CN106826772A - A kind of robot system with active compensation of undulation function - Google Patents

Abstract

The invention relates to a robot system with an active wave compensation function, which is installed on a ship; it is characterized in that it includes a transverse guide rail, a longitudinal guide rail, a chassis, a micro inertial guide, a mechanical arm, a computer and Controller; compared with ordinary robots, the robot in the invention device has a larger working space through the horizontal guide rail and the longitudinal guide rail, which is convenient to move and store in the cabin and anti-corrosion shell; its service life is increased, and it is more It is easy to maintain; the device of the present invention adopts a series mechanism, which is easier to obtain the positive solution of the position and has higher precision compared with the traditional parallel wave compensation platform; the device and control method of the present invention can effectively replace the traditional wave compensation with a single function The device makes the structure of the whole compensation system simpler, the operation more convenient and the work efficiency higher.

Description

A robotic system with active heave compensation

technical field

The invention relates to the field of offshore ship operations, in particular to a wave compensation robot system with an active compensation function.

Background technique

With the continuous development of my country's marine engineering industry, offshore platforms or ships are more and more frequently engaged in offshore operations, and their operating scope is from offshore to deep sea, even ultra-deep sea, and the difficulty of operation is also increasing. Due to the influence of wind and waves, ships operating and traveling at sea will sway irregularly with the wind and waves, and these swaying will cause the relative position of the ship to change. At the same time, there will be problems such as low operating efficiency and hidden dangers to personnel safety. Therefore, how to remove the disturbance caused by wind and waves, that is, roll, pitch and heave caused by wind and waves, and improve the safety, stability and efficiency of offshore operations is of great significance to practical engineering and scientific research.

At present, wave compensation technology is mainly used in offshore replenishment, offshore cargo lifting, and transportation of operators to board wind power towers. Moreover, most of them use larger parallel platforms for heave compensation, and series heave compensation devices are mainly cranes with heave compensation functions. The mass of the parallel platform itself is larger, and the working range is smaller. During offshore operations, parallel platforms and wave compensation cranes still need to continue to develop and improve the functions of grabbing and transporting objects. Simultaneously, the two are not easy to move and cannot be put into the anti-corrosion housing after the installation is completed due to their large volume. The functions that the existing devices can achieve are relatively single. At this stage, there is no general-purpose device or system with a wave compensation function that can simultaneously realize the functions of hoisting cargo, transporting personnel, and replenishment at sea while the ship is moving.

As described in Chinese patent 201610617770.X, a special robot for wave compensation has a forearm, a wrist mechanism, an end effector driver and an end effector. The front end of the forearm is connected to the rear end of the wrist mechanism, and the front end of the wrist mechanism is rigidly connected to the end effector driver. , the end effector driver is connected to the end effector, the wrist mechanism in the initial position is parallel to the deck of the ship, and the front end of the wrist mechanism points to the direction directly forward of the bow. Consists of a differential mechanism and two support arms, the middle is a support frame, the support frame is fixedly connected to the front end of the forearm, the middle position of the support frame is fixedly connected to the drive frame, and the first and second drivers are on the left and right sides of the drive frame Arranged oppositely and jointly connected to the drive frame, the central axes of the first and second drivers are arranged horizontally on the left and right; the front side of the support frame is fixedly connected with two support arms arranged on the left and the right, and the two support arms are differential Mechanism; the differential mechanism consists of four bevel gears, one yaw shaft and two pitch drive shafts, the yaw shafts are vertically arranged up and down, the centerlines of the first and second pitch drive shafts are collinear, perpendicular to the centerline of the yaw shafts and One left and one right are symmetrically arranged on both sides of the yaw axis. One end of the first and second pitch drive shafts is jointly rotatably connected to the differential mechanism support block, and the other end is supported on the corresponding support arm on the same side. The middle of the yaw axis The section coaxial gap passes through the center hole of the differential mechanism support block, the upper section of the yaw shaft is coaxially connected with the third bevel gear through the bearing, and the lower section of the yaw shaft is coaxially fixedly connected with the first bevel gear; The second bevel gear and the first pulley that are affixed to each other in the coaxial fixed set, the fourth bevel gear and the third pulley that are affixed to each other in the coaxial fixed set on the second pitch drive shaft, the first bevel gear It is meshed with the second bevel gear and the fourth bevel gear, and the third bevel gear is also meshed with the second bevel gear and the fourth bevel gear; the output shaft of the first driver is coaxially fixedly connected with the fourth pulley, and the second The output shaft of the driver is coaxially fixedly connected to the second pulley, the first pulley is connected to the second pulley through the first toothed belt, the third pulley is connected to the fourth pulley through the second toothed belt; the bevel gear passes through the connecting piece Secure the end effector drive.

The above-mentioned patent adopts a pulley-type transmission structure, which leads to complex transmission mechanism, narrow working space, troublesome maintenance and low service life, and poor transmission accuracy of the pulley type;

In view of the above technical problems, the present invention aims to provide a series multi-degree-of-freedom wave compensation robot system and a control method for the system. The system is a general system with the advantages of simple structure, convenient operation, wide application range, high efficiency and multiple functions.

Contents of the invention

The technical problem to be solved by the present invention is to provide a robot system with active wave compensation function. Influence issues brought about by robot end effectors.

In order to solve the above technical problems, the technical solution of the present invention is: a robot system with active wave compensation function, the robot system with active wave compensation function is installed on a ship; Chassis, micro inertial navigation, robotic arm, computer and controller;

The transverse guide rail and the longitudinal guide rail are vertically arranged on the same horizontal plane, and the transverse guide rail and the longitudinal guide rail are laid on the deck of the ship; the chassis can reciprocate along the mutually perpendicular transverse guide rail and the longitudinal guide rail through the driving motor; the mechanical The arm is fixedly connected to the chassis through a bolt group, and the mechanical arm follows the chassis to move along the horizontal guide rail or the longitudinal guide rail; the micro-inertial guide is located at the side of the mechanical arm and is connected and fixed on the chassis to measure the data transformation caused by wind and waves in real time and Send the tested data to the computer; exchange data between the computer and the micro-inertial navigation through sensors, and the computer processes the data output by the micro-inertial navigation and processes and builds models, predicts and outputs data; one end of the controller communicates with The computer performs data exchange, and the other end of the controller is connected with the mechanical arm and controls the mechanical arm to perform compensation movements.

Further, the control method of the system is:

S1: First move the chassis, micro-inertial navigation system and robotic arm to the working position through the horizontal guide rail and the longitudinal guide rail by driving the motor, and specify the position of the target point;

S2: Use micro-inertial navigation to detect changes in ships caused by wind and waves in real time, and input these data into the computer through sensors, and provide a prediction algorithm to the computer;

S3: Perform filtering preprocessing and data normalization processing in the computer according to the data transmitted by the micro-inertial navigation and establish a model, and the computer predicts the wave situation according to the established model and the data detected by the micro-inertial navigation;

S4: The computer determines the position coordinates of the target point under the action of waves according to the predicted wave conditions, and compares it with the actual target point coordinates to calculate the compensation data;

S5: The computer sends the processed compensation data to the controller, and the controller drives the mechanical arm at the end to perform compensation movements.

Further, the micro inertial navigation system can detect roll, pitch, yaw, surge, sway, heave and speed data of surge, sway and heave in real time.

Further, the model established in S2 is to calculate the autocorrelation function acf and the partial correlation function pacf through the computer after the data transmitted by the micro-inertial navigation system are zero-mean and stabilized, and the AR model determined according to the function curve, according to the determined The AR model continuously predicts the ship through the computer to identify the model parameters.

Further, the micro-inertial navigation system, computer, controller and mechanical arm respectively correspond to the detection system, compensation system, control system and execution system of the entire robot system.

The advantages of the present invention are:

1) Compared with ordinary robots, the robot in the device of the present invention has a larger working space through the horizontal guide rail and the longitudinal guide rail, which is convenient to move and store in the cabin and the anti-corrosion shell. In this way, its service life is increased and it is more convenient for maintenance.

2) The device of the present invention adopts a series mechanism, which is easier to obtain the positive position solution and has higher precision than the traditional parallel wave compensation platform.

3) The device and control method of the present invention can effectively replace the traditional heave compensation device with a single function, so that the structure of the entire compensation system is simpler, the operation is more convenient, and the work efficiency is higher. When the ship is moving, it can also work on the deck to lift and transport the cargo.

Description of drawings

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Figure 1 is a schematic diagram of the overall structure of a robot system with active heave compensation.

Figure 2 shows the process of model identification and parameterization.

Fig. 3 is a control schematic diagram of the robot system with active heave compensation function.

Figure 4 is the prediction and compensation process of the future motion of the end effector.

Fig. 5 is a flow chart of the active heave compensation control method.

detailed description

The following examples can enable those skilled in the art to understand the present invention more comprehensively, but the present invention is not limited to the scope of the described examples.

A robot system with active heave compensation function as shown in Figure 1, the robot system with active heave compensation function is installed on a ship; it includes a transverse guide rail 1, a longitudinal guide rail 2, a chassis 3, a micro inertial guide 4, and a mechanical arm 5. The computer 6 and the controller 7 are composed; the horizontal guide rail 1 and the longitudinal guide rail 2 are installed on the deck of the ship, and are used to increase the working space of the mechanical arm 5, and facilitate its removal and movement into the cabin or the anti-corrosion shell; the mechanical The arm 5 is fixedly connected to the chassis 3 by bolts, and a pulley is installed under the chassis 3, and slides on the horizontal guide rail 1 and the longitudinal guide rail 2 through the pulley; according to the working mode, data accuracy and installation requirements of the micro inertial The inertial navigation 4 is fixedly connected on the base of the mechanical arm 5 by bolts, which can measure real-time data caused by wind and waves and send the measured data; the computer 6 is used to receive the data output by the micro-inertial navigation 4, process the data, and establish Model, prediction and output data; the controller 7 accepts the data sent by the computer 6, and controls the mechanical arm 5 to perform compensation movements.

As shown in Figure 2, the ship motion model identification and parameterization process in the robot system with active wave compensation function is designed to compensate for the lag of the system; the micro-inertial navigation system can detect in real time when the ship is running Ship motion data caused by wind and waves; the micro-inertial navigation system transmits the data to the computer, performs filtering preprocessing and data normalization processing on the detected data; analyze. The autocorrelation function acf and the partial correlation function pacf are calculated respectively, and the corresponding function curve is judged as the AR model; the model parameters of the AR model are identified through the formula; finally, the ship's motion is continuously predicted by the established AR prediction model.

As shown in Figure 3, it is the control schematic diagram of the robot system with active wave compensation function; the whole system can be divided into four subsystems, which are detection system, compensation system, control system and execution system; the detection system corresponds to the micro Inertial navigation 4, the compensation system corresponds to the computer 6, the control system corresponds to the controller 7, and the execution system corresponds to the mechanical arm 5; when compensation is not required, such as when there is no wind and waves, no compensation command is sent; When the ship encounters wind and waves and needs to work, a compensation work order is sent to make the whole system start to work.

As shown in Figure 4, it is the prediction and compensation process of the future motion of the end effector; firstly, after obtaining the real-time detection data of the ship through the micro-inertial navigation 4, set a period of time as a cycle, and make this cycle a sampling cycle; Carry out modeling of the ship motion, and use the established prediction model to continuously predict the ship motion; at the same time, use the data obtained by the micro-inertial navigation 4 and the coordinate conversion of the series manipulator 5 to obtain the pose of the end effector; then, according to the continuous prediction Perform data synthesis processing with the obtained pose; finally send the comprehensive data to the controller 7; the part from the output data in the micro-inertial navigation 4 to the comprehensive data corresponds to the compensation system part in Figure 3; the controller 7 drives the mechanical arm The driver in 5 compensates the pose of the end effector every sampling period and the least common multiple of the data sent by the controller 7.

As shown in Figure 5, it is a flow chart of the active wave compensation control method; this method is used in the working state that needs to carry out wave compensation; first, utilize the micro-inertial navigation 4 to detect in real time the motion state of the ship operating at sea; the micro-inertial navigation 4 Collect data with a fixed sampling period; after a period of time, store the ship’s historical motion state; then according to the ship motion model identification and parameterization process in Figure 2, analyze the data, build a model, and make continuous predictions; At the base, it is necessary to use coordinate transformation to obtain the pose of the end effector of the robotic arm 5 . Next, perform data synthesis according to the predicted parameters, the pose of the end effector, and the pose of the previously determined target point; use the sampling period and the period of the command sent by the controller 7, and select the least common multiple of the two as the compensation period; finally, According to the comprehensively obtained data, the compensation control control program or operation instruction in the mechanical arm 7 is specified; compensation is performed through these programs and instructions.

Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (5)

1. a kind of robot system with active compensation of undulation function, the robot system for having active compensation of undulation function is pacified On ship；It is characterized in that：Including cross slide way, longitudinal rail, chassis, micro- inertial navigation, mechanical arm, computer and control Device；

The cross slide way is arranged in same level with longitudinal rail is orthogonal, and cross slide way is laid with longitudinal rail On ship deck；The chassis can be moved back and forth by motor along mutually perpendicular cross slide way and longitudinal rail； The mechanical arm is fixedly connected on chassis by bolt group, and mechanical arm follows chassis to be moved along cross slide way or longitudinal rail It is dynamic；Micro- inertial navigation is located at the side of mechanical arm and is fastened on chassis, and measurement in real time is converted because of the data that stormy waves causes And send tested data to computer；Data exchange is carried out by sensor between the computer and micro- inertial navigation, is calculated The data of the micro- inertial navigation output of machine treatment are simultaneously processed and are set up model, predicted and output data；One end of the controller Data exchange is carried out with computer, the other end of controller is connected with mechanical arm and control machinery arm compensates motion.

2. a kind of robot system with active compensation of undulation function according to claim 1, it is characterised in that：It is described The control method of the system is：

S1：Chassis, micro- inertial navigation and mechanical arm are moved to by work by cross slide way and longitudinal rail by motor first Position, and hard objectives point position；

S2：Go out the change that ship causes by stormy waves using micro- inertial navigation real-time detection, and these data are input to by sensor In computer, and a prediction algorithm is provided to computer；

S3：The data conveyed according to micro- inertial navigation are filtered pretreatment and data normalized and set up mould in a computer Type, the data that computer is detected according to the model and micro- inertial navigation set up, predicts the situation of wave；

S4：Computer determines the position coordinates under the wave action of impact point according to the wave situations of prediction, and bright with actual institute True coordinate of ground point is contrasted, and calculates offset data；

S5：The offset data that computer will be handled well is sent to controller, and controller drives the mechanical arm of end to compensate fortune It is dynamic.

3. a kind of robot system and its control method with active compensation of undulation function according to claim 1, its It is characterised by：Micro- inertial navigation can real-time detection go out rolling, pitching, yawing, surging, swaying, heaving and surging, swaying and The speed data of heaving.

4. a kind of robot system and its control method with active compensation of undulation function according to claim 2, its It is characterised by：It is to pass through meter after zero-mean and tranquilization are processed by the data for conveying micro- inertial navigation that model is set up in the S2 Calculation machine calculates auto-correlation function acf and deviation―related function pacf, according to the AR models that function curve judges, according to the AR for judging Model identifies that model parameter is continuously predicted ship by computer.

5. a kind of robot system and its control method with active compensation of undulation function according to claim 2, its It is characterised by：Micro- inertial navigation, computer, controller and mechanical arm correspond to the detecting system of whole robot system, mend respectively Repay system, control system and execution system.