CN108516462A - A kind of the compensation of undulation long-arm manipulator and control mode of auxiliary loop wheel machine peculiar to vessel - Google Patents
A kind of the compensation of undulation long-arm manipulator and control mode of auxiliary loop wheel machine peculiar to vessel Download PDFInfo
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- CN108516462A CN108516462A CN201810214029.8A CN201810214029A CN108516462A CN 108516462 A CN108516462 A CN 108516462A CN 201810214029 A CN201810214029 A CN 201810214029A CN 108516462 A CN108516462 A CN 108516462A
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- compensation
- mechanical arm
- manipulator
- sensor
- arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of compensation of undulation long-arm manipulator of auxiliary loop wheel machine peculiar to vessel, which is arranged on hull；It is characterized in that：Including IMU inertial navigations sensor, wave compensation system and telescopic manipulator ontology；The IMU inertial navigations sensor is arranged on hull；The control to manipulator is realized by movement measuring unit sensor detection parameters, IMU inertial navigation sensors detection parameters, motion sensor, servo driver drives and autonomous the step of correcting；This compensation of undulation long-arm manipulator uses the tactic pattern of 7 degree of freedom in the present invention, and rotary chassis, telescopic mechanical shaft increase the original changeless arm length degree of mechanical arm, and do not occupy excessive space in idle；All joints of mechanical arm are rotary joint, and working space is big, and joint is easy to sealing corrosion proof；The advantages that so that robot manipulator structure is simple, overall dimensions are small, light-weight, easy to remove, and operating accuracy is high, and compensation effect is good.
Description
Technical field
Field is salvaged the present invention relates to marine loop wheel machine peculiar to vessel more particularly to a kind of compensation of undulation of auxiliary loop wheel machine peculiar to vessel is long-armed
Manipulator and control mode.
Background technology
The petroleum resources in the world united organization investigation whole world 75% are all in ocean, and the petroleum resources in China 70% are in ocean.Sea
Upper supply and a naval of state are that off-lying sea navigational escort and open-ocean operations are essential by the key of " shallow sea " trend " deep-sea "
Logistical support mean, and weigh a kind of important evidence of state's navy fight ability.Naval vessel is on the deep-sea far from coastline
Implement the supply of cargo and salvage that there is important dual-use meaning.The ship of operation on the sea will produce random when salvaging
Rule is waved, and the difficulty that loop wheel machine peculiar to vessel is salvaged also increases therewith, then the rolling of the ship caused by wave, pitching and yawing
How object is rapidly and accurately hooked up to loop wheel machine peculiar to vessel, will be an emphasis and intractable solve the problems, such as.
Currently, marine ships fishing device is mostly manually-operated loop wheel machine formula cable fishing device.Existing fishing device
It is to install loop wheel machine on a ship 's, by manually carrying out marine fishing to the operation of cable lifting, is being salvaged
During, due to the influence of stormy waves, ship will ceaselessly do oscillating motion, and staff will constantly rise cable
Folding and unfolding is dropped, and the accuracy and efficiency for salvaging target will be very low.Marine object can also be constantly occurring the phase of position simultaneously
To variation, since operation hawser has certain retardance for artificial observing, this will seriously affect object space accuracy
Quickly and effectively salvage object.
Invention content
The technical problem to be solved in the present invention is to provide a kind of compensation of undulation long-arm manipulator of auxiliary loop wheel machine peculiar to vessel and behaviour
The control mode of prosecutor formula, the tactic pattern and primary that can solve general loop wheel machine single-degree-of-freedom peculiar to vessel salvages effect difference
Problem.
In order to solve the above technical problems, the technical scheme is that：A kind of compensation of undulation of auxiliary loop wheel machine peculiar to vessel is long-armed
Manipulator, the compensation of undulation manipulator are arranged on hull；Its innovative point is：Including IMU inertial navigations sensor, compensation of undulation system
System and telescopic manipulator ontology；The IMU inertial navigations sensor is arranged on hull；
The IMU inertial navigations sensor setting is provided with motion sensor in manipulator ontology side, the manipulator ontology；Institute
It includes rotating basis, mechanical arm, flexible mechanical shaft and mechanical arm tail end clamper to state manipulator ontology；It is set in the rotating basis
It is equipped with electric rotating machine, the electric rotating machine driving rotating basis rotates in the horizontal direction, and one end of the mechanical arm is connected to rotation
Turn on pedestal and mechanical arm can be rotated around perpendicular；The flexible mechanical shaft is hinged on the other end and telescopic machine of mechanical arm
Tool bar rotates in perpendicular, and feed screw nut's auxiliary structure control of driving motor control is provided in the flexible mechanical shaft
The flexible mechanical shaft of system is stretched；The mechanical arm tail end clamper is arranged in the end of flexible mechanical shaft.
Further, the linking joint of the rotating basis, mechanical arm, flexible mechanical shaft and mechanical arm tail end clamper
Realize that driving is transmitted using synchronous belt, bevel gear and retarder.
A kind of control mode of the compensation of undulation long-arm manipulator of auxiliary loop wheel machine peculiar to vessel described in claim 1, innovation
Point is：Concrete mode is as follows：
S1：It includes displacement, angle, speed fortune related to acceleration that it is afloat, which to obtain hull, by movement measuring unit sensor
Dynamic parameter；
S2：IMU inertial navigation sensors detect the rolling, pitching and yawing kinematic parameter of ship；
S3：The data transfer that the data and IMU inertial navigation sensors that movement measuring unit sensor obtains obtain is to motion-sensing
Device；
S4：Motion sensor is handled data using mathematical model and smooth filtering algorithm according to the parameter of acquisition, prediction
The movement tendency of subsequent time；Mechanical arm servo-driver is passed in the form of a pulse through handling obtained analog signal；
S5：Servo-driver determines rotating speed and the steering of motor according to the size of pulse signal；Movement measuring unit sensor with
And IMU inertial navigations sensor is constantly by parameter feedbacks such as the actual displacement of the ship detected, speed to motion sensor, movement
Sensor is calculating the size of next cycle control signal according to the size of displacement and the change rate of speed, and passes it to
Mechanical arm servo-driver carries out the control in next period；Make robot arm end effector fixture relative to sea level always
The state opposing stationary in one；
S6：It is constantly corrected by autonomous operation, to improve the compensation precision of prediction, and then new compensation system is made to obtain more
Smooth compensation path.
S7：Mechanical arm is kept to be in opposing stationary state, meanwhile, the hand by manipulating the mechanical arm with elongation function is grasped
Box completes the salvaging task of distant objects.
The advantage of the invention is that：
1）This compensation of undulation long-arm manipulator uses the tactic pattern of seven freedom in the present invention, and rotary chassis is stretched
Formula mechanical shaft increases the original changeless arm length degree of mechanical arm, and does not occupy excessive space in idle；Mechanical arm
All joints are rotary joint, and working space is big, and joint is easy to sealing corrosion proof；So that the robot manipulator structure is simple, it is whole
The advantages that body size is small, light-weight, easy to remove, and operating accuracy is high, and compensation effect is good.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a kind of compensation of undulation long-arm manipulator structural schematic diagram of auxiliary loop wheel machine peculiar to vessel of the present invention.
Fig. 2 is a kind of compensation of undulation long-arm manipulator control flow chart of auxiliary loop wheel machine peculiar to vessel of the present invention.
Specific implementation mode
The following examples can make professional and technical personnel that the present invention be more fully understood, but therefore not send out this
It is bright to be limited among the embodiment described range.
A kind of compensation of undulation long-arm manipulator of auxiliary loop wheel machine peculiar to vessel as shown in Figure 1, compensation of undulation manipulator setting
On hull；Including IMU inertial navigations sensor 1, wave compensation system and telescopic manipulator ontology 2；The IMU inertial navigations sensing
Device 1 is arranged on hull.
The setting of IMU inertial navigations sensor 1 is provided with motion sensor in manipulator ontology side, the manipulator ontology；
The manipulator ontology 2 includes rotating basis 21, mechanical arm 22, flexible mechanical shaft 23 and mechanical arm tail end clamper 24；It is described
Electric rotating machine is provided in rotating basis 21, the electric rotating machine driving rotating basis 21 rotates in the horizontal direction, the machinery
One end of arm 22 is connected on rotating basis 21 and mechanical arm 22 can be rotated around perpendicular；The flexible mechanical shaft 23 is hinged
It is rotated in perpendicular in the other end and flexible mechanical shaft 23 of mechanical arm 22, one is provided in the flexible mechanical shaft 23
The feed screw nut pair structure control of driving motor control is stretched the flexible of mechanical shaft 23；22 end gripper 24 of the mechanical arm is set
It sets in the end of flexible mechanical shaft 23.
The linking joint use of rotating basis 21, mechanical arm 22, flexible mechanical shaft 23 and mechanical arm tail end clamper 24
Synchronous belt, bevel gear and retarder realize that driving is transmitted.
A kind of manipulation of the compensation of undulation long-arm manipulator of auxiliary loop wheel machine peculiar to vessel described in claim 1 as shown in Figure 2
Mode, specific side are as follows：
S1：It includes displacement, angle, speed fortune related to acceleration that it is afloat, which to obtain hull, by movement measuring unit sensor
Dynamic parameter.
S2：IMU inertial navigation sensors detect the rolling, pitching and yawing kinematic parameter of ship.
S3：The data transfer that the data and IMU inertial navigation sensors that movement measuring unit sensor obtains obtain is to movement
Sensor.
S4：Motion sensor is handled data using mathematical model and smooth filtering algorithm according to the parameter of acquisition,
Predict the movement tendency of subsequent time；Mechanical arm servo-drive is passed in the form of a pulse through handling obtained analog signal
Device.
S5：Servo-driver determines rotating speed and the steering of motor according to the size of pulse signal；Movement measuring unit senses
Device and IMU inertial navigations sensor constantly by parameter feedbacks such as the actual displacement of the ship detected, speed to motion sensor,
Motion sensor is calculating the size of next cycle control signal according to the size of displacement and the change rate of speed, and is passed
Mechanical arm servo-driver is passed, the control in next period is carried out；So that robot arm end effector fixture is relative to sea level
Always it is in an opposing stationary state.
S6：It is constantly corrected by autonomous operation, to improve the compensation precision of prediction, and then new compensation system is made to obtain
More smooth compensation path.
S7：Mechanical arm is kept to be in opposing stationary state, meanwhile, the hand by manipulating the mechanical arm with elongation function is grasped
Box completes the salvaging task of distant objects.
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
It is defined by the appending claims and its equivalent thereof.
Claims (3)
1. a kind of compensation of undulation long-arm manipulator of auxiliary loop wheel machine peculiar to vessel, the compensation of undulation manipulator are arranged on hull；It is special
Sign is：Including IMU inertial navigations sensor, wave compensation system and telescopic manipulator ontology；The IMU inertial navigations sensor is set
It sets on hull；
The IMU inertial navigations sensor setting is provided with motion sensor in manipulator ontology side, the manipulator ontology；Institute
It includes rotating basis, mechanical arm, flexible mechanical shaft and mechanical arm tail end clamper to state manipulator ontology；It is set in the rotating basis
It is equipped with electric rotating machine, the electric rotating machine driving rotating basis rotates in the horizontal direction, and one end of the mechanical arm is connected to rotation
Turn on pedestal and mechanical arm can be rotated around perpendicular；The flexible mechanical shaft is hinged on the other end and telescopic machine of mechanical arm
Tool bar rotates in perpendicular, and feed screw nut's auxiliary structure control of driving motor control is provided in the flexible mechanical shaft
The flexible mechanical shaft of system is stretched；The mechanical arm tail end clamper is arranged in the end of flexible mechanical shaft.
2. a kind of compensation of undulation long-arm manipulator of auxiliary loop wheel machine peculiar to vessel according to claim 1, it is characterised in that：It is described
Rotating basis, mechanical arm, flexible mechanical shaft and mechanical arm tail end clamper linking joint using synchronous belt, bevel gear and subtract
Fast device realizes that driving is transmitted.
3. a kind of control mode of the compensation of undulation long-arm manipulator of auxiliary loop wheel machine peculiar to vessel described in claim 1, feature exist
In：Specific side is as follows：
S1：It includes displacement, angle, speed fortune related to acceleration that it is afloat, which to obtain hull, by movement measuring unit sensor
Dynamic parameter；
S2：IMU inertial navigation sensors detect the rolling, pitching and yawing kinematic parameter of ship；
S3：The data transfer that the data and IMU inertial navigation sensors that movement measuring unit sensor obtains obtain is to motion-sensing
Device；
S4：Motion sensor is handled data using mathematical model and smooth filtering algorithm according to the parameter of acquisition, prediction
The movement tendency of subsequent time；Mechanical arm servo-driver is passed in the form of a pulse through handling obtained analog signal；
S5：Servo-driver determines rotating speed and the steering of motor according to the size of pulse signal；Movement measuring unit sensor with
And IMU inertial navigations sensor is constantly by parameter feedbacks such as the actual displacement of the ship detected, speed to motion sensor, movement
Sensor is calculating the size of next cycle control signal according to the size of displacement and the change rate of speed, and passes it to
Mechanical arm servo-driver carries out the control in next period；Make robot arm end effector fixture relative to sea level always
The state opposing stationary in one；
S6：It is constantly corrected by autonomous operation, to improve the compensation precision of prediction, and then new compensation system is made to obtain more
Smooth compensation path；
S7：Mechanical arm is kept to be in opposing stationary state, meanwhile, it is complete by the handheld box for manipulating the mechanical arm with elongation function
At the salvaging task of distant objects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214029.8A CN108516462A (en) | 2018-03-15 | 2018-03-15 | A kind of the compensation of undulation long-arm manipulator and control mode of auxiliary loop wheel machine peculiar to vessel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810214029.8A CN108516462A (en) | 2018-03-15 | 2018-03-15 | A kind of the compensation of undulation long-arm manipulator and control mode of auxiliary loop wheel machine peculiar to vessel |
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| CN108516462A true CN108516462A (en) | 2018-09-11 |
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|---|---|---|---|
| CN201810214029.8A Pending CN108516462A (en) | 2018-03-15 | 2018-03-15 | A kind of the compensation of undulation long-arm manipulator and control mode of auxiliary loop wheel machine peculiar to vessel |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533230A (en) * | 2019-01-10 | 2019-03-29 | 上海大学 | A kind of rescue at sea unmanned boat and its rescue mode |
| CN110887506A (en) * | 2019-10-14 | 2020-03-17 | 交通运输部水运科学研究所 | Motion amplitude detection method and system of inertial sensor influenced by sea waves |
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| JP2007168053A (en) * | 2005-12-26 | 2007-07-05 | Denso Wave Inc | Teaching method of vertical articulated type robot and industrial robot device |
| 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 |
| CN106585904A (en) * | 2016-12-15 | 2017-04-26 | 南京理工大学 | Water surface cleaning robot |
| CN106826772A (en) * | 2017-03-28 | 2017-06-13 | 江苏科技大学海洋装备研究院 | A kind of robot system with active compensation of undulation function |
| CN206764777U (en) * | 2017-05-26 | 2017-12-19 | 安徽沃屹智能装备有限公司 | A kind of security mechanical arm |
| CN107717962A (en) * | 2017-11-22 | 2018-02-23 | 无锡艾度科技有限公司 | A kind of industrial robot material folding arm |
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2018
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007168053A (en) * | 2005-12-26 | 2007-07-05 | Denso Wave Inc | Teaching method of vertical articulated type robot and industrial robot device |
| 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 |
| CN106585904A (en) * | 2016-12-15 | 2017-04-26 | 南京理工大学 | Water surface cleaning robot |
| CN106826772A (en) * | 2017-03-28 | 2017-06-13 | 江苏科技大学海洋装备研究院 | A kind of robot system with active compensation of undulation function |
| CN206764777U (en) * | 2017-05-26 | 2017-12-19 | 安徽沃屹智能装备有限公司 | A kind of security mechanical arm |
| CN107717962A (en) * | 2017-11-22 | 2018-02-23 | 无锡艾度科技有限公司 | A kind of industrial robot material folding arm |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533230A (en) * | 2019-01-10 | 2019-03-29 | 上海大学 | A kind of rescue at sea unmanned boat and its rescue mode |
| CN109533230B (en) * | 2019-01-10 | 2020-01-31 | 上海大学 | rescue unmanned boat at sea and rescue method thereof |
| CN110887506A (en) * | 2019-10-14 | 2020-03-17 | 交通运输部水运科学研究所 | Motion amplitude detection method and system of inertial sensor influenced by sea waves |
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Application publication date: 20180911 |
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