CN111559480B - Robot cooperation retraction device and method - Google Patents
Robot cooperation retraction device and method Download PDFInfo
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- CN111559480B CN111559480B CN202010534500.9A CN202010534500A CN111559480B CN 111559480 B CN111559480 B CN 111559480B CN 202010534500 A CN202010534500 A CN 202010534500A CN 111559480 B CN111559480 B CN 111559480B
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- winch
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000000007 visual effect Effects 0.000 claims abstract description 37
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 238000005096 rolling process Methods 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 7
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000011084 recovery Methods 0.000 abstract description 8
- 230000009471 action Effects 0.000 abstract description 6
- 238000004804 winding Methods 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 abstract 2
- 239000000725 suspension Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/54—Safety gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0072—Seaway compensators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a robot cooperation retraction device and a robot cooperation retraction method, and relates to the technical field of ships. Its hanger member acts as a support; the roll compensation device is a first swing cylinder and a second swing cylinder which are horizontally arranged, so that roll compensation of the ship body is realized; the heave compensation device is a heave compensation winch, so that heave compensation of the ship body is realized; the pitching compensation device is a first servo hydraulic cylinder and a second servo hydraulic cylinder, so that pitching compensation of the ship body is realized; the mechanical arm winding and unwinding device is provided with a visual servo mechanical arm, the hook of the mooring rope is in butt joint with the unmanned submersible or in butt joint with the hanging ring, the bottom of the device is provided with an anti-collision bottom plate, and an elastic buffer device is arranged above the anti-collision bottom plate to prevent the unmanned submersible from being damaged by collision. The invention has the advantages that: the automatic recovery device can actively compensate three degrees of freedom caused by wind waves, and automatically complete the actions of hooking and unhooking by means of the mechanical arm, so that the unmanned submersible can be automatically, intelligently, safely and efficiently recovered.
Description
Technical Field
The invention relates to the technical field of ships, in particular to a robot cooperation retraction device and a robot cooperation retraction method.
Background
Various retraction systems of marine ships are very popular, but research on the retraction systems of unmanned ship-borne diving equipment is in a starting stage, and the shaking of the ships caused by high sea conditions is more difficult for recovery work.
The existing unmanned submersible retraction device has single function and loose structure, occupies large deck area, only depends on a winch to retract the unmanned submersible during retraction, and is easy to cause collision between the unmanned submersible and a mother ship and between the unmanned submersible and the retraction device under the condition of no wave compensation, thereby causing damage to the unmanned submersible, the retraction device and the mother ship and affecting the retraction efficiency of the unmanned submersible; the existing unmanned submersible retraction device mostly depends on manpower to hang a cable on the unmanned submersible, so that workers are in dangerous environments, a small part of retraction device is assisted by using a mechanical arm, but depends on manual operation, so that the operation difficulty is high, the workers are in dangerous environments, and the recovery of the unmanned submersible can be influenced by improper positions.
The prior art discloses a crane device with a three-degree-of-freedom active wave compensation function and a compensation method thereof, wherein the crane device with the three-degree-of-freedom active wave compensation function is disclosed in the patent application No. 201610113746.2, real-time compensation on ship rolling and pitching is realized through three servo cylinders, real-time compensation on heave is realized through a hydraulic motor, but the crane device is simply compensated by using a plurality of hydraulic cylinders, the degree-of-freedom compensation in the heave direction is repeated with heave compensation of a winch, interference exists during use, a cable is hung on an unmanned submersible by means of manpower, the operation difficulty is high, the cable can swing greatly during the recovery process, the unmanned submersible is damaged due to collision, and the recovery process is unsafe.
Therefore, an intelligent retraction device with multiple degrees of freedom active wave compensation function and robot cooperation must be studied to efficiently and safely recycle the unmanned submersible.
Disclosure of Invention
The invention aims to solve the technical problem of providing a robot cooperation retraction device and a robot cooperation retraction method, which can automatically and actively complete the compensation of three degrees of freedom of heave, roll and pitch caused by stormy waves and simultaneously automatically complete the actions of hooking and unhooking by means of a mechanical arm so as to realize the automatic, intelligent, high-safety and high-efficiency recovery of an unmanned submersible.
In order to solve the technical problems, the technical scheme of the invention is as follows: comprises a hanger component, a roll compensation device, a heave compensation device, a pitching compensation device and a mechanical arm retraction device;
the hanger component comprises a first cross beam and a second cross beam, and the first cross beam is arranged in the second cross beam in a penetrating manner and is fixed;
the rolling compensation device is a first swing oil cylinder and a second swing oil cylinder which are horizontally arranged, the first swing oil cylinder and the second swing oil cylinder penetrate through a mounting plate, the mounting plate is fixed at the bottom of the second cross beam, the outer end parts of the first swing oil cylinder and the second swing oil cylinder are respectively connected with a winch bracket through bolts, and an intermediate platform is arranged at the bottom of the winch bracket;
the heave compensation device is a heave compensation winch, the heave compensation winch is arranged on an intermediate platform of a winch bracket, and a hoisting joint is arranged below the winch bracket;
the pitching compensation device is a first servo hydraulic cylinder and a second servo hydraulic cylinder, the first servo hydraulic cylinder and the second servo hydraulic cylinder are obliquely arranged between the winch support and the lifting joint, the first servo hydraulic cylinder and the second servo hydraulic cylinder are respectively connected with the winch support and the lifting joint through pin shafts, two extending connecting plates extend below the winch support and are connected with the lifting joint through pin shafts, a first linear displacement sensor and a second linear displacement sensor are respectively arranged on the first servo hydraulic cylinder and the second servo hydraulic cylinder, the first linear displacement sensor and the second linear displacement sensor are connected with a motion controller, a pose measuring sensor is arranged on one side above the lifting joint, and the pose measuring sensor is connected with the motion controller through a signal wire;
the mechanical arm retraction device is provided with a visual servo mechanical arm, the visual servo mechanical arm is arranged on the side edge of the lifting joint, a lifting ring is arranged on the other side above the lifting joint, a hook is hooked on the lifting ring, the tail end of the hook is connected with a cable, and the lifting ring and the visual servo mechanical arm are arranged on the same side of the lifting joint;
the lifting head guiding support is arranged at the middle position below the lifting joint, the anti-collision bottom plate is arranged below the lifting head guiding support, four elastic buffer devices which are symmetrically arranged are connected between the anti-collision bottom plate and the lifting joint, and the four elastic buffer devices are distributed on the outer side of the lifting head guiding support.
Further, the winch support is provided with a side frame and an intermediate platform, the side frame of the winch support is connected with a first swing oil cylinder and a second swing oil cylinder, a first reinforcing rib plate is connected between the side frame and the intermediate platform, and a cable through hole is formed in the middle of the intermediate platform of the winch support; and a plurality of second reinforcing rib plates are symmetrically arranged on the hanging joint.
Further, two connection points of the first servo hydraulic cylinder and the second servo hydraulic cylinder connected with the winch support are located on the circumference with the radius of R1, two connection points of the first servo hydraulic cylinder and the second servo hydraulic cylinder connected with the lifting joint are located on the circumference with the radius of R2, and the first servo hydraulic cylinder and the second servo hydraulic cylinder are symmetrically arranged, and R2 is smaller than R1.
Further, the elastic buffer device comprises a central support column, a spring, an elastic buffer device upper shell and an elastic buffer device lower shell, wherein the top of the central support column is connected with the hanging joint through a bolt, the spring is sleeved outside the lower column of the central support column, the elastic buffer device upper shell and the elastic buffer device lower shell are buckled through a boss, the central support column and the spring extend into the elastic buffer device upper shell and the elastic buffer device lower shell, and the elastic buffer device lower shell is fixed on the anti-collision bottom plate below.
Further, the hanging head guide bracket consists of a mounting bracket, a pair of transverse guide wheels and a pair of side guide wheels, wherein the mounting bracket is fixedly arranged at the bottom of the hanging head, a supporting rod is arranged on the mounting bracket, the pair of transverse guide wheels are transversely sleeved on the supporting rod, the pair of side guide wheels are respectively arranged on the hanging head guide bracket through the supporting rod, and the pair of side guide wheels are respectively arranged at two sides below the pair of transverse guide wheels.
A method for retracting and releasing a robot cooperation retracting device comprises the following steps:
A. the motion attitude values of rolling, pitching and heaving of the ship body are measured through the pose measuring sensor and are transmitted to the motion controller in real time, the motion controller calculates the compensation values of the rolling, pitching and heaving according to an inverse solution algorithm of the wave compensation values, and the compensation values are converted into the rotation angles of the first swing oil cylinder and the second swing oil cylinder, the linear displacement of the first servo hydraulic cylinder and the second servo hydraulic cylinder and the compensation speed of the heave compensation winch according to the compensation values, so that three-degree-of-freedom compensation is realized;
B. when the rolling motion exists, the motion controller calculates a corresponding swing angle and then controls the first swing oil cylinder and the second swing oil cylinder which are oppositely arranged to act, at the moment, the first servo hydraulic cylinder and the second servo hydraulic cylinder do not act, and the heave compensation winch normally works; when the pitching motion exists, the motion controller Jie Suanchu controls the first servo hydraulic cylinder and the second servo hydraulic cylinder to act after linear displacement of the first servo hydraulic cylinder and the second servo hydraulic cylinder, and at the moment, the first swing oil cylinder and the second swing oil cylinder do not act, so that the heave compensation winch normally works; when heave motion exists, the motion controller calculates the compensation speed, the compensation speed is added with the original speed to obtain a new speed, the motion controller controls the heave compensation winch to act, and the first swing oil cylinder and the second swing oil cylinder, the first servo hydraulic cylinder and the second servo hydraulic cylinder do not act;
C. the method comprises the steps of identifying round characteristics of a lifting ring and an unmanned submersible lifting lug on a retraction device through a binocular camera installed on a parent ship, measuring the position of the lifting ring, the position of the unmanned submersible lifting lug, the position of a base of a visual servo mechanical arm and the position of the tail end of the visual servo mechanical arm, obtaining a change matrix of the lifting ring and the unmanned submersible lifting lug, calculating the distance between the lifting ring and the tail end clamping jaw of the visual servo mechanical arm, reversely solving the change matrix to obtain the rotating angle of the joint of the visual servo mechanical arm, controlling the visual servo mechanical arm to take down the hook from the lifting ring and then hook the hook on the unmanned submersible lifting lug through a motion controller, returning to the side position to avoid influencing retraction of the unmanned submersible, measuring the position of the lifting ring and the position of the unmanned submersible lifting lug through the binocular camera after retraction of the unmanned submersible, calculating the distance between the lifting ring and the tail end clamping jaw of the visual servo mechanical arm, reversely solving the rotating angle of the joint of the visual servo mechanical arm, controlling the hook on the unmanned submersible lifting lug to be taken down on the lifting ring, and returning to the original position to finish the whole retraction process.
The invention has the advantages that: the double-swinging oil cylinder is adopted to drive the retraction device, so that rolling movement can be compensated, the double-servo hydraulic cylinder compensates pitching movement, the heave compensation winch adopts constant tension retraction and retraction to compensate heave movement, the degree of freedom is fully utilized, the compensation is not repeated, meanwhile, the retraction device is safer and more reliable, the compensation position of the degree of freedom is dispersed, no interference can be caused during use, and the unmanned submersible can be safely, flexibly, efficiently and intelligently lifted under the condition of unstable ship body swinging under severe sea conditions;
the visual servo mechanical arm is used for cooperation retraction, automatic and intelligent completion of hooking and unhooking actions, and the recovery process is more efficient;
the structure layout is compact, the function is diversified, intelligent, wherein the hanging head guide support can prevent the mooring rope from swinging greatly, and the elastic buffer device and the anti-collision bottom edge can effectively avoid collision between the unmanned submersible and the retraction device, so that the recovery process is safer.
Drawings
Fig. 1 to 3 are schematic structural views of a robot cooperation retraction device according to the present invention;
FIG. 4 is a schematic view of the elastic buffer device of the present invention;
FIG. 5 is a schematic view of the structure of the hanger head guide bracket of the present invention;
fig. 6 is a schematic diagram of the active wave compensation control of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and detailed description. The following examples will provide those skilled in the art with a more complete understanding of the present invention and are not intended to limit the invention to the embodiments described.
The specific implementation mode adopts the following technical scheme:
as shown in fig. 1-3, a hanger component is arranged above a robot cooperation retraction device, the hanger component comprises a first beam 1 and a second beam 2, the first beam 1 is penetrated and arranged in the second beam 2 to be fixed, a mounting plate is fixed below the second beam 2, a first swing oil cylinder 3 and a second swing oil cylinder 4 are penetrated and arranged on the mounting plate, the first swing oil cylinder 3 and the second swing oil cylinder 4 form a roll compensation device, the outer ends of the first swing oil cylinder 3 and the second swing oil cylinder 4 are respectively connected with a winch bracket 5 through bolts, a cable through hole 18 is arranged in the middle of the winch bracket 5, an intermediate platform is arranged at the bottom of the winch bracket 5, a first reinforcing rib plate 7 is connected between a side frame of the winch bracket 5 and the intermediate platform, the intermediate platform is provided with a heave compensation device, the heave compensation device is a heave compensation winch 6, two extension connecting plates 16 extend below the winch support 5, a lifting joint 12 is arranged below the winch support 5, the two extension connecting plates 16 are connected with the lifting joint 12 through a pin shaft, a pitching compensation device is obliquely arranged between the winch support 5 and the lifting joint 12, the pitching compensation device is a first servo hydraulic cylinder 10 and a second servo hydraulic cylinder 11, one side above the lifting joint 12 is provided with a pose measuring sensor 14, the other side is provided with a lifting ring 13, the middle of the hanging joint 12 is provided with a cable through hole 18, the hanging joint 12 is symmetrically provided with a plurality of second reinforcing rib plates 22, the center below the hanging joint 12 is provided with a hanging joint guide bracket 17, the side edge of the hanging joint 12 is provided with a mechanical arm retraction device which is a visual servo mechanical arm 15, the lower side of the hanging joint 12 is provided with an anti-collision bottom plate 20, and four elastic buffer devices 19 are arranged between the anti-collision bottom plate 20 and the hanging joint 12.
Wherein, first crossbeam 1 is portal structure, play whole retraction device's supporting role, second crossbeam 2 below designs to symmetrical mounting plate structure, both sides mounting panel is opened there is the through-hole and is used for installing first swing hydro-cylinder 3 and second swing hydro-cylinder 4, the inside angle sensor that sets up of first swing hydro-cylinder 3 and second swing hydro-cylinder 4, first swing hydro-cylinder 3 and second swing hydro-cylinder 4 are used for the roll compensation, first swing hydro-cylinder 3 and second swing hydro-cylinder 4 main part are installed in the mounting panel inboard, surpass the mounting panel outside part and link to each other with winch support 5 through the bolt, winch support 5 intermediate cable through-hole 18 below device all is equipped with the through-hole in order to pass through the winch hawser.
The heave compensation winch 6 is arranged on the middle platform of the winch support 5, the heave compensation winch 6 is used for winding and unwinding a cable, lifting operation in the vertical direction of the submersible is completed, the heave compensation winch 6 is driven by a hydraulic motor, an encoder is arranged in the heave compensation winch, the heave compensation winch has a heave compensation function, additional relative movement of a mother ship and the submersible can be compensated, dynamic load is reduced, and sudden stress of the cable is avoided.
Two extension connecting plates 16 extend below the winch support 5, the two extension connecting plates 16 are symmetrical to a cable through hole 18, the two extension connecting plates 16 are connected with the lifting joint 12 through a pin shaft, the functions of connecting and bearing tension are achieved, the forces born by the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 are reduced, the protection function is achieved on the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11, meanwhile, the compensation effect of the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 is more efficient and accurate, the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 are obliquely arranged between the winch support 5 and the lifting joint 12, the upper ends of a first servo hydraulic cylinder 10 and a second servo hydraulic cylinder 11 are connected with a winch bracket 5 through a pin shaft, two connecting points are positioned on the circumference with the radius of R1, the lower ends of the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 are connected with a lifting joint 12 through the pin shaft, the two connecting points are positioned on the circumference with the radius of R2, R2< R1, a first linear displacement sensor 8 and a second linear displacement sensor 9 are respectively arranged on the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11, the first linear displacement sensor 8 and the second linear displacement sensor 9 are connected with a motion controller, and the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 are symmetrically arranged in a cable through hole 18 to play a role of pitching compensation.
The position measuring sensor 14 is arranged on one side above the hanging joint 12, and can measure the motion attitude values of rolling, pitching and heaving of the ship body, the position measuring sensor 14 is connected with the motion controller through a signal wire, the hanging ring 13 is arranged on the other side above the hanging joint 12 and is used for placing a hook, the hanging head guide bracket 17 is arranged below the cable through hole 18 in the middle of the hanging joint 12, a winch cable passes through the middle of the hanging head guide bracket 17, and the hanging head guide bracket 17 can prevent the cable from swinging greatly due to unexpected situations.
Referring to fig. 4 again, fig. 4 is a schematic structural diagram of an elastic buffer device 19, the elastic buffer device 19 is composed of a central support column 23, a spring 24, an elastic buffer device upper shell 25 and an elastic buffer device lower shell 26, wherein the top of the central support column 23 is connected with a suspension joint 12 through a bolt, the spring 24 is sleeved outside the column below the central support column 23, the elastic buffer device upper shell 25 and the elastic buffer device lower shell 26 are ensured not to fall off through boss buckles, the central support column 23 and the spring 24 extend into the elastic buffer device upper shell 25 and the elastic buffer device lower shell 26, the elastic buffer device lower shell 26 is fixed on an anti-collision bottom plate 20 below, the spring 24 is in a pressed state after the elastic buffer device is combined, and a certain tension is preset to increase the buffer effect.
Referring to fig. 5 again, fig. 5 is a schematic structural diagram of the hanging head guiding support 17, the hanging head guiding support 17 is composed of a mounting support, a pair of transverse guiding wheels 27 and a pair of side guiding wheels 28, the mounting support is fixedly mounted at the bottom of the hanging head 12, a supporting rod is arranged on the mounting support, the pair of transverse guiding wheels 27 are transversely sleeved on the supporting rod, the pair of side guiding wheels 28 are respectively mounted on the hanging head guiding support 17 through the supporting rod, the pair of side guiding wheels 28 are respectively arranged at two sides below the pair of transverse guiding wheels 27, a cable passes through the pair of transverse guiding wheels 27, and the deflection of the cable can be limited by the existence of the pair of side guiding wheels 28, so that the compensation of the whole device is more convenient and effective.
The side of the suspension joint 12 is provided with a visual servo mechanical arm 15, a coordinate system of P representing the position of the suspension ring 13 is used, U representing a spatial reference coordinate system, R representing the coordinate system of the visual servo mechanical arm 15, the base of which is fixed on the suspension joint 12, H representing the coordinate system of an end effector of the visual servo mechanical arm 15, and E representing the coordinate system of a lifting lug of the grabbing unmanned submersible. The circular characteristics of the lifting ring 13 of the retraction device and the lifting lug of the unmanned submersible are identified through a binocular camera arranged on the mother ship, and the position P of the lifting ring 13 is measured 1 Lifting lug position E of unmanned submersible 1 The base position R of the visual servo mechanical arm 15 and the tail end position H of the visual servo mechanical arm 15 obtain a change matrix of the lifting ring 13 and the lifting lug of the unmanned submersibleGet the->Calculating the distance s between the two and the tail end clamping jaw of the visual servo mechanical arm 15 1 、s 2 Inverse solution change matrix->The angles of rotation of six joints of the visual servo mechanical arm 15 are obtained, the motion controller controls the visual servo mechanical arm 15 to take down the hook from the hanging ring 13 and then hook on the lifting lug of the unmanned submersible, then the position of the side edge is returned to avoid influencing the retraction of the unmanned submersible, and after the retraction of the unmanned submersible is completed, the binocular camera measures the position P of the hanging ring 13 11 Lifting lug position E of unmanned submersible 11 Calculating the distance s between the two and the tail end clamping jaw of the visual servo mechanical arm 15 11 、s 22 And (3) reversely solving the rotation angles of six joints of the visual servo mechanical arm 15, controlling the visual servo mechanical arm 15 to take down the hook on the lifting lug of the unmanned submersible and hang on the lifting ring 13, and finishing the whole retraction process after returning to the original position.
The mounting position of the base of the visual servo mechanical arm 15 is offset, and the height h is 1 Lower than the height h of the elastic buffer 19 2 The visual servo mechanical arm 15 can complete the functions of the visual servo mechanical arm and simultaneously does not affect the retraction function of the retraction device, so that collision between the unmanned submersible and the unmanned submersible is avoided when the unmanned submersible is retracted to the upper side, four elastic buffer devices 19 are arranged below the suspension joint 12, the four elastic buffer devices 19 are symmetrically arranged about the cable through hole 18, an anti-collision bottom plate 20 is arranged below the elastic buffer devices 19, the anti-collision bottom plate 20 is wrapped by elastic materials, and collision between the unmanned submersible and the main structure of the retraction device is prevented when the unmanned submersible is retracted.
Referring to fig. 6 again, fig. 6 is an active wave compensation control schematic diagram, the output end of the pose measurement sensor 14 is connected with a motion controller, the output end of the motion controller is respectively connected with the corresponding first swing cylinder 3 and the corresponding second swing cylinder 4 through five D/a converters, five power amplifiers and five electrohydraulic servo valves A, B, C, D, E, the output ends of the first servo hydraulic cylinder 10, the second servo hydraulic cylinder 11 and the hydraulic motor of the heave compensation winch 6, the motion controller is respectively connected with the motion of the first swing cylinder 3 and the second swing cylinder 4, the first servo hydraulic cylinder 10, the second servo hydraulic cylinder 11 and the hydraulic motor of the heave compensation winch 6 through different ports, the pose change measured by the pose measurement sensor 14 is converted into the rotation angle of the first swing cylinder 3 and the second swing cylinder 4 and the compensation speed of the heave compensation winch 6 after being resolved by computers, the output ends of the first linear displacement sensor 8 and the second linear displacement sensor 9 are respectively connected with the corresponding input ends of the motion controller through the corresponding two a/D converters, and the first linear displacement sensor 8 and the second linear displacement sensor 9 are respectively connected with the first linear displacement sensor 8 and the first linear displacement sensor 10 and the first linear displacement sensor 11.
The motion controller calculates the compensation value according to the inverse solution algorithm by: based on the measured motion attitude value a 1 、a 2 、a 3 The motion values of the first servo hydraulic cylinder 10, the second servo hydraulic cylinder 11, the first swing cylinder 3, the second swing cylinder 4 and the hydraulic motor are respectively obtained, wherein the motion attitude value of the roll is a 1 The motion attitude value of pitch is a 2 The heave motion attitude value is a 3 The initial lengths of the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 are respectively l 1 、l 2 In order to counteract pitching movement of the ship under the action of wind and waves, the movement of the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 is controlled to compensate pitching of the ship body reversely, and the movement controller calculates to obtain that the final length is l after the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 compensate the ship body 11 、l 22 The theoretical motion compensation value of the first servo hydraulic cylinder 10 and the second servo hydraulic cylinder 11 is y 1 ＝l 1 -l 11 、y 2 ＝l 2 -l 22 Will be the theoretical compensation value y 1 、y 2 The motion of the corresponding servo hydraulic cylinders is controlled by the two electro-hydraulic servo valves C, D which output corresponding flow and pressure according to the input analog signals respectively, so that pitching compensation of the ship body is realized;
the initial angle of the first swing cylinder 3 and the second swing cylinder 4 is 0 DEG, in order to counteract the rolling motion of the ship under the action of wind and waves, the motion of the first swing cylinder 3 and the second swing cylinder 4 needs to be controlled to reversely compensate the rolling motion of the ship body, and the first swing cylinder 3 and the second swing cylinder 4 are controlled to reversely compensate the rolling motion of the ship bodyThe oil cylinders 4 move at the same angle at the same time, so that only one compensation angle is needed to be calculated, and the compensation angle theta of the first swing oil cylinder 3 and the second swing oil cylinder 4 is converted into a compensation rotation angle theta through an angle conversion formula according to the measured compensation value, so that the roll compensation of the ship body is realized; the initial speed of the heave compensation winch 6 is v 1 In order to counteract the heave motion of the ship under the action of the stormy waves, the heave compensation winch 6 needs to be controlled to reversely compensate the heave of the ship body, and the heave compensation winch 6 works at an initial speed v 1 According to the measured compensation value, the compensation value is converted into the compensation speed v of the winch after settlement 2 According to the difference of heave and sink, the compensation speed v 2 The initial velocity v is divided into positive and negative according to the direction by the controller 1 And compensation speed v 2 Adding to obtain a new velocity v 3 The heave compensation of the ship body is realized.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a cooperation of robot receive and releases device which characterized in that: comprises a hanger component, a roll compensation device, a heave compensation device, a pitching compensation device and a mechanical arm retraction device;
the hanger component comprises a first cross beam and a second cross beam, and the first cross beam is arranged in the second cross beam in a penetrating manner and is fixed;
the rolling compensation device is a first swing oil cylinder and a second swing oil cylinder which are horizontally arranged, the first swing oil cylinder and the second swing oil cylinder penetrate through a mounting plate, the mounting plate is fixed at the bottom of the second cross beam, the outer end parts of the first swing oil cylinder and the second swing oil cylinder are respectively connected with a winch bracket through bolts, and an intermediate platform is arranged at the bottom of the winch bracket;
the heave compensation device is a heave compensation winch, the heave compensation winch is arranged on an intermediate platform of a winch bracket, and a hoisting joint is arranged below the winch bracket;
the pitching compensation device is a first servo hydraulic cylinder and a second servo hydraulic cylinder, the first servo hydraulic cylinder and the second servo hydraulic cylinder are obliquely arranged between the winch support and the lifting joint, the first servo hydraulic cylinder and the second servo hydraulic cylinder are respectively connected with the winch support and the lifting joint through pin shafts, two extending connecting plates extend below the winch support and are connected with the lifting joint through pin shafts, a first linear displacement sensor and a second linear displacement sensor are respectively arranged on the first servo hydraulic cylinder and the second servo hydraulic cylinder, the first linear displacement sensor and the second linear displacement sensor are connected with a motion controller, a pose measuring sensor is arranged on one side above the lifting joint, and the pose measuring sensor is connected with the motion controller through a signal wire;
the mechanical arm retraction device is provided with a visual servo mechanical arm, the visual servo mechanical arm is arranged on the side edge of the lifting joint, a lifting ring is arranged on the other side above the lifting joint, a hook is hooked on the lifting ring, the tail end of the hook is connected with a cable, and the lifting ring and the visual servo mechanical arm are arranged on the same side of the lifting joint;
the lifting head guiding support is arranged at the middle position below the lifting joint, the anti-collision bottom plate is arranged below the lifting head guiding support, four elastic buffer devices which are symmetrically arranged are connected between the anti-collision bottom plate and the lifting joint, and the four elastic buffer devices are distributed on the outer side of the lifting head guiding support.
2. The robotic collaboration retraction device of claim 1 wherein: the winch support is provided with a side frame and an intermediate platform, the side frame of the winch support is connected with a first swing oil cylinder and a second swing oil cylinder, a first reinforcing rib plate is connected between the side frame and the intermediate platform, and a cable through hole is formed in the middle of the intermediate platform of the winch support; and a plurality of second reinforcing rib plates are symmetrically arranged on the hanging joint.
3. The robotic collaboration retraction device of claim 1 wherein: two connection points of the first servo hydraulic cylinder and the second servo hydraulic cylinder connected with the winch support are located on the circumference with the radius of R1, two connection points of the first servo hydraulic cylinder and the second servo hydraulic cylinder connected with the lifting joint are located on the circumference with the radius of R2, the first servo hydraulic cylinder and the second servo hydraulic cylinder are symmetrically arranged, and R2 is smaller than R1.
4. The robotic collaboration retraction device of claim 1 wherein: the elastic buffer device comprises a central support column, a spring, an elastic buffer device upper shell and an elastic buffer device lower shell, wherein the top of the central support column is connected with a hanging joint through a bolt, the outside of a lower column of the central support column is sleeved with the spring, the elastic buffer device upper shell and the elastic buffer device lower shell are buckled through a boss, the central support column and the spring extend into the elastic buffer device upper shell and the elastic buffer device lower shell, and the elastic buffer device lower shell is fixed on an anti-collision bottom plate below.
5. The robotic collaboration retraction device of claim 1 wherein: the hanging head guide support comprises a mounting support, a pair of transverse guide wheels and a pair of side guide wheels, wherein the mounting support is fixedly arranged at the bottom of the hanging head, a supporting rod is arranged on the mounting support, the pair of transverse guide wheels are transversely sleeved on the supporting rod, the pair of side guide wheels are respectively arranged on the hanging head guide support through the supporting rod, and the pair of side guide wheels are respectively arranged on two sides below the pair of transverse guide wheels.
6. A retraction method of a robot cooperation retraction device according to claim 1, characterized in that: the method comprises the following steps:
A. the motion attitude values of rolling, pitching and heaving of the ship body are measured through the pose measuring sensor and are transmitted to the motion controller in real time, the motion controller calculates the compensation values of the rolling, pitching and heaving according to an inverse solution algorithm of the wave compensation values, and the compensation values are converted into the rotation angles of the first swing oil cylinder and the second swing oil cylinder, the linear displacement of the first servo hydraulic cylinder and the second servo hydraulic cylinder and the compensation speed of the heave compensation winch according to the compensation values, so that three-degree-of-freedom compensation is realized;
B. when the rolling motion exists, the motion controller calculates a corresponding swing angle and then controls the first swing oil cylinder and the second swing oil cylinder which are oppositely arranged to act, at the moment, the first servo hydraulic cylinder and the second servo hydraulic cylinder do not act, and the heave compensation winch normally works; when the pitching motion exists, the motion controller Jie Suanchu controls the first servo hydraulic cylinder and the second servo hydraulic cylinder to act after linear displacement of the first servo hydraulic cylinder and the second servo hydraulic cylinder, and at the moment, the first swing oil cylinder and the second swing oil cylinder do not act, so that the heave compensation winch normally works; when heave motion exists, the motion controller calculates the compensation speed, the compensation speed is added with the original speed to obtain a new speed, the motion controller controls the heave compensation winch to act, and the first swing oil cylinder and the second swing oil cylinder, the first servo hydraulic cylinder and the second servo hydraulic cylinder do not act;
C. the method comprises the steps of identifying round characteristics of a lifting ring and an unmanned submersible lifting lug on a retraction device through a binocular camera installed on a parent ship, measuring the position of the lifting ring, the position of the unmanned submersible lifting lug, the position of a base of a visual servo mechanical arm and the position of the tail end of the visual servo mechanical arm, obtaining a change matrix of the lifting ring and the unmanned submersible lifting lug, calculating the distance between the lifting ring and the tail end clamping jaw of the visual servo mechanical arm, reversely solving the change matrix to obtain the rotating angle of the joint of the visual servo mechanical arm, controlling the visual servo mechanical arm to take down the hook from the lifting ring and then hook the hook on the unmanned submersible lifting lug through a motion controller, returning to the side position to avoid influencing retraction of the unmanned submersible, measuring the position of the lifting ring and the position of the unmanned submersible lifting lug through the binocular camera after retraction of the unmanned submersible, calculating the distance between the lifting ring and the tail end clamping jaw of the visual servo mechanical arm, reversely solving the rotating angle of the joint of the visual servo mechanical arm, controlling the hook on the unmanned submersible lifting lug to be taken down on the lifting ring, and returning to the original position to finish the whole retraction process.
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| CN115158575B (en) * | 2022-08-09 | 2023-12-22 | 中船黄埔文冲船舶有限公司 | Ship collision buffer device |
| CN117401104B (en) * | 2023-12-14 | 2024-03-01 | 中国科学院沈阳自动化研究所 | Swing butt joint device for large-depth ROV (remote operated vehicle) receiving and releasing system |
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