Mechanical arm hoisting system, control method, electronic equipment and storage medium

Abstract

The invention discloses a mechanical arm hoisting system, and belongs to the technical field of robots. The mechanical arm hoisting system comprises a sling device, a mechanical arm device, a first control device and a second control device, the sling device comprises a bearing support, a driving assembly and a sling assembly, and the mechanical arm device comprises a mechanical arm body and a tail end dragging assembly. When the mechanical arm device carries an overweight object, the bearing support is erected above the mechanical arm device, and the tail end of the sling assembly is connected with the tail end dragging assembly in the mechanical arm device, so that the sling assembly can be matched with dragging of the mechanical arm device, and the sling assembly can be matched with the mechanical arm device through cooperation of the sling device and the mechanical arm device; the mechanical arm device can carry goods exceeding the self-loading capacity. Moreover, the first control assembly and the second control assembly can enable the tail end dragging assembly and the sling assembly to move synchronously when the tail end dragging assembly drives the tail end of the sling assembly to move, so that the phenomenon that the sling assembly is blocked when the tail end dragging assembly drags the sling assembly is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a mechanical arm hoisting system, a control method, an electronic device and a storage medium. BACKGROUND

[0002] With the development of industrial automation technology, in the logistics and handling scenarios, the use of mechanical arms as handling equipment is widely applied, such as using mechanical arms to carry objects and stack piles and other tasks. The mechanical arm can flexibly adapt to complex task requirements by virtue of high-degree-of-freedom mechanical structure and diversified control mode, so as to realize the pose requirements in most handling and stacking scenarios.

[0003] At present, when the mechanical arm carries heavy objects, if the object carried by the mechanical arm is overweight, it may cause overload damage, motion out of control or precision decline of the mechanical components of the mechanical arm, and cause safety hazards such as object falling and mechanical arm overturning. Therefore, the mechanical arm is usually limited by its own load capacity, resulting in low applicability of the mechanical arm. SUMMARY

[0004] The present application provides a mechanical arm hoisting system, a control method, an electronic device and a storage medium, and the technical solution is as follows:

[0005] According to an aspect of the present application, a mechanical arm hoisting system is provided, comprising: a lifting device, a mechanical arm device, a first control device and a second control device;

[0006] The lifting device comprises a bearing support, a driving assembly and a sling assembly, the driving assembly is installed on the bearing support and connected with the sling assembly, and the driving assembly is used to wind and unwind the sling assembly;

[0007] The mechanical arm device is located on one side of the bearing support close to the ground, and the mechanical arm device comprises a mechanical arm body and a terminal dragging assembly, the terminal dragging assembly is installed at the end of the mechanical arm body, and the terminal dragging assembly is connected with the end of the sling assembly;

[0008] The first control device is used to obtain initial position information and target position information of the terminal dragging assembly, and control the mechanical arm body to drive the terminal dragging assembly to move to a target position corresponding to the target position information, and is also used to send the initial position information and the target position information to the second control device;

[0009] The second control device is used to receive the initial position information and the target position information, and obtain a winding and unwinding distance of the sling assembly according to the initial position information and the target position information, so as to control the driving assembly to drive the sling assembly to move according to the winding and unwinding distance.

[0010] Optionally, the load-bearing support comprises a hanger support and a transverse slide rail, and the drive assembly comprises a drive motor and a slide seat;

[0011] The transverse slide rail is movably mounted on one end of the spreader support, and the transverse slide rail is capable of rotating around the spreader support;

[0012] The driving motor is fixedly mounted on the sliding seat, the sliding seat is movably mounted on the transverse slide rail, and the driving motor is fixedly connected to one end of the sling assembly.

[0013] Optionally, the supporting bracket further includes a rotating connector, which is connected to one end of the hanger column and one end of the transverse slide rail, and the rotating connector is rotatably connected to at least one of the hanger column and the transverse slide rail.

[0014] Optionally, the sliding seat includes a sliding wheel and a mounting base;

[0015] The sliding wheel is mounted on the transverse slide rail and is capable of rolling along the extension direction of the transverse slide rail;

[0016] The mounting base is located between the driving assembly and the sliding wheel. The mounting base is movably connected to the sliding wheel and fixedly connected to the driving assembly.

[0017] Optionally, the end drag assembly includes a drag fixing seat, and the sling assembly includes a sling rope and a hook;

[0018] The drag fixing seat is connected to the end of the robotic arm body and is fixedly connected to the suspension rope;

[0019] The hook is fixedly connected to the end of the lifting rope.

[0020] Optionally, the end drag component further includes a drag connection portion and a synchronization detection component;

[0021] The drag connection part is movably mounted on the outside of the drag fixing seat, and the synchronization detection component is installed on the drag connection part and the drag fixing seat. The synchronization detection component is used to detect the displacement difference between the drag connection part and the drag fixing seat, and send the detection information to the first control component or the second control component. The first control component and the second control component are used to control the robotic arm body or the drive component to decelerate or stop according to the detection information.

[0022] Optionally, the drag fixing seat includes a support column, and a first limit baffle and a second limit baffle installed at both ends of the support column;

[0023] The synchronous detection assembly comprises a first position sensor and a second position sensor, the first position sensor and the second position sensor are respectively installed at two ends of the towing connection part, and the first position sensor is located between the towing connection part and the first limiting baffle, and the second position sensor is located between the towing connection part and the second limiting baffle.

[0024] The first control device is further configured to control the mechanical arm body to stop moving when a first trigger signal of the first position sensor is received, and control the mechanical arm body to continue moving when a second trigger signal of the first position sensor is received; and the second control device is further configured to control the driving assembly to stop moving when a third trigger signal of the second position sensor is received, and control the driving assembly to continue rotating when a fourth trigger signal of the second position sensor is received.

[0025] According to another aspect of the present application, a mechanical arm hoisting control method is provided, which is applied to a mechanical arm hoisting system, the mechanical arm hoisting system comprising: a lifting device, a mechanical arm device, a first control device and a second control device.

[0026] The lifting device comprises a bearing support, a driving assembly and a sling assembly, the driving assembly is movably installed on the bearing support and connected with the sling assembly, and the driving assembly is used to wind and unwind the sling assembly.

[0027] The mechanical arm device is located on one side of the bearing support close to the ground, and comprises a mechanical arm body and a terminal towing assembly, the terminal towing assembly is installed at the terminal of the mechanical arm body, and the terminal towing assembly is connected with the terminal of the sling assembly.

[0028] The mechanical arm hoisting control method comprises:

[0029] The first control device acquires initial position information and target position information of the terminal towing assembly, and controls the mechanical arm body to move the terminal towing assembly to a target position corresponding to the target position information, and sends the initial position information and the target position information to the second control device.

[0030] The second control device receives the initial position information and the target position information, and acquires a winding and unwinding distance of the sling assembly according to the initial position information and the target position information, so as to control the driving assembly to move the sling assembly according to the movement distance.

[0031] According to another aspect of the present application, an electronic device is provided, which comprises:

[0032] a memory for storing a computer program;

[0033] a processor for executing the program stored in the memory to implement the crane hoisting control method.

[0034] According to another aspect of the present application, a computer readable storage medium is provided, which stores a computer program, and the computer program, when executed by a processor, implements the crane hoisting control method.

[0035] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0036] The embodiments of the present application provide a crane hoisting system comprising a lifting device, a mechanical arm device, a first control device and a second control device, wherein the lifting device comprises a bearing support, a driving assembly and a sling assembly, the mechanical arm device comprises a mechanical arm body and a terminal dragging assembly. When the object to be carried by the mechanical arm device is overweight, the mechanical arm does not need to be replaced, the bearing support is erected above the mechanical arm device, and the terminal of the sling assembly is connected together with the terminal dragging assembly in the mechanical arm device, so that the sling assembly can cooperate with the dragging of the mechanical arm device to improve the load capacity of the mechanical arm device, so that the mechanical arm device can carry goods exceeding its load capacity through the cooperation of the lifting device and the mechanical arm device. Moreover, the first control assembly and the second control device can make the terminal dragging assembly move the terminal of the sling assembly, and the two are synchronous displacement, avoiding the phenomenon of jamming when the terminal dragging assembly drags the sling assembly. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0038] Figure 1 is a connection structure schematic diagram of a crane hoisting system provided by the embodiments of the present application;

[0039] Figure 2 is a structure schematic diagram of a crane hoisting system provided by the embodiments of the present application;

[0040] Figure 3 is a structure schematic diagram of a terminal dragging assembly and a sling assembly provided by the embodiments of the present application;

[0041] Figure 4 is a flowchart of a crane hoisting control method provided by the embodiments of the present application;

[0042] Figure 5 is a flow chart of another mechanical arm hoisting control method provided by the embodiment of the application;

[0043] Figure 6 is a structural schematic diagram of an electronic device provided by the embodiment of the application.

[0044] Legend:

[0045] The hoist device 11 comprises a bearing support 111, a hoist support column 1111, a transverse sliding rail 1112, a rotary connecting piece 1113, a driving assembly 112, a driving motor 1121, a speed reduction mechanism 1122, a sliding seat 1123, a sliding wheel h1, a mounting base h2, a hoist rope assembly 113, a hoist rope 1131 and a hoist hook 1132; the mechanical arm device 12 comprises a mechanical arm body 121, a terminal dragging assembly 122, a dragging fixing seat 1221, a support column z1, a first limiting baffle x1, a second limiting baffle x2, a dragging connecting part 1222, a synchronous detection assembly 1223, a first position sensor w1 and a second position sensor w2; the first control device 13; and the second control device 14. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical scheme and advantages of the application clearer, the embodiments of the application will be further described in detail below with reference to the drawings.

[0047] Although the application can be easily embodied in different forms of embodiments, only some specific embodiments are shown in the drawings and described in detail in the specification, and it can be understood that the specification should be regarded as an exemplary description of the principles of the application, and is not intended to limit the application to what is described herein.

[0048] Therefore, one feature indicated in the specification will be used to explain one feature of one embodiment of the application, and it is not implied that each embodiment of the application must have the explained feature. In addition, it should be noted that the specification describes many features. Although certain features can be combined together to show possible system designs, these features can also be used in other combinations that are not explicitly described. Therefore, unless otherwise stated, the described combinations are not intended to be limiting.

[0049] In the embodiments shown in the drawings, the indications of directions (such as up, down, left, right, front and back) are used to explain the structure and movement of various elements of the application, which are not absolute but relative. These indications are appropriate when the elements are in the positions shown in the drawings. If the positions of the elements change, the indications of the directions also change accordingly.

[0050] Please refer toFigure 1 and Figure 2 , Figure 1 is a connection structure schematic diagram of a mechanical arm hoisting system provided by an embodiment of the present application, Figure 2 is a structure schematic diagram of a mechanical arm hoisting system provided by an embodiment of the present application, the mechanical arm hoisting system can include a lifting appliance device 11, a mechanical arm device 12, a first control device 13 and a second control device 14.

[0051] The lifting appliance device 11 can include a bearing support 111, a driving assembly 112 and a sling assembly 113, the driving assembly 112 is installed on the bearing support 111 and connected with the sling assembly 113, the driving assembly 112 is used for winding and unwinding the sling assembly 113, that is, the driving assembly 112 is used to drive the sling assembly 113 to move, so as to control the length of the sling assembly 113 in a winding or unwinding manner. The driving assembly 112 can be movably installed on the bearing support 111, the bearing support 111 can be fixedly installed on the ground or a material loading platform, the sling assembly 113 is used for hoisting goods, and the driving assembly 112 can drive the end of the sling assembly 113 to rise or fall, thereby driving the goods to rise or fall.

[0052] The mechanical arm device 12 is located on the side of the bearing support 111 close to the ground, the mechanical arm device 12 includes a mechanical arm body 121 and an end dragging assembly 122, the end dragging assembly 122 is installed at the end of the mechanical arm body 121, and the end dragging assembly 122 is connected with the end of the sling assembly 113. The mechanical arm body 121 can be fixedly installed on the ground or a material loading platform, and a driving structure is built-in the mechanical arm body 121, the driving structure is used to drive the mechanical arm body 121 to move, when the mechanical arm body 121 drives the end dragging assembly 122 to move, the end of the sling assembly 113 can be synchronously moved through the end dragging assembly 122.

[0053] When the staff hoists the goods through the mechanical arm device 12, if there is a case that the part of the object hoisted by the mechanical arm is overweight, the mechanical parts of the mechanical arm can be overloaded and damaged, the movement can be out of control or the precision can be reduced, and safety hazards can be caused, such as object falling, mechanical arm overturning and the like. If the mechanical arm with larger carrying capacity is directly replaced, the production cost is increased, and the mechanical arm with larger carrying capacity is also difficult to manufacture. In the embodiment of the present application, when the object to be hoisted is overweight, the mechanical arm does not need to be replaced, the bearing support 111 is erected above the mechanical arm device 12, and the end of the sling assembly 113 is connected with the end dragging assembly 122 in the mechanical arm device 12, so that the sling assembly 113 can cooperate with the dragging of the mechanical arm device 12 to improve the load capacity of the mechanical arm device 12, thereby enabling the mechanical arm device 12 to hoist the goods exceeding the load capacity of the mechanical arm device 12 through the cooperation of the lifting appliance device 11 and the mechanical arm device 12.

[0054] The first control device 13 is configured to obtain initial position information and target position information of the end dragging assembly 122, and control the mechanical arm body 121 to move the end dragging assembly 122 to a target position corresponding to the target position information. For example, the first control device 13 can include a three-dimensional camera and a control assembly. The three-dimensional camera can be configured to collect an image of a grabbing area, and send the collected image of the grabbing area to a master control unit. The master control unit is configured to receive the image of the grabbing area, identify position information of a cargo according to the collected image of the grabbing area, and determine a grabbing path according to the position information of the cargo. The grabbing path has a starting point of the initial position information of the end dragging assembly 122 and an ending point of the target position information of the end dragging assembly 122. The control assembly can send a moving instruction to the mechanical arm body 121 according to the grabbing path, so that the mechanical arm body 121 moves the end dragging assembly 122 to the target position corresponding to the target position information according to the grabbing path and at a first preset speed.

[0055] For example, the mapping relationship between the image coordinate system and the world coordinate system can be determined through image preprocessing, distortion correction and calibration. Then, the position of the cargo in the image coordinate system can be identified according to target detection and segmentation. Finally, the position information of the cargo in the world coordinate system can be determined through coordinate system conversion, and the target position information of the end dragging assembly 122 can be obtained according to the position information of the cargo. For example, the target position can be located at a preset distance above the position of the cargo.

[0056] For example, the 3D coordinates and posture of the object can be obtained through the camera assembly, and then a motion planning algorithm can be used to search for a collision-free path in the configuration space of the mechanical arm body 121. The joint angles can be solved through inverse kinematics, and then a smooth motion trajectory can be generated through trajectory optimization.

[0057] The first control device 13 is further configured to send the initial position information and the target position information to the second control device 14. The second control device 14 is configured to receive the initial position information and the target position information, and obtain a distance that the end of the sling assembly 113 needs to move according to the initial position information and the target position information, so as to obtain a winding and unwinding distance of the sling assembly 113, and control the driving assembly 112 to move the sling assembly 113 according to the winding and unwinding distance. That is, the second control device 14 can obtain the winding and unwinding distance of the sling assembly 113 according to the moving distance of the end dragging assembly 122, so that the end dragging assembly 122 and the sling assembly 113 can be displaced synchronously when the end of the sling assembly 113 is moved by the end dragging assembly 122, and the phenomenon of jamming when the end dragging assembly 122 drags the sling assembly 113 can be avoided.

[0058] For example, the driving assembly 112 can include a driving motor 1121, the sling assembly 113 can be wound on the winding drum of the driving motor 1121, and the winding drum of the driving motor 1121 can rotate in the counterclockwise direction or rotate in the clockwise direction, so as to realize the winding and releasing of the sling assembly 113. The second control device 14 can control the rotating direction of the winding drum of the driving motor 1121 according to the winding and releasing distance, so that the sling assembly 113 can be wound and released synchronously with the mechanical arm device 12.

[0059] In summary, the embodiment of the present application provides a mechanical arm hoisting system including a sling device 11, a mechanical arm device 12, a first control device 13 and a second control device 14. The sling device 11 includes a bearing support 111, a driving assembly 112 and a sling assembly 113. The mechanical arm device 12 includes a mechanical arm body 121 and a terminal dragging assembly 122. When the object to be carried by the mechanical arm device 12 is overweight, the mechanical arm device 12 does not need to be replaced. By erecting the bearing support 111 above the mechanical arm device 12 and connecting the terminal of the sling assembly 113 with the terminal dragging assembly 122 in the mechanical arm device 12 together, the terminal of the sling assembly 113 can cooperate with the dragging of the mechanical arm device 12 to improve the load capacity of the mechanical arm device 12. Thus, through the cooperation of the sling device 11 and the mechanical arm device 12, the mechanical arm device 12 can carry the goods exceeding its own load capacity. Moreover, the first control assembly and the second control device 14 can make the terminal dragging assembly 122 and the terminal of the sling assembly 113 move synchronously when the terminal dragging assembly 122 drags the terminal of the sling assembly 113, so as to avoid the phenomenon of jamming when the terminal dragging assembly 122 drags the terminal of the sling assembly 113.

[0060] For reference Figure 2 In an alternative embodiment, the bearing support 111 can include a sling support column 1111 and a transverse sliding rail 1112. The transverse sliding rail 1112 is movably installed at one end of the sling support column 1111, and the transverse sliding rail 1112 can rotate around the sling support column 1111. The sling support column 1111 can be fixedly installed on the ground or a carrying table. The extension direction of the sling support column 1111 can be perpendicular to the ground. The end of the transverse sliding rail 1112 can be installed at the end of the sling support column 1111 away from the ground. The extension direction of the transverse sliding rail 1112 can be perpendicular to the extension direction of the sling support column 1111. For example, one end of the transverse sliding rail 1112 is rotationally connected with one end of the sling support column 1111, so that the transverse sliding rail 1112 can rotate around the sling support column 1111.

[0061] The driving assembly 112 comprises a driving motor 1121 and a sliding seat 1123, the driving motor 1121 is fixedly installed on the sliding seat 1123, the sliding seat 1123 is movably installed on the transverse slide rail 1112, and the driving motor 1121 is fixedly connected with one end of the sling assembly 113. The driving motor 1121 can be movably installed on the transverse slide rail 1112 through the sliding seat 1123, so that the sliding seat 1123 can drive the driving motor 1121 to move on the transverse slide rail 1112 along the extension direction of the transverse slide rail 1112. In an exemplary embodiment, the driving assembly 112 can further comprise a speed reduction mechanism 1122 and an encoder (not shown in the figure), both of which are installed on the driving motor 1121. In this way, through the cooperation of the driving motor 1121, the speed reduction mechanism 1122 and the sliding seat 1123, the winding and unwinding of the sling assembly 113 can be realized, and the winding and unwinding speed and distance can be fed back and controlled by the encoder.

[0062] In this way, by movably installing the driving assembly 112 on the transverse slide rail 1112 of the bearing support 111, and enabling the transverse slide rail 1112 to rotate around the hoist support 1111, when the mechanical arm device 12 drives the end of the sling assembly 113 to move, the driving assembly 112 and the transverse slide rail 1112 can move synchronously on their respective moving paths, so that the driving assembly 112 can be kept above the sling assembly 113, and the stability of the sling assembly 113 during hoisting can be improved.

[0063] Please refer to Figure 2 In an alternative embodiment, the bearing support 111 can further comprise a rotary connecting piece 1113, which is connected with one end of the hoist support 1111 and one end of the transverse slide rail 1112, and is rotatably connected with at least one of the hoist support 1111 and the transverse slide rail 1112. Through the rotary connecting piece 1113, the transverse slide rail 1112 can realize 360° rotation. For example, the rotary connecting piece 1113 can comprise a slewing bearing. In this way, when the mechanical arm device 12 drives one end of the sling assembly 113 to rotate around the hoist support 1111, the sling assembly 113 can drive the transverse slide rail 1112 to rotate synchronously, and the driving assembly 112 can not be opened to wind and unwind the sling assembly 113, so that the operation mode of the mechanical arm hoisting system can be simplified, and the calculation amount can be reduced.

[0064] In an alternative embodiment, the sliding seat 1123 can comprise a sliding wheel h1 and a mounting base h2; the sliding wheel h1 is installed on the transverse slide rail 1112 and can roll along the extension direction of the transverse slide rail 1112; the mounting base h2 is located between the driving assembly 112 and the sliding wheel h1, and is movably connected with the sliding wheel h1 and fixedly connected with the driving assembly 112.

[0065] Please refer to Figure 1 , Figure 2 and Figure 3 , Figure 3 is a structural schematic diagram of a terminal dragging assembly 122 and a sling assembly 113 provided by an embodiment of the present application. In an alternative embodiment, the terminal dragging assembly 122 can include a dragging fixing seat 1221, and the sling assembly 113 can include a sling 1131 and a sling hook 1132. The dragging fixing seat 1221 is connected to the terminal end of the mechanical arm body 121 and fixedly connected to the sling 1131. The sling hook 1132 is fixedly connected to the terminal end of the sling 1131. By connecting the terminal end of the mechanical arm body 121 and the terminal end of the sling 1131 through the dragging fixing seat 1221, the relative position between the terminal end of the mechanical arm body 121 and the terminal end of the sling 1131 can be stabilized.

[0066] In an alternative embodiment, the terminal dragging assembly 122 can further include a dragging connecting part 1222 and a synchronization detection assembly 1223. The dragging connecting part 1222 is movably sleeved outside the dragging fixing seat 1221. The synchronization detection assembly 1223 is installed on the dragging connecting part 1222 and the dragging fixing seat 1221. The synchronization detection assembly 1223 is used to detect the displacement difference between the dragging connecting part 1222 and the dragging fixing seat 1221, and send the detection information to the first control assembly or the second control assembly. The first control assembly and the second control assembly are used to control the mechanical arm body 121 or the driving assembly 112 to slow down or stop according to the detection information. For example, if the moving speed of the mechanical arm body 121 is greater than the release speed of the driving assembly 112 driving the sling assembly 113, the two may move out of synchronization, and the dragging force of the mechanical arm body 121 increases. At this time, the synchronization detection assembly 1223 can be triggered, and the synchronization detection assembly 1223 can send the detection information to the first control assembly. The first control assembly can stop the movement of the mechanical arm body 121 based on the detection information.

[0067] Please refer to Figure 1 , Figure 2 and Figure 3 In an alternative embodiment, the dragging fixing seat 1221 includes a support column z1, and a first limiting baffle x1 and a second limiting baffle x2 installed at both ends of the support column z1. The first limiting baffle x1 is installed on the side of the support column z1 close to the ground, and the second limiting baffle x2 is installed on the side of the support column z1 away from the ground.

[0068] The synchronous detection assembly 1223 comprises a first position sensor w1 and a second position sensor w2, which are respectively installed at two ends of the drag connection part 1222, and the first position sensor w1 is located between the drag connection part 1222 and the first limiting baffle x1, and the second position sensor w2 is located between the drag connection part 1222 and the second limiting baffle x2. When the moving speed of the sling assembly 113 is faster than that of the terminal drag assembly 122, the first position sensor w1 can be triggered under the extrusion of the drag connection part 1222 and the first limiting baffle x1, and when the moving speed of the terminal drag assembly 122 is faster than that of the sling assembly 113, the second position sensor w2 can be triggered under the extrusion of the drag connection part 1222 and the second limiting baffle x2.

[0069] The first control device 13 is further configured to control the mechanical arm body 121 to stop moving when the first trigger signal of the first position sensor w1 is received, and control the mechanical arm body 121 to continue moving when the second trigger signal of the first position sensor w1 is received; and the second control device 14 is further configured to control the driving assembly 112 to stop moving when the third trigger signal of the second position sensor w2 is received, and control the driving assembly 112 to continue rotating when the fourth trigger signal of the second position sensor w2 is received.

[0070] For example, when the first position sensor w1 is triggered, it indicates that the moving speed of the sling assembly 113 is faster than that of the terminal drag assembly 122, and the second control assembly can control the driving assembly 112 to pause until the first limiting plate is separated from the first position sensor w1, and the driving assembly 112 continues to drive the sling assembly 113 to move, so as to keep the terminal drag assembly 122 and the sling assembly 113 moving synchronously. When the second position sensor w2 is triggered, it indicates that the moving speed of the terminal drag assembly 122 is faster than that of the sling assembly 113, and the first control assembly can control the mechanical arm body 121 to pause until the second limiting plate is separated from the second position sensor w2, and the mechanical arm body 121 continues to drive the terminal drag assembly 122 to move, so as to keep the terminal drag assembly 122 and the sling assembly 113 moving synchronously.

[0071] In an optional implementation, the second control device 14 obtains the distance of the sling assembly 113 according to the following formula: Pos=ΔZ.

[0072] In the formula, Pos is the distance of the sling assembly 113, and ΔZ is the distance between the initial position and the target position of the terminal drag assembly 122 in the Z-axis direction, and the Z-axis direction is the direction perpendicular to the ground. In this way, through the cooperation of the driving assembly 112, the bearing support 111 and the sling assembly 113, the calculation amount of the second control device 14 can be reduced.

[0073] Please refer to Figure 4 , Figure 4 This is a flow chart of a robotic arm lifting control method provided in an embodiment of the present application. The robotic arm lifting control method can be applied to the robotic arm lifting system in any of the above embodiments. The robotic arm lifting system includes: a lifting device, a robotic arm device, a first control device and a second control device.

[0074] The sling device includes a load-bearing bracket, a driving assembly and a sling assembly. The driving assembly is installed on the load-bearing bracket and connected to the sling assembly. The driving assembly is used to retract and extend the sling assembly.

[0075] The robotic arm device is located on the side of the supporting bracket close to the ground. The robotic arm device includes a robotic arm body and an end drag assembly. The end drag assembly is installed at the end of the robotic arm body, and the end drag assembly is connected to the end of the sling assembly.

[0076] The robotic arm hoisting control method includes the following steps:

[0077] Step 201: Obtain the initial position information and target position information of the end drag component through the first control device, control the robot body to drive the end drag component to move to the target position corresponding to the target position information, and send the initial position information and target position information to the second control device.

[0078] Step 202: Receive the initial position information and the target position information through the second control device, and obtain the retraction and extension distance of the sling assembly according to the initial position information and the target position information, so as to control the driving assembly to drive the sling assembly to move according to the moving distance.

[0079] Please refer to Figure 5 , Figure 5 : is a flow chart of another robotic arm hoisting control method provided in an embodiment of the present application, the robotic arm hoisting control method comprising the following steps:

[0080] Step 301: The robotic arm hoisting system is started.

[0081] Step 302: The robotic arm device and the lifting device arrive at their respective set initial positions.

[0082] Step 303: The robotic arm device sends the initial position information and the target position information to the spreader device.

[0083] Step 304: The driving assembly adjusts the position of the hook by retracting and releasing the rope so that the moving speed of the hook is consistent with the moving speed of the end drag assembly in the robotic arm device.

[0084] Step 305, whether the synchronization detection component is triggered, if the first position sensor is triggered, step 306 is executed. If the second position sensor is triggered, step 307 is executed, and if there is no trigger, step 308 is executed.

[0085] Step 306, the moving speed of the sling assembly is faster than the moving speed of the end dragging assembly, the driving assembly is paused until the first limit plate is out of the first position sensor, and the driving assembly continues to drive the sling assembly to move to keep the end dragging assembly and the sling assembly moving synchronously.

[0086] Step 307, the moving speed of the end dragging assembly is faster than the moving speed of the sling assembly, the mechanical arm body is paused until the second limit plate is out of the second position sensor, and the mechanical arm body continues to drive the end dragging assembly to move to keep the end dragging assembly and the sling assembly moving synchronously.

[0087] Step 308, the end dragging assembly and the sling assembly move synchronously.

[0088] Step 309, the second control device feeds back that the sling assembly moves to the position, and the second control assembly can detect whether the driving assembly drives the sling assembly to be retracted or extended to the position through the encoder.

[0089] Step 310, end.

[0090] Please refer to Figure 6 , Figure 6 A structural schematic diagram of an electronic device provided by the embodiment of the present application, and the embodiment of the present application further provides an electronic device, which can include:

[0091] The memory 401 is used for storing a computer program.

[0092] The processor 402 is used for executing the program stored on the memory, and realizes the mechanical arm hoisting control method in any of the above embodiments.

[0093] According to another aspect of the present application, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the mechanical arm hoisting control method.

[0094] It is to be understood that the sizes of the regions shown in the figures can be exaggerated, and that the dimensions of the regions shown in the figures are not necessarily to scale. It is to be further understood that, when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In addition, it is to be understood that when an element is referred to as being "under" another element, it can be directly under the other element, or one or more intervening elements can also be present. In addition, it is to be understood that when an element is referred to as being "between" two elements, it can be the only element between the two elements or one or more intervening elements can also be present. Like reference numerals refer to like elements throughout the specification.

[0095] In this application, the terms "first" and "second" are used only for descriptive purposes and are not to be taken literally or to imply relative importance. The term "plurality" refers to two or more, unless otherwise expressly specified.

[0096] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is shown in the figure, but it does not mean that there is only one bus or only one type of bus.

[0097] The communication interface is used for communication between the above-mentioned electronic device and other devices.

[0098] The memory can include a Random Access Memory (RAM) and can also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory can also be at least one storage device located away from the aforementioned processor.

[0099] The processor mentioned above can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0100] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned palletizing methods for transporting goods are implemented.

[0101] In another embodiment provided by the present application, a computer program product including instructions is further provided, which, when executed on a computer, enables the computer to execute any of the palletizing methods for transporting goods in the above embodiments.

[0102] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state drive (SSD).

[0103] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0104] The various embodiments in the specification are described in a related manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, the method, electronic device, storage medium and computer program product embodiments are described simply because they are basically similar to the system embodiments, and the relevant parts can be referred to the part of the method embodiment.

[0105] The above only describes the preferred embodiments of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robotic arm lifting system, characterized in that: include: a spreader device, a robotic arm device, a first control device, and a second control device; The sling device includes a load-bearing bracket, a drive assembly and a sling assembly, wherein the drive assembly is mounted on the load-bearing bracket and connected to the sling assembly, and the drive assembly is used to retract and extend the sling assembly; The robotic arm device is located on a side of the supporting frame close to the ground, and includes a robotic arm body and an end drag assembly. The end drag assembly is installed at the end of the robotic arm body, and the end drag assembly is connected to the end of the sling assembly. The first control device is used to obtain the initial position information and the target position information of the end drag component, and control the robot arm body to drive the end drag component to move to the target position corresponding to the target position information, and is also used to send the initial position information and the target position information to the second control device; The second control device is used to receive the initial position information and the target position information, and obtain the retraction and extension distance of the sling assembly based on the initial position information and the target position information, so as to control the driving assembly to drive the sling assembly to move according to the retraction and extension distance.

2. The robotic arm hoisting system according to claim 1, characterized in that: The load-bearing bracket includes a hanger support and a transverse slide rail, and the drive assembly includes a drive motor and a slide seat; The transverse slide rail is movably mounted on one end of the spreader support, and the transverse slide rail is capable of rotating around the spreader support; The driving motor is fixedly mounted on the sliding seat, the sliding seat is movably mounted on the transverse slide rail, and the driving motor is fixedly connected to one end of the sling assembly.

3. The robotic arm hoisting system according to claim 2, characterized in that: The supporting bracket further includes a rotating connecting member connected to one end of the hanger column and one end of the transverse slide rail, and the rotating connecting member is rotatably connected to at least one of the hanger column and the transverse slide rail.

4. The robotic arm hoisting system according to claim 3, characterized in that: The sliding seat includes a sliding wheel and a mounting base; The sliding wheel is mounted on the transverse slide rail and is capable of rolling along the extension direction of the transverse slide rail; The mounting base is located between the driving assembly and the sliding wheel. The mounting base is movably connected to the sliding wheel and fixedly connected to the driving assembly.

5. The robotic arm hoisting system according to claim 1, characterized in that: The end drag assembly includes a drag fixing seat, and the sling assembly includes a sling rope and a hook; The drag fixing seat is connected to the end of the robotic arm body and is fixedly connected to the suspension rope; The hook is fixedly connected to the end of the lifting rope.

6. The robotic arm hoisting system according to claim 5, characterized in that: The end drag assembly further includes a drag connection portion and a synchronization detection assembly; The drag connection part is movably mounted on the outside of the drag fixing seat, and the synchronous detection component is installed on the drag connection part and the drag fixing seat. The synchronous detection component is used to detect the displacement difference between the drag connection part and the drag fixing seat, and send the detection information to the first control component or the second control component. The first control component and the second control component are used to control the robotic arm body or the drive component to decelerate or stop according to the detection information.

7. The mechanical arm hoisting system according to claim 6, characterized in that: The dragging fixing seat includes a support column, and a first limit baffle and a second limit baffle installed at both ends of the support column; The synchronization detection assembly includes a first position sensor and a second position sensor, the first position sensor and the second position sensor are respectively installed at two ends of the drag connection part, and the first position sensor is located between the drag connection part and the first limit baffle, and the second position sensor is located between the drag connection part and the second limit baffle; In which, the first control device is also used to control the robotic arm body to stop moving when it receives the first trigger signal of the first position sensor, and to control the robotic arm body to continue moving when it receives the second trigger signal of the first position sensor; the second control device is also used to control the drive component to stop moving when it receives the third trigger signal of the second position sensor, and to control the drive component to continue rotating when it receives the fourth trigger signal of the second position sensor.

8. A method for controlling the hoisting of a robotic arm, characterized in that: The robot arm hoisting control method is applied to a robot arm hoisting system, which includes: a hoisting device, a robot arm device, a first control device and a second control device; The sling device includes a load-bearing bracket, a driving assembly and a sling assembly. The driving assembly is movably mounted on the load-bearing bracket and connected to the sling assembly. The driving assembly is used to retract and extend the sling assembly. The robotic arm device is located on a side of the supporting frame close to the ground, and includes a robotic arm body and an end drag assembly. The end drag assembly is installed at the end of the robotic arm body, and the end drag assembly is connected to the end of the sling assembly. The robotic arm hoisting control method comprises: Acquire the initial position information and the target position information of the end drag component through the first control device, control the robot arm body to drive the end drag component to move to the target position corresponding to the target position information, and send the initial position information and the target position information to the second control device; The initial position information and the target position information are received by the second control device, and the retraction and extension distance of the sling assembly is obtained according to the initial position information and the target position information, so as to control the driving assembly to drive the sling assembly to move according to the moving distance.

9. An electronic device, characterized in that: include: Memory for storing computer programs; The processor is configured to implement the robotic arm hoisting control method according to claim 8 when executing the program stored in the memory.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the robot arm hoisting control method according to claim 8 is implemented.

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