CN106826772A - A kind of robot system with active compensation of undulation function - Google Patents
A kind of robot system with active compensation of undulation function Download PDFInfo
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- CN106826772A CN106826772A CN201710193733.5A CN201710193733A CN106826772A CN 106826772 A CN106826772 A CN 106826772A CN 201710193733 A CN201710193733 A CN 201710193733A CN 106826772 A CN106826772 A CN 106826772A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Feedback Control In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of robot system with active compensation of undulation function, the robot system for having active compensation of undulation function is arranged on ship；It is characterized in that：Including cross slide way, longitudinal rail, chassis, micro- inertial navigation, mechanical arm, computer and controller；There is bigger working space in robot in invention device compared with ordinary robot by cross slide way and longitudinal rail, is moved easily, and is easy to be stored in cabin and etch-proof housing；Its service life is increased, maintenance is easily facilitated；The mechanism of cascade is used in apparatus of the present invention, position forecast is more readily available compared with the compensation of undulation platform of conventional parallel, precision is higher；Apparatus of the present invention and control method can the effective single traditional wave compensating device of alternative functions, the structure that makes whole compensation system is simpler, it is more convenient to operate, and operating efficiency is higher.
Description
Technical field
The present invention relates to marine ships field of operation, more particularly to a kind of compensation of undulation machine with Active Compensation function
People's system.
Background technology
As China's ocean engineering industry constantly develops, ocean platform or ship more and more continually carry out sea
Operation, its job area moves towards deep-sea, or even ultra-deep sea from coastal waters, and the difficulty of operation also increases therewith.Due to the influence of stormy waves,
Operation at sea and traveling way in ship all can with stormy waves do it is irregular wave, these are waved can cause the relative of ship
Position changes.Meanwhile, can also produce operating efficiency low, personal security be present.So, how to remove wind
Disturbance rolling, pitching and heave that i.e. stormy waves causes that wave causes, improve the safety and steady of operation on the sea and efficient, to actual work
Journey and scientific research have great meaning.
At present, compensation of undulation technology mainly apply to seaborne supply, sea goods lifting and transport operating personnel step on by wind
Electric tower etc..Also, most of parallel connection platform forms larger using volume carry out compensation of undulation, the compensation of undulation dress of cascade
Put mainly based on the crane with compensation of undulation function.The sole mass of parallel connection platform is larger, and working range is smaller.It is in parallel
Platform and heave compensation crane at sea in operation process, are also needed to constantly for completing the function of crawl and transport of object
Develop and perfect.Meanwhile, after the two is due to the larger installation of volume, being not easy to movement cannot also put etch-proof housing into
It is interior.The function that existing apparatus can be realized is relatively simple, and go up does not have a kind of general dress with compensation of undulation function also at this stage
Put or system, can simultaneously realize that ship hangs the functions such as goods, transport personnel and seaborne supply in advancing on the way.
A kind of compensation of undulation special purpose robot as described in the .X of Chinese patent 201610617770, with forearm, wrist machine
Structure, end effector driver and end effector mechanism, forearm front end connection Wrist mechanism rear end, Wrist mechanism front end rigidly connects
End effector driver is connect, end effector driver connection end effector mechanism, Wrist mechanism during initial position is parallel
In ship deck, Wrist mechanism front end point to fore front to, it is characterized in that：The rear end of Wrist mechanism includes first, second
Driver, front end includes a differential attachment and two support arms, and centre is support frame, and support frame is affixed with forearm front end, branch
The centre position of support connects firmly driver framework, and first, second driver is positioned opposite and common in the arranged on left and right sides of driver framework
Connection driver framework, the equal left and right horizontal arrangement of central shaft of first, second driver；Affixed the first from left in front side of support frame is right
Two support arms of arrangement, are differential attachments between two support arms；Differential attachment is by four bevel gears, a yawing axis and two
Individual pitching driving shaft composition, yawing axis are arranged vertically up and down, first, second pitching driving shaft centerline collineation and yawing axis
Center line is perpendicular and the first from left right side is arranged symmetrically in the both sides of yawing axis, the common energy in one end of first, second pitching driving shaft
Differential attachment support block is rotationally connected, the other end is supported on the corresponding support arm of homonymy, the same between centers of interlude of yawing axis
Gap connects third hand tap gear, yawing axis on the epimere of yawing axis through the centre bore of differential attachment support block by coaxial bearing
Hypomere on be fixedly and coaxially connected first bevel gear；Coaxial fixed cover dress is solidly connected with each other on first pitching driving shaft the
Two bevel gears and the first belt wheel, coaxial fixed cover dress is solidly connected with each other on the second pitching driving shaft the 4th bevel gear and the
Three belt wheels, first bevel gear is meshed with second bevel gear, the 4th bevel gear, third hand tap gear and second bevel gear, the 4th
Bevel gear is also meshed；The output shaft of the first driver is fixedly and coaxially connected the 4th belt wheel, and the output shaft of the second driver is same
Axle is fixedly connected the second belt wheel, and the first belt wheel connects the second belt wheel by the first odontoid belt, and the 3rd belt wheel passes through the second tooth form
Belt connects the 4th belt wheel；Bevel gear passes through the affixed end effector driver of connector.
Using the transfer structure of belt wheel in above-mentioned patent, cause complicated mechanism, working space is narrow and small, troublesome maintenance
And service life is low, the transmission accuracy of belt wheel is poor；
For above-mentioned technical problem, the present invention is intended to provide a kind of multiple degrees of freedom compensation of undulation robot system of series connection is with this
The control method of system.The system is a general-purpose system, with simple structure, it is easy to operate, using scope is wide, efficiency high and work(
Can be many advantages of.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of robot system with active compensation of undulation function, and this is
System and control method can solve the problem that ship at sea travel or operation process in, rolling, pitching and heave caused by stormy waves
Deng the influence problem brought to end effector of robot.
In order to solve the above technical problems, the technical scheme is that：A kind of machine with active compensation of undulation function
People's system, the robot system for having active compensation of undulation function is arranged on ship；Its innovative point is：Including laterally leading
Rail, longitudinal rail, chassis, micro- inertial navigation, mechanical arm, computer and controller；
The cross slide way is arranged in same level with longitudinal rail is orthogonal, and cross slide way is laid with longitudinal rail
On ship deck；The chassis can be moved back and forth by motor along mutually perpendicular cross slide way and longitudinal rail；
The mechanical arm is fixedly connected on chassis by bolt group, and mechanical arm follows chassis to be moved along cross slide way or longitudinal rail
It is dynamic；Micro- inertial navigation is located at the side of mechanical arm and is fastened on chassis, and measurement in real time is converted because of the data that stormy waves causes
And send tested data to computer；Data exchange is carried out by sensor between the computer and micro- inertial navigation, is calculated
The data of the micro- inertial navigation output of machine treatment are simultaneously processed and are set up model, predicted and output data；One end of the controller
Data exchange is carried out with computer, the other end of controller is connected with mechanical arm and control machinery arm compensates motion.
Further, the control method of the system is：
S1：Chassis, micro- inertial navigation and mechanical arm are moved to by work by cross slide way and longitudinal rail by motor first
Position, and hard objectives point position；
S2：Go out the change that ship causes by stormy waves using micro- inertial navigation real-time detection, and these data are input to by sensor
In computer, and a prediction algorithm is provided to computer；
S3：The data conveyed according to micro- inertial navigation are filtered pretreatment and data normalized and set up mould in a computer
Type, the data that computer is detected according to the model and micro- inertial navigation set up, predicts the situation of wave；
S4：Computer determines the position coordinates under the wave action of impact point according to the wave situations of prediction, and bright with actual institute
True coordinate of ground point is contrasted, and calculates offset data；
S5：The offset data that computer will be handled well is sent to controller, and controller drives the mechanical arm of end to compensate fortune
It is dynamic.
Further, micro- inertial navigation can real-time detection go out rolling, pitching, yawing, surging, swaying, heaving and vertical
Swing, the speed data of swaying and heaving.
Further, it is to be processed in zero-mean and tranquilization by the data for conveying micro- inertial navigation that model is set up in the S2
Auto-correlation function acf and deviation―related function pacf are calculated by computer afterwards, according to function curve judge AR models, according to
The AR models of judgement identify that model parameter is continuously predicted ship by computer.
Further, micro- inertial navigation, computer, controller and mechanical arm correspond to the detection of whole robot system respectively
System, compensation system, control system and execution system.
The advantage of the invention is that：
1）Robot in apparatus of the present invention has bigger compared with ordinary robot by cross slide way and longitudinal rail
Working space, is moved easily, and is easy to be stored in cabin and etch-proof housing.So, its service life is increased, more just
In maintenance.
2）The mechanism of cascade is used in apparatus of the present invention, compared with the compensation of undulation platform of conventional parallel more
Plus position forecast is readily obtained, precision is higher.
3）Apparatus of the present invention and control method can the effective single traditional wave compensating device of alternative functions, make whole
The structure of compensation system is simpler, it is more convenient to operate, and operating efficiency is higher.In ship traveling process, it is also possible in first
Operation carries out hanging and transporting for goods on plate.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the overall structure diagram of the robot system with active compensation of undulation function.
Fig. 2 is Model Identification and parameterized procedure.
Fig. 3 is the control principle drawing of the robot system with active compensation of undulation function.
Predictions and compensation process of the Fig. 4 for end effector mechanism Future movement.
Fig. 5 is active compensation of undulation control method flow chart.
Specific embodiment
The following examples can make professional and technical personnel that the present invention is more fully understood, but therefore not send out this
It is bright to be limited among described scope of embodiments.
A kind of robot system with active compensation of undulation function as shown in Figure 1, this has active compensation of undulation function
Robot system be arranged on ship on；Including cross slide way 1, longitudinal rail 2, chassis 3, micro- inertial navigation 4, mechanical arm 5, computer
6 and controller 7 constitute；The cross slide way 1 and longitudinal rail 2 are arranged on the deck of ship, the work for increasing mechanical arm 5
Make space, in facilitating it to remove and move into cabin or anticorrosion housing；Mechanical arm 5 is connected on chassis 3 by bolt, chassis
3 lower sections are provided with pulley, by pulley in cross slide way 1 and the enterprising line slip of longitudinal rail 2；According to the work side of micro- inertial navigation 4
Formula, data precision and installation requirement, it is necessary to micro- inertial navigation 4 is connected on the pedestal of mechanical arm 5 by bolt, can measure because
Real time data and the measured data of transmission that stormy waves causes；Computer 6 is used to receive the data of the output of micro- inertial navigation 4, place
Manage data, set up model, prediction and output data；Controller 7 receives the data that computer 6 sends, and control machinery arm 5 is mended
Repay motion.
As shown in Fig. 2 ship motion model is recognized and parametrization in the robot system with active compensation of undulation function
Process, the purpose for designing the process is the hysteresis quality of the system that makes up；Micro- inertial navigation, being capable of real-time detection during ship running
To the ship exercise data caused due to stormy waves；Micro- inertial navigation is transferred data in computer, and detected data are carried out
Filter preprocessing and data normalization are processed；Then the data after treatment are carried out into zero-mean and tranquilization treatment, then is divided
Analysis.Auto-correlation function acf and deviation―related function pacf is calculated respectively, and AR models are judged to by corresponding function curve；It is logical
Cross the model parameter that formulas solutions go out AR models；The finally motion using the AR forecast models set up to ship carries out continuous pre-
Survey.
As shown in figure 3, being the control principle drawing of the robot system with active compensation of undulation function；Whole system can be with
It is divided into four subsystems, they are respectively detecting system, compensation system, control system and execution system；Detecting system is corresponding
It is micro- inertial navigation 4, it is computer 6 that compensation system is corresponding, and it is controller 7 that control system is corresponding, and it is machine that execution system is corresponding
Tool arm 5；In the case where that need not compensate, such as when without stormy waves, then do not send compensating instruction；When ship is in traveling process
In run into stormy waves and need operation in the case of, then sending compensation work order makes whole system start working.
As shown in figure 4, prediction and compensation process for end effector mechanism Future movement；Obtained by micro- inertial navigation 4 first
After ship real-time detector data, setting a period of time is a cycle, and it is the sampling period to make this cycle；By historical data
Ship motion is modeled, ship motion is continuously predicted using the forecast model set up；Obtained using micro- inertial navigation 4 simultaneously
The data and the Coordinate Conversion of series connection mechanical arm 5 for obtaining, obtain the pose of end effector mechanism；Then, predict and obtain according to continuous
The pose for obtaining carries out aggregation of data treatment；Integrated data is finally sent to controller 7；From micro- inertial navigation 4 export data to
Obtain the compensation system part in integrated data this part corresponding diagram 3；Controller 7 drives the driver in mechanical arm 5, every
The least common multiple that sampling period and controller 7 send data carries out single compensation to the pose of end effector.
As shown in figure 5, being active compensation of undulation control method flow chart；The method is used to need to carry out the work of compensation of undulation
In making state；First, using the real-time detection operation at sea of micro- inertial navigation 4 ship motion state；Micro- inertial navigation 4 is adopted with fixed
Sample cycle gathered data；After a period of time, storage vessel historical movement state；Further according in Fig. 2 ship motion model identification with
Parameterized procedure, to Data Management Analysis, sets up model and is continuously predicted；Because micro- inertial navigation 4 is arranged at pedestal, so
Need to be obtained using Coordinate Conversion the pose of the end effector mechanism of mechanical arm 5.Next, according to Prediction Parameters and end effector
Pose and the impact point for determining before pose, carry out aggregation of data；Order is sent using sampling period and controller 7
In the cycle, it is compensation cycle to choose the two least common multiple；Finally, according to the comprehensive data for obtaining, the compensation in mechanical arm 7 is specified
Control control program or operational order；Compensated by these programs and instruction.
It should be understood by those skilled in the art that, the present invention is not limited to the above embodiments, above-described embodiment and explanation
Merely illustrating the principles of the invention described in book, without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
By appending claims and its equivalent thereof.
Claims (5)
1. a kind of robot system with active compensation of undulation function, the robot system for having active compensation of undulation function is pacified
On ship；It is characterized in that：Including cross slide way, longitudinal rail, chassis, micro- inertial navigation, mechanical arm, computer and control
Device；
The cross slide way is arranged in same level with longitudinal rail is orthogonal, and cross slide way is laid with longitudinal rail
On ship deck；The chassis can be moved back and forth by motor along mutually perpendicular cross slide way and longitudinal rail；
The mechanical arm is fixedly connected on chassis by bolt group, and mechanical arm follows chassis to be moved along cross slide way or longitudinal rail
It is dynamic；Micro- inertial navigation is located at the side of mechanical arm and is fastened on chassis, and measurement in real time is converted because of the data that stormy waves causes
And send tested data to computer；Data exchange is carried out by sensor between the computer and micro- inertial navigation, is calculated
The data of the micro- inertial navigation output of machine treatment are simultaneously processed and are set up model, predicted and output data；One end of the controller
Data exchange is carried out with computer, the other end of controller is connected with mechanical arm and control machinery arm compensates motion.
2. a kind of robot system with active compensation of undulation function according to claim 1, it is characterised in that：It is described
The control method of the system is：
S1：Chassis, micro- inertial navigation and mechanical arm are moved to by work by cross slide way and longitudinal rail by motor first
Position, and hard objectives point position；
S2：Go out the change that ship causes by stormy waves using micro- inertial navigation real-time detection, and these data are input to by sensor
In computer, and a prediction algorithm is provided to computer；
S3：The data conveyed according to micro- inertial navigation are filtered pretreatment and data normalized and set up mould in a computer
Type, the data that computer is detected according to the model and micro- inertial navigation set up, predicts the situation of wave；
S4：Computer determines the position coordinates under the wave action of impact point according to the wave situations of prediction, and bright with actual institute
True coordinate of ground point is contrasted, and calculates offset data；
S5：The offset data that computer will be handled well is sent to controller, and controller drives the mechanical arm of end to compensate fortune
It is dynamic.
3. a kind of robot system and its control method with active compensation of undulation function according to claim 1, its
It is characterised by：Micro- inertial navigation can real-time detection go out rolling, pitching, yawing, surging, swaying, heaving and surging, swaying and
The speed data of heaving.
4. a kind of robot system and its control method with active compensation of undulation function according to claim 2, its
It is characterised by：It is to pass through meter after zero-mean and tranquilization are processed by the data for conveying micro- inertial navigation that model is set up in the S2
Calculation machine calculates auto-correlation function acf and deviation―related function pacf, according to the AR models that function curve judges, according to the AR for judging
Model identifies that model parameter is continuously predicted ship by computer.
5. a kind of robot system and its control method with active compensation of undulation function according to claim 2, its
It is characterised by：Micro- inertial navigation, computer, controller and mechanical arm correspond to the detecting system of whole robot system, mend respectively
Repay system, control system and execution system.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710193733.5A CN106826772A (en) | 2017-03-28 | 2017-03-28 | A kind of robot system with active compensation of undulation function |
| CN201710493982.6A CN107160400B (en) | 2017-03-28 | 2017-06-26 | Robot system with initiative wave compensation function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710193733.5A CN106826772A (en) | 2017-03-28 | 2017-03-28 | A kind of robot system with active compensation of undulation function |
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| CN201710193733.5A Pending CN106826772A (en) | 2017-03-28 | 2017-03-28 | A kind of robot system with active compensation of undulation function |
| CN201710493982.6A Active CN107160400B (en) | 2017-03-28 | 2017-06-26 | Robot system with initiative wave compensation function |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454787A (en) * | 2017-07-12 | 2018-08-28 | 江苏科技大学 | A kind of compensation of undulation robot system and its control method |
| CN108516462A (en) * | 2018-03-15 | 2018-09-11 | 江苏科技大学 | A kind of the compensation of undulation long-arm manipulator and control mode of auxiliary loop wheel machine peculiar to vessel |
| WO2019000854A1 (en) * | 2017-03-28 | 2019-01-03 | 江苏科技大学 | Wave compensation salvage robot system |
| CN111331596A (en) * | 2020-01-22 | 2020-06-26 | 深圳国信泰富科技有限公司 | Automatic track correction method and system for robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AUPO361396A0 (en) * | 1996-11-14 | 1996-12-12 | Energetech Australia Pty Limited | Parabolic wave focuser & double ended aerofoil turbine |
| CN101173523A (en) * | 2007-08-14 | 2008-05-07 | 上海远舟港湾建设有限公司 | Self-propelled twisted harrow dredge boat and using method thereof |
| CN106240764A (en) * | 2016-08-01 | 2016-12-21 | 江苏科技大学 | Compensation of undulation special purpose robot and compensation of undulation method |
| CN206033074U (en) * | 2016-08-31 | 2017-03-22 | 润邦卡哥特科工业有限公司 | Boats and ships hoist heave compensation auxiliary device |
| CN106429931B (en) * | 2016-12-06 | 2018-11-30 | 上海振华重工(集团)股份有限公司 | The control system and control method of active electronic heave compensation crane |
| CN207344597U (en) * | 2017-03-28 | 2018-05-11 | 江苏科技大学 | A kind of robot system with active compensation of undulation |
-
2017
- 2017-03-28 CN CN201710193733.5A patent/CN106826772A/en active Pending
- 2017-06-26 CN CN201710493982.6A patent/CN107160400B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019000854A1 (en) * | 2017-03-28 | 2019-01-03 | 江苏科技大学 | Wave compensation salvage robot system |
| CN108454787A (en) * | 2017-07-12 | 2018-08-28 | 江苏科技大学 | A kind of compensation of undulation robot system and its control method |
| WO2019010918A1 (en) * | 2017-07-12 | 2019-01-17 | 江苏科技大学 | Wave compensation robot system and control method therefor |
| CN108516462A (en) * | 2018-03-15 | 2018-09-11 | 江苏科技大学 | A kind of the compensation of undulation long-arm manipulator and control mode of auxiliary loop wheel machine peculiar to vessel |
| CN111331596A (en) * | 2020-01-22 | 2020-06-26 | 深圳国信泰富科技有限公司 | Automatic track correction method and system for robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107160400B (en) | 2023-05-16 |
| CN107160400A (en) | 2017-09-15 |
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Effective date of registration: 20170608 Address after: Meng Xi Road 212003 Zhenjiang city of Jiangsu province Jingkou District No. 2 Applicant after: Jiangsu University of Science and Technology Applicant after: MARINE EQUIPMENT RESEARCH INSTITUTE, JIANGSU UNIVERSITY OF SCIENCE AND TECHNOLOGY Address before: 212000 Zhenjiang City, Jiangsu province Runzhou District Nan Xu Road No. 101 4 floor Applicant before: MARINE EQUIPMENT RESEARCH INSTITUTE, JIANGSU UNIVERSITY OF SCIENCE AND TECHNOLOGY |
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Application publication date: 20170613 |