CN117621053B - Modeling method for belt conveyor disassembly robot - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention discloses a modeling method for a disassembly robot of a belt conveyor, which comprises the steps of designing a disassembly flow for a disassembly task of the belt conveyor; performing DH parameter method kinematic modeling on the mechanical arm; performing kinematic modeling on a longitudinal beam disassembly procedure in the belt conveyor; calculating the overturning condition of the H frame and the mechanical arm during pushing; kinematic modeling is carried out on the procedure of disassembling the H frame by the double mechanical arms; the method is applied to mechanical arm motion planning, can accurately describe and predict the motion trail and position of each part of the belt conveyor in the disassembly process, is beneficial to planning and executing the disassembly tasks, ensures the accuracy and safety of operation, can realize cooperation and coordination among a plurality of robots, and can optimize the efficiency and accuracy of the disassembly process by modeling and analyzing communication among multiple parties, cooperation strategies and task allocation and coordination methods, thereby realizing robot cooperation and intelligent control.
Description
Technical Field
The invention relates to the field of modeling methods for a belt conveyor disassembly robot, in particular to a modeling method for a belt conveyor disassembly robot.
Background
The belt conveyor is an important material transportation device commonly used for an underground coal mine, and in the industrial production process, along with the aging of the device, the maintenance requirement and the change of the production flow, the operation of disassembling, maintaining, replacing parts and the like of the belt conveyor may be required. The traditional disassembly method mainly depends on manual operation, has the problems of low safety coefficient, low disassembly efficiency, high difficulty and the like, and has important significance in improving the underground production safety and efficiency by researching the intelligent disassembly method of the belt conveyor. At present, some lifting mechanical equipment, mechanical arms with multiple degrees of freedom and the like can realize the disassembly operation of low-precision components, and the mechanical arms with multiple degrees of freedom are generally used for carrying out the disassembly task, but for the disassembly task of a large-sized and heavy belt conveyor, the use of double mechanical arms is more advantageous than single mechanical arms. When the double mechanical arms complete the disassembly task of the belt conveyor, the problems of complex task, motion coupling and obstacle avoidance of multiple mechanical arms exist, and the path planning difficulty of the double mechanical arms is high. Therefore, the feasibility of path planning can be analyzed by performing kinematic modeling on the target task, the path searching space is reduced, and collision detection is performed, so that the method is very important for path planning of the mechanical arm and can help to solve the difficulty of path planning.
The Chinese patent application with the application number of CN201911184604.5 discloses a man-machine cooperation disassembly line balance optimization method based on a security guarantee strategy, a disassembly task classification model is built according to the attribute characteristics of disassembly tasks, and a disassembly task allocation scheme is built; the Chinese patent application with the application number of CN201911422134.1 discloses a knowledge graph construction method for a human-computer cooperation disassembly task, and a model of the human-computer cooperation disassembly task is built through the knowledge graph. The modeling method of the prior patent is mainly oriented to a human-computer cooperation disassembly task, and because coal mine intellectualization and unmanned are current development trends, the use of the multi-degree-of-freedom mechanical arm to replace a craftsman to execute the disassembly operation has important significance for improving the coal mine safety production operation.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide a modeling method for a belt conveyor disassembly robot, which is mainly used for solving the problem of kinematic modeling of the belt conveyor disassembly robot during operation and designing the whole disassembly flow of the belt conveyor; the method comprises the steps of carrying out a mechanical modeling on a double-arm longitudinal beam disassembly procedure, dividing the state of an object when the object is pushed by a mechanical arm into three types, calculating an object overturning critical condition, carrying out the mechanical modeling on a double-arm H-frame disassembly procedure, and applying the double-arm H-frame disassembly procedure to the mechanical arm motion planning, so that the motion trail and the position of each part of the belt conveyor in the disassembly process can be accurately described and predicted, the planning and the execution of the disassembly task are facilitated, the operation accuracy and the operation safety are ensured, and finally, the disassembly task is completed through the double-arm path planning.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a modeling method for a belt conveyor disassembly robot, which comprises the following steps:
Step 1, designing a disassembly flow for a disassembly task of a belt conveyor, wherein the disassembly robot is required to symmetrically arrange two groups of six-degree-of-freedom mechanical arms on two sides of the belt conveyor;
step 2, performing DH parameter method kinematics modeling on the six-degree-of-freedom mechanical arm;
Step 3, performing kinematic modeling on a longitudinal beam disassembly procedure in the belt conveyor;
step4, calculating the overturning condition of the H frame in the belt conveyor when the H frame and the mechanical arm are pushed;
step 5, performing kinematic modeling on the H frame disassembling procedure of the double mechanical arms;
And 6, finishing the disassembly task through path planning of the double mechanical arms.
Preferably, the disassembling robot selected in the step 1 comprises an upper beam and a lower beam capable of moving, wherein the upper beam and the lower beam are connected together through a cross, two mechanical arms are respectively arranged on two sides of the lower beam along the length direction of the belt conveyor, two longitudinal beam recovery frames are arranged at the front end and the rear end of the upper beam, and a lifting air bag communicated with an external air source is arranged on the lower beam; the disassembly process is as follows:
S11, when the belt conveyor is disassembled, firstly, stretching a lifting air bag below the conveyor belt for ventilation, after ventilation, lifting the conveyor belt by means of lifting the lifting air bag, then grasping a triple roller by using a mechanical arm for pin removal, and withdrawing the triple roller and placing the triple roller in a recovery box;
S12, after all the upper carrier rollers of one dismounting unit are dismounted, the two mechanical arms on the same side of the dismounting robot simultaneously grasp the longitudinal beam of the belt conveyor, and the longitudinal beam is taken down and placed on a longitudinal beam recovery frame;
S13, after all the longitudinal beams at the two sides are removed, pushing down the H frame of the belt conveyor by the resultant force of the four mechanical arms at the two sides, pulling out the H frame from one side, and finally recovering the lifting air bags;
Preferably, step 3 specifically includes:
s31, performing kinematic modeling on the six-degree-of-freedom mechanical arm to obtain a homogeneous transformation matrix of the end effector relative to a base coordinate system;
S32, establishing a coordinate system, defining the midpoint of a connecting line at the top end of an H frame as the origin of the world coordinate system, pointing the mechanical arm R by the mechanical arm L as the positive direction of the x axis, setting the advancing direction of the conveyor belt as the positive direction of the y axis, and setting the vertical upward direction as the positive direction of the z axis; wherein the master arm is defined as an arm R, and the slave arm is defined as an arm L;
s33, the positions of the tail ends of the two mechanical arms relative to the base coordinate system are respectively AndThe positions of the base coordinates of the two mechanical arms in the world coordinate system are respectively/>And
S34, the positions of the two mechanical arm end effectors under the world coordinate system are respectively as follows:
The homogeneous transformation matrix and the formulas (1) - (2) can know that the tail end paths of the two mechanical arms are only related to the joint angle and the base position, so that the tail end path relationship of the two mechanical arms is reflected by the joint angle under the condition that the base position of the mechanical arm is determined;
S35, the longitudinal beam disassembly task is completed by cooperation of two mechanical arms on the same side, the two mechanical arms move from an initial pose to a longitudinal beam grabbing point, and then the longitudinal beam is conveyed to a longitudinal beam recovery frame in the middle through synchronous movement, so that the grabbing points of the two mechanical arms are fixed in the movement process, namely, the relative distance between the tail ends of the two mechanical arms is unchanged;
S36, under the world coordinate system, the base positions of the two mechanical arms And/>The relationship exists: /(I)And/>When the joint angles of the two mechanical arms are q L＝qR, according to the homogeneous transformation matrix, there is/>And/>At this time, the following conditions are satisfied:
As can be seen from the homogeneous transformation matrix, the tail end paths of the two mechanical arms are identical in the x and z directions, the distance delta l is kept in the y direction, the track points of the two mechanical arms are identical in number and path length, and the method is suitable for operating objects with the length longer than the base distance of the two mechanical arms, such as 'dismounting-placing' operation of a longitudinal beam.
Preferably, step 4 specifically includes:
s41, assuming that only one point is in contact between each mechanical arm and an object, and the mechanical arms only push the object from the side, and when the object is pushed by the mechanical arms, the object is divided into three motion states of translation, shaking, recovery and overturning;
s42, setting the height and the width of the longitudinal section of the H frame as l and 2r respectively, wherein the height of a contact point is z p, the height of the gravity center is H, the inclination angle of the H frame is alpha, and the pushing distance of a mechanical arm pushing the H frame is d;
S43, acting on the H frame to make the moment of rotation around the x c point be Fz p -mgr, under the static assumption, F maximum friction force provided by ground is mu mg, when mu mgz p -mgr is less than 0, namely When in use, the H frame can translate under the pushing of the mechanical arm, and when/>When the H frame is pushed by the mechanical arm to incline;
S44, in quasi-static analysis, when the H frame is pushed, a supporting plane is a polygon formed by projection of a contact point of the H frame and the ground and a contact point of the H frame and the mechanical arm in a horizontal plane, and the precondition that overturning occurs is that a centroid x o passes over the supporting point x c, and when the centroid of the H frame is positioned right above the contact point of the H frame and the desktop, the critical point of overturning is obtained as follows:
When alpha > alpha Temporary face (L) , the H frame will topple, and the invasion depth d and the inclination angle alpha of the mechanical arm are as follows:
when the H frame is pushed down for operation by double-arm operation, the tail end position condition of the mechanical arm is as follows:
preferably, step 5 specifically includes:
S51, the H-frame disassembling task is completed by the cooperation of mechanical arms at two sides, the two mechanical arms move from an initial pose to the height z p at two sides of the H-frame, then move linearly along the contact points x p to xp', and the movement tracks of the tail ends of the two mechanical arms are symmetrical about a plane x=0 in the movement process;
s52, under the world coordinate system, the base positions of the two mechanical arms And/>The existence relationship is as follows: /(I)And/>When q L＝-qR is present at the joint angles of the two mechanical arms, there is/>, according to formula (1)And/>At this time, the following conditions are satisfied:
the tail end tracks of the two mechanical arms are symmetrical about a plane x=0, the track points of the two mechanical arms are identical in number and path length, and the device is suitable for operating objects with the length smaller than the distance between the bases of the two mechanical arms, such as H-frame pushing-down operation.
The invention has the beneficial effects that:
1) The whole process of the mechanical arm dismantling belt conveyor is reasonably designed, so that the working efficiency is improved, the working risk is reduced, the working quality is improved, the resource utilization can be optimized, and the management and the monitoring are convenient;
2) The method has the advantages that the kinematic modeling is carried out on the longitudinal beam disassembly procedure in the double-mechanical-arm disassembly belt conveyor, so that the optimization of robot path planning, the determination of robot accessibility, the auxiliary robot motion control and the prediction of collision and conflict are facilitated, the improvement of the efficiency, accuracy and safety of disassembly operation is facilitated, and guidance and support are provided for the robot in the longitudinal beam disassembly process;
3) The method has the advantages that the kinematic modeling is carried out on the longitudinal beam of the belt conveyor and the H-frame disassembly procedure, so that the disassembly time is reduced, the disassembly precision is improved, the equipment utilization is optimized, the collision and the conflict are avoided, the man-machine cooperation is optimized, the efficiency, the safety and the quality of the disassembly procedure are improved, and guidance and support are provided for the disassembly operation.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a model of a disassembly robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a coordinate system of a mechanical arm according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a tail end path of a longitudinal beam disassembly procedure according to an embodiment of the present invention;
FIG. 5 is a diagram of an object force analysis provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of H-frame overturning threshold according to an embodiment of the present invention;
Fig. 7 is a schematic diagram of an end track of an H-frame disassembly procedure according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 2, a modeling method for a belt conveyor disassembly robot includes:
step 1, carrying out disassembly flow design aiming at a disassembly task of a belt conveyor, wherein the disassembly flow design specifically comprises the following steps:
S11, designing a disassembly robot, wherein the disassembly robot comprises an upper beam and a lower beam capable of moving, the upper beam and the lower beam are connected together through a cross, two mechanical arms are respectively arranged on two sides of the lower beam along the length direction of the belt conveyor, two longitudinal beam recovery frames are arranged at the front end and the rear end of the upper beam, and a lifting air bag communicated with an external air source is arranged on the lower beam; the mechanical arm is a six-degree-of-freedom mechanical arm of a deep valley ROCR6 of the middle department;
s12, when the belt conveyor is disassembled, firstly, stretching a lifting air bag below the conveyor belt for ventilation, after ventilation, lifting the conveyor belt by means of lifting the lifting air bag, then grasping a triple roller by using a mechanical arm for pin removal, and withdrawing the triple roller and placing the triple roller in a recovery box;
S13, after all the upper carrier rollers of one dismounting unit are dismounted, the two mechanical arms on the same side of the dismounting robot simultaneously grasp the longitudinal beam of the belt conveyor, and the longitudinal beam is taken down and placed on a longitudinal beam recovery frame;
s14, after all the longitudinal beams at the two sides are removed, pushing down the H frame of the belt conveyor by the resultant force of the four mechanical arms at the two sides, pulling out the H frame from one side, and finally recovering the lifting air bags;
step 2, performing DH parameter method kinematics modeling on the six-degree-of-freedom mechanical arm of the deep valley ROCR6 of the middle department, wherein the method specifically comprises the following steps:
S21, alpha i-1 in DH parameters is a connecting rod rotation angle, a i-1 is a rod length, d i is a connecting rod offset distance, q i is a joint angle, the distance unit is millimeter, and the angle unit is degree;
S22, according to a chain rule of coordinate system transformation, a homogeneous transformation matrix T from a coordinate system i-1 to the coordinate system i is as follows:
S23, substituting parameters in the DH parameter table into the above formula to obtain homogeneous transformation matrixes among adjacent joints, and sequentially multiplying the matrixes to obtain homogeneous transformation matrixes of the end effector relative to a base coordinate system, wherein the homogeneous transformation matrixes are as follows:
In the method, in the process of the invention,
Wherein C 1 represents cosq 1,S1 represents sinq 1,C23 represents cos (q 2+q3),S23 represents sin (q 2+q3), and so on; p x,py,pz represents the position ;(nx,ny,nz)、(ox,oy,oz)、(ax,ay,az) of the arm end relative to the base coordinate system, and the x-axis, y-axis, and z-axis direction vectors of the arm end coordinate system in the base coordinate system, respectively;
Step 3, performing kinematic modeling on a longitudinal beam disassembly procedure in the belt conveyor, wherein the method specifically comprises the following steps:
S31, establishing a coordinate system, defining the midpoint of a connecting line at the top end of an H frame as the origin of the world coordinate system, setting a master mechanical arm as R, a slave mechanical arm as L, pointing the mechanical arm R by the disassembly robot mechanical arm L to be in the positive direction of the x axis, setting the advancing direction of a conveyor belt as the positive direction of the y axis, and setting the vertical upward direction as the positive direction of the z axis, wherein the established coordinate system is shown in fig. 3;
s32, the positions of the tail ends of the two mechanical arms relative to the base coordinate system are respectively AndThe positions of the base coordinates of the two mechanical arms in the world coordinate system are respectively/>And
S33, the positions of the two mechanical arm end effectors under the world coordinate system are respectively as follows:
The tail end paths of the two mechanical arms are only related to the joint angle and the base position, so that under the condition that the base position of the mechanical arms is determined, the tail end path relationship of the two mechanical arms is reflected by the joint angle;
S34, the longitudinal beam disassembly task is completed by cooperation of two mechanical arms on the same side, the two mechanical arms move from an initial pose to a longitudinal beam grabbing point, then the longitudinal beams are conveyed to a longitudinal beam recovery frame in the middle through synchronous movement, the grabbing points of the two mechanical arms are ensured to be fixed in the movement process, namely, the relative distance between the tail ends of the two mechanical arms is unchanged, and a schematic diagram of a tail end path of a longitudinal beam disassembly procedure is shown in FIG. 4;
s35, under the world coordinate system, the base positions of the two mechanical arms And/>The existence relationship is as follows: /(I)And/>When q L＝qR is present at the joint angle of the two arms, there is/>, according to equation (3)And/>At this time, the following conditions are satisfied:
as shown in the formula (3), the tail end paths of the two mechanical arms are the same in the x direction and the z direction, the distance delta l is kept in the y direction, the track points of the two mechanical arms are consistent in number and path length, and the device is suitable for operating objects with the length longer than the distance between the bases of the two mechanical arms, such as 'dismounting-placing' operation of a longitudinal beam.
Step 4, calculating the overturning condition when the H frame and the mechanical arm are pushed, which specifically comprises the following steps:
S41, assuming that only one point is in contact between each mechanical arm and an object, and the mechanical arms only push the object from the side, when the object is pushed by the mechanical arms, the mechanical arms are divided into three motion states of translation, shaking, recovery and overturning, and an object stress analysis chart is shown in FIG. 5;
s42, setting the height and the width of the longitudinal section of the H frame as l and 2r respectively, wherein the height of a contact point is z p, the height of the gravity center is H, the inclination angle of the H frame is alpha, and the pushing distance of a mechanical arm pushing the H frame is d;
S43, acting on the H frame to make the moment of rotation around the x c point be Fz p -mgr, under the static assumption, F maximum friction force provided by ground is mu mg, when mu mgz p -mgr is less than 0, namely When in use, the H frame can translate under the pushing of the mechanical arm, and when/>When the H frame is pushed by the mechanical arm to incline;
S44, assuming that the movement speed of the mechanical arm is very slow, the movement of the H frame can be considered to be quasi-static; in the quasi-static analysis, when the H frame is pushed, the supporting plane is a polygon formed by projection of the contact point of the H frame with the ground and the contact point of the H frame with the mechanical arm in the horizontal plane, and the precondition that the overturning occurs is that the centroid x o passes over the supporting point x c, and when the centroid of the H frame is located right above the contact point of the H frame with the desktop, the overturning critical point is obtained as follows:
When alpha > alpha Temporary face (L) , the H frame will topple, and the invasion depth d and the inclination angle alpha of the mechanical arm are as follows:
when the H frame is pushed down for operation by double-arm operation, the tail end position condition of the mechanical arm is as follows:
and 5, performing kinematic modeling on the H-frame disassembling procedure of the double mechanical arms, wherein the method specifically comprises the following steps:
s51, the H frame disassembling task is completed by the cooperation of mechanical arms at two sides, the two mechanical arms move to the height z p at two sides of the H frame from the initial pose and then move linearly along the contact points x p to x p', and the movement tracks of the tail ends of the two mechanical arms are symmetrical about a plane x=0 in the movement process, as shown in a schematic diagram of the tail end track of the H frame disassembling procedure in FIG. 7;
s52, under the world coordinate system, the base positions of the two mechanical arms And/>The existence relationship is as follows: /(I)And/>When q L＝-qR is present at the joint angle of the two arms, there is/>, according to equation (3)And/>At this time, the following conditions are satisfied:
the tail end tracks of the two mechanical arms are symmetrical about a plane x=0, the track points of the two mechanical arms are identical in number and path length, and the device is suitable for operating objects with the length smaller than the distance between the bases of the two mechanical arms, such as H-frame pushing-down operation.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (4)
1. A modeling method for a belt conveyor disassembly robot, comprising the steps of:
step 1, designing a disassembly flow for a disassembly task of a belt conveyor, wherein two six-degree-of-freedom mechanical arms are symmetrically arranged on two sides of the belt conveyor by a disassembly robot;
The disassembly robot comprises an upper beam and a lower beam capable of moving, the upper beam and the lower beam are connected together through a cross, two mechanical arms are respectively arranged on two sides of the lower beam along the length direction of the belt conveyor, two longitudinal beam recovery frames are arranged at the front end and the rear end of the upper beam, and a lifting air bag communicated with an external air source is arranged on the lower beam; the disassembly process is as follows:
S11, when the belt conveyor is disassembled, firstly, stretching a lifting air bag below the conveyor belt for ventilation, after ventilation, lifting the conveyor belt by means of lifting the lifting air bag, then grasping a triple roller by using a mechanical arm for pin removal, and withdrawing the triple roller and placing the triple roller in a recovery box;
S12, after all the upper carrier rollers of one dismounting unit are dismounted, the two mechanical arms on the same side of the dismounting robot simultaneously grasp the longitudinal beam of the belt conveyor, and the longitudinal beam is taken down and placed on a longitudinal beam recovery frame;
S13, after all the longitudinal beams at the two sides are removed, pushing down the H frame of the belt conveyor by the resultant force of the four mechanical arms at the two sides, pulling out the H frame from one side, and finally recovering the lifting air bags;
step 2, performing DH parameter method kinematics modeling on the six-degree-of-freedom mechanical arm;
Step 3, performing kinematic modeling on a longitudinal beam disassembly procedure in the belt conveyor;
step4, calculating the overturning condition of the H frame in the belt conveyor when the H frame and the mechanical arm are pushed;
step 5, performing kinematic modeling on the H frame disassembling procedure of the double mechanical arms;
And 6, finishing the disassembly task through path planning of the double mechanical arms.
2. A modeling method for a belt conveyor removal robot as in claim 1 wherein step 3 comprises:
s31, performing kinematic modeling on the six-degree-of-freedom mechanical arm to obtain a homogeneous transformation matrix of the end effector relative to a base coordinate system;
S32, establishing a coordinate system, defining the midpoint of the connecting line at the top end of the H frame as the origin of the world coordinate system, and pointing the mechanical arm R by the mechanical arm L as Positive axis direction, belt advancing direction/>The axial direction is the vertical upward direction/>An axial positive direction; wherein the master arm is defined as an arm R, and the slave arm is defined as an arm L;
s33, the positions of the tail ends of the two mechanical arms relative to the base coordinate system are respectively And/>The positions of the base coordinates of the two mechanical arms in the world coordinate system are respectively/>And/>；
S34, the positions of the two mechanical arm end effectors under the world coordinate system are respectively as follows:
(1)
(2)
The homogeneous transformation matrix and the formulas (1) - (2) can know that the tail end paths of the two mechanical arms are only related to the joint angle and the base position, so that the tail end path relationship of the two mechanical arms is reflected by the joint angle under the condition that the base position of the mechanical arm is determined;
S35, the longitudinal beam disassembly task is completed by cooperation of two mechanical arms on the same side, the two mechanical arms move from an initial pose to a longitudinal beam grabbing point, and then the longitudinal beam is conveyed to a longitudinal beam recovery frame in the middle through synchronous movement, so that the grabbing points of the two mechanical arms are fixed in the movement process, namely, the relative distance between the tail ends of the two mechanical arms is unchanged;
S36, under the world coordinate system, the base positions of the two mechanical arms And/>The relationship exists:，/> and/> When the joint angle of the two mechanical arms exists/>At this time, there are/>, based on the homogeneous transformation matrix，/>And/>At this time, the following are satisfied:
(3)
From the homogeneous transformation matrix, the end paths of the two mechanical arms are in And/>In the same direction at/>Directional retention/>The number of the track points of the two mechanical arms is consistent with the path length, and the device is suitable for the 'dismounting-placing' operation of an object with the operation length longer than the distance between the bases of the two mechanical arms, namely a longitudinal beam.
3. A modeling method for a belt conveyor removal robot as in claim 2 wherein step 4 specifically comprises:
s41, assuming that only one point is in contact between each mechanical arm and an object, and the mechanical arms only push the object from the side, and when the object is pushed by the mechanical arms, the object is divided into three motion states of translation, shaking, recovery and overturning;
s42, setting the height and width of the longitudinal section of the H frame as And/>The height of the contact point is/>The height of the center of gravity is/>The tilt angle of the H frame is/>The pushing distance of the mechanical arm pushing H frame is/>；
S43, acting on the H frame to wind itMoment of point rotation is/>Under the assumption of static force,/>The friction force provided for the ground at maximum is/>When/>I.e./>When the H frame is pushed by the mechanical arm to translate, whenWhen the H frame is pushed by the mechanical arm to incline;
S44, in quasi-static analysis, when the H frame is pushed, the supporting plane is a polygon formed by projection of the contact point of the H frame and the ground and the contact point of the H frame and the mechanical arm in a horizontal plane, and the precondition of overturning is that the mass center is formed Crossing support points/>When the mass center of the H frame is right above the contact point of the H frame and the tabletop, the overturning critical point is obtained as follows:
(4)
When (when) When the H frame is overturned, the invasion depth/>, of the mechanical arm is at the momentAnd dip/>The relation is:
(5)
when the H frame is pushed down for operation by double-arm operation, the tail end position condition of the mechanical arm is as follows:
(6)。
4. a modeling method for a belt conveyor removal robot as in claim 3 wherein step 5 comprises:
s51, the H-frame disassembling task is completed by the cooperation of mechanical arms at two sides, and the two mechanical arms move to two sides of the H-frame from the initial pose Height, along contact point/>To/>Rectilinear motion, wherein the motion trail of the tail ends of the two mechanical arms relates to a plane/>Symmetrical;
s52, under the world coordinate system, the base positions of the two mechanical arms And/>The existence relationship is: /(I)，/>And/>When the joint angle of the two mechanical arms exists/>In the case of the formula (1), there are，/>And/>At this time, the following are satisfied:
(7)
the tail end tracks of the two mechanical arms are related to a plane The number of track points of the two mechanical arms is equal to the path length, and the device is suitable for the operation of an object with the length smaller than the distance between the bases of the two mechanical arms, namely the H-frame pushing operation.
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