CN113879869A - Control method, control device and material grabbing machine - Google Patents
Control method, control device and material grabbing machine Download PDFInfo
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- CN113879869A CN113879869A CN202111138486.1A CN202111138486A CN113879869A CN 113879869 A CN113879869 A CN 113879869A CN 202111138486 A CN202111138486 A CN 202111138486A CN 113879869 A CN113879869 A CN 113879869A
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- gripper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/60—Loading or unloading ships
- B65G67/606—Loading or unloading ships using devices specially adapted for bulk material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
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Abstract
The application provides a control method, a control device and a material grabbing machine, wherein the gripper is controlled to rotate around a second rotation center line according to the rotation angle of a fixed connecting mechanism around a first rotation center line, so that the automatic control of the gripper is realized, and the angular position of the gripper can still be effectively controlled when the sight of an operator is shielded by the edge of a cabin, so that the actual requirement of an application scene is met; the first rotating center line is parallel to the second rotating center line, and the free end of the fixed connecting mechanism is mechanically connected with the gripping apparatus; the control method comprises the following steps: when the fixed connecting mechanism rotates around the first rotating center line so as to drive the gripping apparatus to rotate from the first position to the second position together, acquiring the rotating angle of the fixed connecting mechanism from the first position to the second position; assigning the rotation angle of the fixed connecting mechanism to a target rotation angle of the gripper; generating a control signal according to the target rotation angle of the gripping apparatus; the control signal is used for controlling the gripper to rotate around the second rotation center line in the reverse direction at the target rotation angle.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to a control method, a control device and a material grabbing machine.
Background
The prior grab machine with the shell grab is mainly used for unloading bulk cargo ships at inland wharfs, and most of the residual bulk cargo is concentrated at the peripheral edge or corner position of a cabin when the bulk cargo is unloaded and cleared. Since the material at the edge of the hold is difficult to grab, it is necessary to have the grab the material against the edge of the hold to ensure that each bucket can grab as much material as possible.
When the grab machine grabs the bulk cargo at the edge of the cabin, the grab needs to be extended into the cabin, so that the view of an operator is completely shielded by the ship body, and the operator cannot accurately judge the rotation angle of the grab, so that the bulk cargo at the corner of the cabin is difficult to grab; need the manual work to go to the bottom of a ship among the current scheme, pile up the manual work of bulk cargo that will omit and use the grab machine to snatch, perhaps dispatch a personnel on the cabin and assist the operator to judge the rotation angle of grab handle, guarantee that the grab handle is attached to cabin edge and snatch the material, consequently, current scheme efficiency is very low.
Disclosure of Invention
In view of this, the application provides a control method, a control device and a material grabbing machine, which control the gripper to rotate around the second rotation center line according to the rotation angle of the fixed connection mechanism around the first rotation center line, so as to realize the automatic control of the angular position of the gripper, and enable the angular position of the gripper to be effectively controlled under the condition that the sight of an operator is shielded by the edge of a cabin, thereby meeting the actual requirements of application scenes.
According to one aspect of the present application, there is provided a control method for controlling a gripper to rotate about a second rotation center line according to a rotation angle of a fixed link about a first rotation center line such that an angular position of the gripper relative to the second rotation center line satisfies a preset condition; wherein the first center of rotation is parallel to the second center of rotation and the free end of the fixed attachment mechanism is mechanically coupled to the gripper; the control method comprises the following steps: when the fixed connecting mechanism rotates around the first rotation center line so as to drive the gripping apparatus to rotate from a first position to a second position together, acquiring the rotation angle of the fixed connecting mechanism from the first position to the second position; assigning the rotation angle of the fixed connection mechanism to a target rotation angle of the gripper; generating a control signal according to the target rotation angle of the gripping apparatus; wherein the control signal is used for controlling the gripper to rotate around the second rotation center line in the opposite direction of the target rotation angle.
In one possible implementation, before the obtaining of the rotation angle of the fixed connecting mechanism from the first position to the second position when the fixed connecting mechanism rotates around the first rotation center line to drive the gripper to rotate together from the first position to the second position is performed, the control method further includes: when the gripper is in the first position, the angular position of the gripper relative to the second rotation centerline is calibrated to a preset angular position.
In a possible implementation, the gripper is used for gripping bulk cargo ship cabin material or train carriage material, wherein the preset angular position is configured such that an edge of the gripper is parallel to a cabin edge of the bulk cargo ship or an edge of the gripper is parallel to a cabin edge of the bulk cargo ship.
In one possible implementation, the fixed connection mechanism comprises an upper vehicle rotatable around the first rotation centerline, a movable arm mechanically connecting the upper vehicle, and a stick mechanically connecting the movable arm and the gripper, respectively; when the upper vehicle drives the movable arm and the bucket rod to rotate around the first rotation center line in a revolving way, the gripping apparatus is driven to deflect around the second rotation center line; the first rotation center line is disposed as an axis of a turning center shaft of the upper vehicle.
In one possible implementation, the gripping apparatus is configured as a lifting appliance with a material gripping function, and is suspended from the free end of the fixed connecting mechanism; the second rotating central line is configured to be in transmission connection with an axis of a power output shaft of a rotating motor above the gripping apparatus, and the rotating motor is hung at the free end of the fixed connecting mechanism.
As a second aspect of the present application, there is provided a control device for controlling a gripper to rotate about a second rotation center line according to a rotation angle of a fixed link about a first rotation center line such that an angular position of the gripper relative to the second rotation center line satisfies a preset condition; wherein the first center of rotation is parallel to the second center of rotation and the free end of the fixed attachment mechanism is mechanically coupled to the gripper; the control device includes: the angle acquisition unit is used for acquiring the rotating angle of the fixed connecting mechanism from the first position to the second position when the fixed connecting mechanism rotates around the first rotating center line so as to drive the gripping apparatus to rotate from the first position to the second position together, and is used for assigning the rotating angle of the fixed connecting mechanism to the target rotating angle of the gripping apparatus; the control signal generating unit is used for generating a control signal according to the target rotating angle of the gripping apparatus; wherein the control signal is used for controlling the gripper to rotate around the second rotation center line in the opposite direction of the target rotation angle.
In a possible implementation, the control device further comprises a calibration unit, wherein the calibration unit is configured to calibrate the angular position of the gripper relative to the second rotation center line to a preset angular position when the gripper is in the first position.
As a third aspect of the present application, the present application provides a material grabbing machine, comprising: a gripper rotatable about a second rotational centerline; a fixed connection mechanism rotatable about a first rotation centerline; wherein the free end of the fixed connection mechanism is mechanically connected with the gripper, and when the fixed connection mechanism rotates around the first rotation central line, the gripper is driven to deflect around the second rotation central line; the angle detection device is used for detecting the rotation angle of the fixed connecting mechanism around the first rotation central line; a power device for driving the gripping apparatus to rotate around the second rotation center line; the control device is electrically connected with the angle detection device and the power device respectively; wherein the first rotational centerline is parallel to the second rotational centerline.
In one possible implementation, the fixed connection mechanism comprises an upper vehicle rotatable around the first rotation centerline, a movable arm mechanically connecting the upper vehicle, and a stick mechanically connecting the movable arm and the gripper, respectively; when the upper vehicle drives the movable arm and the bucket rod to rotate around the first rotation center line in a revolving way, the gripping apparatus is driven to deflect around the second rotation center line; the first rotation center line is arranged as an axis of a turning center shaft of the upper vehicle; the angle detection device is arranged on the rotary central shaft and used for detecting the rotary angle of the upper vehicle.
In one possible implementation, the gripping apparatus is configured as a lifting appliance with a material gripping function, and is suspended from the free end of the fixed connecting mechanism; the power device comprises a rotary motor, the second rotary central line is configured as an axis of a power output shaft of the rotary motor, the rotary motor is hung at the free end of the fixed connecting mechanism, and the power output shaft of the rotary motor is in transmission connection with the upper part of the gripping apparatus.
In the application, the fixed connection mechanism is assigned with the target rotation angle of the gripper from the first position to the second position, and the gripper is controlled to rotate reversely around the second rotation center line by the target rotation angle, so that the angular positions of the gripper relative to the second rotation center line in the first position and the second position are the same, the automatic control of the angular position of the gripper is realized, the angular position of the gripper can be still effectively controlled under the condition that the sight line of an operator is shielded by the edge of the cabin, and the actual requirement of an application scene is met.
Drawings
Fig. 1 is a schematic flow chart of a control method provided in one possible implementation manner of the present application;
fig. 2 is a block diagram illustrating a structure of a control device according to one possible implementation manner of the present disclosure;
fig. 3 is a schematic structural diagram of a material grabbing machine according to one possible implementation manner of the present disclosure;
FIG. 4 is a block diagram of the material grabbing machine shown in FIG. 3;
FIG. 5 is a schematic diagram illustrating a control method provided in one possible implementation of the present application;
FIG. 6 is a schematic diagram illustrating a control method provided in one possible implementation of the present application;
fig. 7 is a block diagram illustrating a structure of an electronic device according to one possible implementation manner of the present application.
Detailed Description
In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indicators in the embodiments of the present application (such as upper, lower, left, right, front, rear, top, bottom … …) are only used to explain the relative positional relationship between the components, the movement, etc. in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
According to one aspect of the present application, there is provided a control method for controlling the rotation of the gripper 100 about the second rotation center line according to the rotation angle of the fixed link mechanism 200 about the first rotation center line such that the angular position of the gripper 100 relative to the second rotation center line satisfies a preset condition; wherein the first rotational center line is parallel to the second rotational center line and the free end of the fixed attachment mechanism 200 is mechanically coupled to the gripper 100.
Specifically, referring to fig. 1, fig. 1 is a schematic flow chart of a control method provided in a possible implementation manner of the present application, where the control method includes the following steps:
step S1: when the fixed connecting mechanism 200 rotates around the first rotation center line, so as to drive the gripper 100 to rotate from the first position to the second position together, acquiring the rotation angle of the fixed connecting mechanism 200 from the first position to the second position;
step S2: assigning the rotation angle of the fixed attachment 200 to a target rotation angle of the gripper 100; and
step S3: generating a control signal according to the target rotation angle of the gripper 100; wherein the control signal is used to control the gripper 100 to rotate around the second rotation center line in the opposite direction at the target rotation angle.
In specific implementation, an operator adjusts the position of the gripper 100 based on the bulk cargo position, specifically, the control device 300 controls the fixed connection mechanism 200 to rotate, so as to drive the gripper 100 to move above the bulk cargo position.
Since the gripper 100 is mechanically connected to the free end of the fixed connection mechanism 200, when the fixed connection mechanism 200 rotates around the first rotation center line, the gripper 100 is driven to deflect around the first rotation center line, and the deflection angle of the gripper 100 driven by the fixed connection mechanism 200 to deflect is the same as the rotation angle of the fixed connection mechanism 200.
The same principle as the deflection angle of the gripper 100 about the first rotation center line by which the fixed connection 200 deflects is explained with respect to the angle of rotation of the fixed connection 200 about the first rotation center line from the first position to the second position as follows:
referring to fig. 5, point O in fig. 5 is a projection of the first rotation center line in the top view; the included angle between the edge 101 of the gripper 100 and the fixed connecting mechanism 200 is a1, and the gripper 100' is an initial state when the gripper 100 is driven by the fixed connecting mechanism 200 from the first position to the second position and the control method provided by the application is not executed;
when the gripper 100 and the fixed connection mechanism 200 are in the first position shown in the figure, an auxiliary line L1 passing through point O and parallel to the edge 101 of the gripper 100 is made, because the auxiliary line L1 is parallel to the edge 101, so the included angle between the edge 101 and the fixed connection mechanism 200 is equal to the included angle between the fixed connection mechanism 200 and the auxiliary line L1, which is a 1;
when the fixed connecting mechanism 200 rotates around the point O by the angle b1 and drives the gripper 100 to rotate together from the first position to the second position, similarly, an auxiliary line L2 passing through the point O and parallel to the edge 101 'of the gripper 100' is made, and the included angle between the auxiliary lines L1 and L2 is b 2;
because the auxiliary line L2 is parallel to the edge 101 ', the included angle between the edge 101' and the fixed connecting mechanism 200 is equal to the included angle between the fixed connecting mechanism 200 and the auxiliary line L2, which is a 1;
as can be directly derived from fig. 5, b1 ═ b 2;
since the auxiliary line L1 is parallel to the edge 101 of the gripper 100 and the auxiliary line L2 is parallel to the edge 101' of the gripper 100, the deflection angle of the gripper 100 when it is moved from the first position to the second position by the fixed connection 200 is the angle b2 between the auxiliary lines L1 and L2;
that is, when the gripper 100 is moved by the fixed connection mechanism 200 from the first position to the second position, the deflection angle around the first rotation center line is equal to the rotation angle of the fixed connection mechanism 200 from the first position to the second position around the first rotation center line, and the direction of the deflection angle of the gripper 100 is the same as the direction of the rotation angle of the fixed connection mechanism 200.
Further, referring to fig. 6, the angular position of the gripper 100 relative to the second centerline of rotation is characterized by the angle between the edge 101 of the gripper 100 and the reference line L3; wherein the reference line L3 is a straight line parallel to the hold edge 2001 of the bulk carrier 2000;
fig. 6 shows the angular position of the gripper 100 in the first position relative to the second rotation center line, and the final state of the gripper 100 in the second position adjusting the rear angle position by the control method of the present implementation, respectively; wherein, the point A is the projection of the second rotation central line in the top view,
optionally, in the first position, the edge 101 of the gripper 100 is parallel to the reference line L3; at this time, the included angle between the edge 101 of the gripper 100 and the fixed connecting mechanism 200 is a 1; the angle between the fixed connection mechanism 200 and the reference line L3 is also a 1;
in the second position, steps S1 to S3 of the present embodiment are executed; since the second rotation center line is parallel to the first rotation center line, when the control device 300 controls the gripper 100 to rotate reversely around the second rotation center line by the target rotation angle which is the same as the rotation angle b1 of the fixed link mechanism 200, the deflection angle b2 (see fig. 5) of the gripper 100 deflected around the first rotation center line is cancelled, that is, the angular position of the gripper 100 relative to the second rotation center line is unchanged in the first position and the second position, respectively, that is, the edge 101 of the gripper 100 is still parallel to the reference line L3 in the second position; at this time, the included angle between the edge 101 of the gripper 100 and the fixed connecting mechanism 200 is a 2; the angle between the fixed connection mechanism 200 and the reference line L3 is also a 2; as can be directly obtained from fig. 6, b1 ═ a1-a 2.
In specific implementation, referring to fig. 3 and 4, the fixed connection mechanism 200 in step S1 includes an upper car 201 rotatable around a first rotation center line, a boom 202 mechanically connected to the upper car 201, and an arm 203 mechanically connected to the boom 202 and the gripper 100, respectively; wherein the boom 202 and stick 203 are used to adjust the height and amplitude of the gripper 100; wherein the first rotation center line is configured as the axis of the turning center shaft 2011 of the upper vehicle 201, and the second rotation center line in the step S3 is configured as the axis of the power output shaft 5011 of the rotation motor 501 for driving the gripper 100 to rotate; when the upper carriage 201 rotates to drive the boom 202 and the arm 203 to rotate around the axis of the rotation center shaft 2011, the gripper 100 is driven to deflect around the axis of the power output shaft 5011.
By executing the steps S1 to S3, the angular positions of the gripper 100 relative to the second rotation center line in the first position and the second position are the same, so that the gripper 100 is automatically controlled, and the angular position of the gripper 100 relative to the axis of the power output shaft 5011 can be effectively controlled even when the operator' S sight is blocked by the cabin edge 2001, thereby meeting the actual requirements of the application scenario.
Alternatively, the control method in this implementation may be real-time, i.e., controlling the angular position of the gripper 100 relative to the second rotational centerline in real-time as the fixed attachment 100 rotates about the first rotational center.
In one possible implementation, before performing step S1 (obtaining the rotation angle of the fixed link 200 from the first position to the second position when the fixed link 200 rotates around the first rotation center line to bring the gripper 100 to rotate together from the first position to the second position), the control method further includes step S4: when the gripper 100 is located at the first position, the angular position of the calibration gripper 100 relative to the second rotation center line is a preset angular position;
in specific implementation, please refer to fig. 3 and 4, the control device 300 controls the rotating motor 501 to drive the gripper 100 to rotate around the axis of the power output shaft 5011, so as to adjust the angular position of the gripper 100 relative to the power output shaft 5011 to a preset angular position; wherein the predetermined angular position is set by actual requirements on site.
In one possible implementation, please refer to fig. 6, the gripper 100 is used for gripping the hold material of the bulk carrier 2000, wherein the predetermined angular position is configured such that the edge 101 of the gripper 100 is parallel to the hold edge 2001 of the bulk carrier 2000;
since the material gripper 100 near the cabin edge 2001 is difficult to grip, the gripper 100 needs to grip the material against the cabin edge 2001 to ensure that each bucket can grip as much material as possible, thereby improving the gripping efficiency of the gripper 100 and facilitating the maximum gripping of the bulk carrier 2000.
In particular, since the bulk carrier 2000 has a plurality of hold edges 2001, when the gripper 100 has finished gripping material along one of the hold edges 2001, it is necessary to move to the next hold edge 2001; if the next hold edge 2001 is not parallel to the current hold edge 2001, it is first necessary to calibrate the angular position of the gripper 100 with respect to the second rotation center line to the preset angular position according to the extending direction of the next hold edge 2001, i.e., the above-mentioned step S4 is performed (when the gripper 100 is located at the first position, the angular position of the gripper 100 with respect to the second rotation center line is the preset angular position). The specific calibration method comprises the following steps: the angular position of the gripper 100 relative to the second centre of rotation is adjusted until the edge of the gripper 100 is parallel to the next hold edge 2001, the adjusted angular position being the preset angular position.
In another possible implementation, the gripper 100 is used to grip car material of a train, wherein the predetermined angular position is configured such that the edge 101 of the gripper 100 is parallel to the edge of the car of the train. The technical effect generated when the control method provided by the application is applied to the scene of grabbing the train carriage materials is the same as that of grabbing the cabin materials of the bulk carrier 2000, and the details are not repeated herein. It should be particularly noted that the application scenarios of the control method provided in the present application include, but are not limited to, the bulk carrier 2000 and the train described above.
Alternatively, as shown in fig. 5 and 6, the gripper 100 may be configured in a rectangular shape.
In a possible implementation, the gripper 100 is configured as a spreader with a material gripping function, hanging from the free end of the fixed connection mechanism 200; the power output shaft 5011 of the rotary motor 501 is in transmission connection with the upper part of the gripper 100, and the rotary motor 501 is hung at the free end of the fixed connection mechanism 200. In this implementation, the first rotation center line and the second rotation center line are both perpendicular to the ground.
As a second aspect of the present application, the present application provides a control device 300, the control device 300 being configured to control the gripper 100 to rotate about the second rotation center line according to the rotation angle of the fixed connection mechanism 200 about the first rotation center line, so that the angular position of the gripper 100 relative to the second rotation center line satisfies a preset condition; wherein the first rotational center line is parallel to the second rotational center line and the free end of the fixed attachment mechanism 200 is mechanically coupled to the gripper 100.
Specifically, referring to fig. 2, fig. 2 is a block diagram illustrating a structure of a control apparatus 300 according to a possible implementation manner of the present application, where the control apparatus 300 includes an angle obtaining unit 302 and a control signal generating unit 303, where the angle obtaining unit 302 is configured to obtain a rotation angle of the fixed link 200 from a first position to a second position when the fixed link 200 rotates around a first rotation center line to drive the grippers 100 to rotate together from the first position to the second position, and is further configured to assign the rotation angle of the fixed link 200 to a target rotation angle of the grippers 100; the control signal generating unit 303 is configured to generate a control signal according to the target rotation angle of the gripper 100; wherein the control signal is used to control the gripper 100 to rotate around the second rotation center line in the opposite direction at the target rotation angle.
In a possible embodiment, the control device 300 further comprises a calibration unit 301, wherein the calibration unit 301 is configured to calibrate the angular position of the gripper 100 with respect to the second rotation center line to a preset angular position when the gripper 100 is in the first position.
The beneficial effects are the same as the above control method, and are not described herein.
As a third aspect of the present application, the present application provides a gripper 1000, and the control device 300 of the gripper 1000 can control the gripper 100 to rotate around the second rotation center line according to the rotation angle of the fixed connection mechanism 200 around the first rotation center line, so that the angular position of the gripper 100 relative to the second rotation center line satisfies the preset condition; wherein the first rotational center line is parallel to the second rotational center line and the free end of the fixed attachment mechanism 200 is mechanically coupled to the gripper 100.
Specifically, referring to fig. 3, fig. 3 is a schematic structural diagram of a material grabbing machine 1000 according to a possible implementation manner of the present application, where the material grabbing machine 1000 includes a grabbing tool 100 capable of rotating around a second rotation center line, a fixed connecting mechanism 200 capable of rotating around a first rotation center line, an angle detecting device 400 for detecting a rotation angle of the fixed connecting mechanism 200 around the first rotation center line, a power device 500 for driving the grabbing tool 100 to rotate around the second rotation center line, and the control device 300;
the free end of the fixed connecting mechanism 200 is mechanically connected with the gripping apparatus 100, and when the fixed connecting mechanism 200 rotates around a first rotating central line, the gripping apparatus 100 is driven to deflect around a second rotating central line;
the control device 300 is electrically connected to the angle detecting device 400 and the power device 500, respectively.
The beneficial effects expected to be obtained by the material grabbing machine 1000 provided by the present implementation are the same as the control device 300 and the control method, and are not described herein again.
Fig. 4 is a block diagram of a material grabbing machine 1000 according to one possible implementation manner of the present application, in which a fixed connection mechanism 200 includes an upper vehicle 201 rotatable around a first rotation center line, a movable arm 202 mechanically connected to the upper vehicle 201, and a boom 203 mechanically connected to the movable arm 202 and the grab 100, respectively; when the upper vehicle 201 drives the movable arm 202 and the arm 203 to rotate around the first rotation center line, the gripper 100 is driven to deflect around the second rotation center line; the first rotation center line is arranged as an axis of the turning center shaft 2011 of the upper carriage 201; the angle detection device 400 is disposed on the rotation center shaft 2011 for detecting a rotation angle of the upper cart 201.
In a possible implementation, please refer to fig. 4, the power device 500 is further used for driving the upper cart 201 to revolve around the axis of the revolving central shaft 2011, and specifically, the power device 500 comprises a rotary motor 501 for driving the gripper 100 to rotate and a revolving motor 502 for driving the upper cart 201 to revolve.
Specifically, referring to fig. 3, the material grabbing machine 1000 includes a chassis 700, a rotation center shaft 2011 of the upper cart 201 is rotatably connected above the chassis 700, and the rotation motor 501 drives the rotation center shaft 2011 to rotate to realize the rotation of the upper cart 201.
In a possible implementation, the gripper 100 is configured as a spreader with a material gripping function, hanging from the free end of the fixed connection mechanism 200; the power device 500 includes a rotary motor 501, the second rotation center line is configured as the axis of a power output shaft 5011 of the rotary motor 501, the rotary motor 501 is hung at the free end of the fixed connecting mechanism 200, and the power output shaft 5011 of the rotary motor 501 is connected above the gripper 100 in a transmission manner.
An electronic device according to an embodiment of the application is described with reference to fig. 7. Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
As shown in fig. 7, the electronic device 600 includes one or more processors 601 and memory 602.
Processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or information execution capabilities and may control other components in electronic device 600 to perform desired functions.
Memory 602 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or nonvolatile memory. Volatile memory can include, for example, Random Access Memory (RAM), and/or cache memory (cache), among others. The non-volatile memory may include, for example, Read Only Memory (ROM), a hard disk, flash memory, and the like. One or more computer program information may be stored on a computer readable storage medium and executed by the processor 601 to implement the control methods of the various embodiments of the present application described above or other desired functions.
In one example, the electronic device 600 may further include: an input device 603 and an output device 604, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 603 may include, for example, a keyboard, a mouse, and the like.
The output device 604 can output various kinds of information to the outside. The output means 604 may comprise, for example, a display, a communication network, a remote output device connected thereto, and the like.
Of course, for simplicity, only some of the components of the electronic device 600 relevant to the present application are shown in fig. 7, and components such as buses, input/output interfaces, and the like are omitted. In addition, electronic device 600 may include any other suitable components depending on the particular application.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in the control method according to various embodiments of the present application described in the present specification.
The computer program product may include program code for carrying out operations for embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, as a fourth aspect of the present application, an embodiment of the present application may also be a computer-readable storage medium having stored thereon computer program information which, when executed by a processor, causes the processor to perform the steps in the control method according to various embodiments of the present application.
A computer-readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the words" and/or "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, each element or step can be decomposed and/or recombined. These decompositions and/or recombinations should be considered equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The above-mentioned embodiments are merely preferred embodiments of the present invention, which should not be construed as limiting the scope of the present invention, and any modifications, equivalents and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A control method for controlling a gripper to rotate about a second rotation centre line in dependence on the angle of rotation of a fixed connection about a first rotation centre line, such that the angular position of the gripper relative to the second rotation centre line satisfies a preset condition; wherein the first center of rotation is parallel to the second center of rotation and the free end of the fixed attachment mechanism is mechanically coupled to the gripper; the control method comprises the following steps:
when the fixed connecting mechanism rotates around the first rotation center line so as to drive the gripping apparatus to rotate from a first position to a second position together, acquiring the rotation angle of the fixed connecting mechanism from the first position to the second position;
assigning the rotation angle of the fixed connection mechanism to a target rotation angle of the gripper; and
generating a control signal according to the target rotation angle of the gripping apparatus; wherein the control signal is used for controlling the gripper to rotate around the second rotation center line in the opposite direction of the target rotation angle.
2. The control method of claim 1, wherein prior to performing the capturing of the angle of rotation of the fixed attachment from the first position to the second position as the fixed attachment rotates about the first centerline of rotation to collectively rotate the gripper from the first position to the second position, the control method further comprises:
when the gripper is in the first position, the angular position of the gripper relative to the second rotation centerline is calibrated to a preset angular position.
3. The control method of claim 2, wherein the gripper is configured to grip bulk carrier hold material or train car material, wherein the predetermined angular position is configured such that an edge of the gripper is parallel to a hold edge of the bulk carrier or an edge of the gripper is parallel to a hold edge of the bulk carrier.
4. The control method of claim 2, wherein the fixed connection includes an upper car rotatable about the first centerline of rotation, a boom mechanically connecting the upper car, and a stick mechanically connecting the boom and the gripper, respectively;
when the upper vehicle drives the movable arm and the bucket rod to rotate around the first rotation center line in a revolving way, the gripping apparatus is driven to deflect around the second rotation center line; the first rotation center line is disposed as an axis of a turning center shaft of the upper vehicle.
5. The control method according to claim 2, wherein the gripper is configured as a spreader having a gripping function, suspended from a free end of the fixed connection mechanism;
the second rotating central line is configured to be in transmission connection with an axis of a power output shaft of a rotating motor above the gripping apparatus, and the rotating motor is hung at the free end of the fixed connecting mechanism.
6. A control device for controlling the gripper to rotate about a second centre of rotation according to the angle of rotation of a fixed connection about a first centre of rotation so that the angular position of the gripper relative to the second centre of rotation satisfies a preset condition; wherein the first center of rotation is parallel to the second center of rotation and the free end of the fixed attachment mechanism is mechanically coupled to the gripper; the control device includes:
the angle acquisition unit is used for acquiring the rotating angle of the fixed connecting mechanism from the first position to the second position when the fixed connecting mechanism rotates around the first rotating center line so as to drive the gripping apparatus to rotate from the first position to the second position together, and is used for assigning the rotating angle of the fixed connecting mechanism to the target rotating angle of the gripping apparatus; and
the control signal generating unit is used for generating a control signal according to the target rotating angle of the gripping apparatus; wherein the control signal is used for controlling the gripper to rotate around the second rotation center line in the opposite direction of the target rotation angle.
7. Control arrangement according to claim 6, characterized in that the control arrangement further comprises a calibration unit, wherein the calibration unit is adapted to calibrate the angular position of the gripper relative to the second centre of rotation to a preset angular position when the gripper is in the first position.
8. A material grabbing machine is characterized by comprising:
a gripper rotatable about a second rotational centerline;
a fixed connection mechanism rotatable about a first rotation centerline; wherein the free end of the fixed connection mechanism is mechanically connected with the gripper, and when the fixed connection mechanism rotates around the first rotation central line, the gripper is driven to deflect around the second rotation central line;
the angle detection device is used for detecting the rotation angle of the fixed connecting mechanism around the first rotation central line;
a power device for driving the gripping apparatus to rotate around the second rotation center line; and
the control device according to claim 6 or 7, wherein the control device is electrically connected to the angle detection device and the power device, respectively;
wherein the first rotational centerline is parallel to the second rotational centerline.
9. The material grabbing machine of claim 8, wherein the fixed connection mechanism comprises an upper car rotatable around the first rotation centerline, a movable arm mechanically connecting the upper car, and a boom mechanically connecting the movable arm and the grab respectively;
when the upper vehicle drives the movable arm and the bucket rod to rotate around the first rotation center line in a revolving way, the gripping apparatus is driven to deflect around the second rotation center line; the first rotation center line is arranged as an axis of a turning center shaft of the upper vehicle; the angle detection device is arranged on the rotary central shaft and used for detecting the rotary angle of the upper vehicle.
10. The material grabbing machine according to claim 8, wherein the grabbing tool is configured as a lifting tool with material grabbing function, and is hung at the free end of the fixed connecting mechanism;
the power device comprises a rotary motor, the second rotary central line is configured as an axis of a power output shaft of the rotary motor, the rotary motor is hung at the free end of the fixed connecting mechanism, and the power output shaft of the rotary motor is in transmission connection with the upper part of the gripping apparatus.
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| CN202111138486.1A CN113879869B (en) | 2021-09-27 | 2021-09-27 | Control method, control device and material grabbing machine |
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| CN202111138486.1A CN113879869B (en) | 2021-09-27 | 2021-09-27 | Control method, control device and material grabbing machine |
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| CN113879869B CN113879869B (en) | 2023-01-31 |
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| CN101112961A (en) * | 2006-07-25 | 2008-01-30 | 包起帆 | Bulk cargo automatic ship-unloading system and method thereof |
| CN201040683Y (en) * | 2007-01-27 | 2008-03-26 | 贺召军 | Rotatable timber grab bucket |
| JP2012116595A (en) * | 2010-11-30 | 2012-06-21 | Ihi Transport Machinery Co Ltd | Method for unloading bulk material by grab bucket type unloader |
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| CN113879869B (en) | 2023-01-31 |
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