differences of the hoisted specimen using an intelligent control algorithm based on the sensor monitoring data and send instructions to the actuator; The actuator is used to control the position and angle of the connection component according to the instructions of the controller to adjust the position and attitude of the hoisted specimen; The actuator is used to control the adjustment mechanism to adjust the vertical height of the hoisted specimen according to the instructions of the controller; The communication module is used to process the monitoring data transmitted by the sensor and the feedback signal of the controller to the actuator.

6. The dynamic adaptive connection device for large-weight test pieces in intelligent collaborative operation according to claim 5, characterized in that The intelligent control algorithm combines a fuzzy control algorithm and a neural network algorithm to perform the following operations: Data preprocessing: Collect and preprocess the data during the connection process of the test piece, including the weight, connection speed, and connection force of the test piece. The collected data serves as the input information for the fuzzy control algorithm and the neural network algorithm; Fuzzy logic control: Design a fuzzy logic controller based on the fuzzy control algorithm. The controller outputs corresponding control instructions according to the real-time input information and the preset rule base, and the instructions are used to adjust the working state of the connection device; Neural network optimization: Use the neural network algorithm to optimize the output of the fuzzy logic controller. The neural network learns historical data and adjusts the control parameters; Feedback and adjustment: The dynamic adaptive connection device obtains feedback information in real time by monitoring various parameters during the connection process. If abnormal situations or deviations from the expected goals are found, the control strategy is adjusted.

7. The dynamic adaptive connection device for large-weight test pieces in intelligent collaborative operation according to claim 1, wherein It also includes a driving device; The driving device is a crawler-type automatic walking device, which realizes forward, backward, and left-right orientation adjustment within the plane. The vertical steel column of the support frame is connected to the upper part of the driving device.

8. The dynamic adaptive connection device for large-weight test pieces in intelligent collaborative operation according to claim 7, characterized in that The driving device adopts an electric or hydraulic driving method.

9. The dynamic adaptive connection device for large-weight test pieces in intelligent collaborative operation according to any one of claims 1 to 8, characterized in that It also includes: A human-machine interaction interface, which is used to display the working state of the connection device, receive control instructions and parameter settings input by the user.

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