CN118559722B - A stable control system for automatically grabbing cone heads - Google Patents
A stable control system for automatically grabbing cone heads Download PDFInfo
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- CN118559722B CN118559722B CN202411054414.2A CN202411054414A CN118559722B CN 118559722 B CN118559722 B CN 118559722B CN 202411054414 A CN202411054414 A CN 202411054414A CN 118559722 B CN118559722 B CN 118559722B
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- 241001149930 Protura <class> Species 0.000 title 1
- 238000012546 transfer Methods 0.000 claims abstract description 92
- 238000006073 displacement reaction Methods 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims description 15
- 230000006641 stabilisation Effects 0.000 claims description 14
- 238000011105 stabilization Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 12
- 230000000087 stabilizing effect Effects 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 15
- 230000007246 mechanism Effects 0.000 description 10
- 239000000463 material Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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Abstract
本发明涉及机械手技术领域，尤其涉及一种自动抓取锥头的稳定控制系统，其系统包括：机械臂，其用以抓取锥体并转移锥体至限位平台；距离传感器，其用以测量机械臂与锥体距离；振动传感器，其用以测量机械臂移动时的振幅；位移传感器，其用以测量机械臂的抓取头的位移量；控制器，其用以根据测量结果调整机械臂的动作；限位平台，其用以固定螺栓并调整锥体位置使锥体位置与螺栓位置对应；本发明通过设置上述装置，有效检测机械臂单次抓取锥体的动作中的各项参数，以此指导调整后续抓取动作，提高了抓取动作的效率，有效提升了自动抓取锥头装置的稳定性和实用性。
The present invention relates to the technical field of manipulators, and in particular to a stable control system for automatically grasping a cone head, wherein the system comprises: a manipulator arm, which is used to grasp a cone and transfer the cone to a limiting platform; a distance sensor, which is used to measure the distance between the manipulator arm and the cone; a vibration sensor, which is used to measure the amplitude of the manipulator arm when it moves; a displacement sensor, which is used to measure the displacement of a grasping head of the manipulator arm; a controller, which is used to adjust the action of the manipulator arm according to the measurement result; and a limiting platform, which is used to fix bolts and adjust the position of the cone so that the position of the cone corresponds to the position of the bolt. The present invention effectively detects various parameters in the action of the manipulator arm grasping the cone at a single time by arranging the above-mentioned device, thereby guiding the adjustment of subsequent grasping actions, improving the efficiency of the grasping action, and effectively improving the stability and practicality of the automatic grasping cone head device.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a stable control system for an automatic grabbing conical head.
Background
The manipulator can simulate certain action functions of a human hand and an arm, and is used for grabbing and carrying objects or operating an automatic operating device of a tool according to a fixed program. It can replace heavy labor to realize mechanization and automation of production, and can operate in harmful environment to protect personal safety, so it can be widely used in the departments of mechanical manufacture, metallurgy, electronics, light industry and atomic energy. The manipulator is easy to produce and rocks to the in-process that the object of unconventional shape snatched, influences getting of object and puts and fragile manipulator, and the too big range of rocking can lead to the object of snatched to place the position and take place the deviation.
Chinese patent application publication No.: CN118143723a discloses a gripper type grabbing mechanism for a bearing, which belongs to the technical field of grabbing mechanisms, and discloses a gripper type grabbing mechanism for a bearing, and the gripper type grabbing mechanism comprises a fixed support assembly and a tapered roller body, wherein a driving assembly is fixedly arranged at the upper end of the fixed support assembly, a clamping assembly is fixedly arranged at one end of the driving assembly, a movable assembly is fixedly connected at the upper end of the clamping assembly, and the clamping assembly comprises a mounting piece. According to the invention, through the cooperation of the structures such as the first connecting block and the second connecting block, the situation that the material cannot be clamped when the material is manually grabbed by using the iron clamp is avoided, the first connecting block, the second connecting block and the first spring telescopic rod are used for abutting against the tapered roller body, the second connecting block moves towards the direction close to the mounting piece, and the first spring telescopic rod gives an elastic force to the second connecting block, so that the tapered roller body is better grabbed, the grabbing is more stable when the tapered roller is grabbed, the labor cost is reduced, and the working efficiency is improved.
Chinese patent application publication No.: CN115258661a discloses a gripper device and a material transfer system thereof, the invention discloses a gripper device and a material transfer system thereof, which comprises a mounting seat, an upper gripper and a lower gripper mechanism, wherein the upper gripper is fixedly connected to the mounting seat and is provided with a gripping supporting point above the material; the lower clamping hand mechanism comprises a power driving part, a lower clamping head and a clamping head rotating piece, and a rotating shaft supporting point for rotatably supporting the middle part of the clamping head rotating piece is further arranged at the outer edge of the material to be clamped beside the clamping and taking supporting point of the upper clamping hand; one end of the chuck rotating piece is driven by the power driving part, and the other free end of the chuck rotating piece is fixedly connected with the lower chuck; the power driving part drives the chuck rotating piece to deflect by a certain angle by taking the pivot as a rotation center and driving the lower chuck connected with the free end, the lower chuck clamps and clamps the materials by clamping the supporting point which is arranged below the materials to be grabbed and is arranged above the lower chuck relatively, the automatic grabbing, transferring and automatic discharging of the materials are realized through the gripper device, and the automatic transferring during the feeding of the plate body or the processing process of the plate body is facilitated, so that the production efficiency is effectively improved.
However, the above method has the following problems: the claw type grabbing mechanism is used for grabbing the situation that the tapered roller is easy to slide, meanwhile, the spring mechanism is easy to fatigue, the elastic force is insufficient, the tapered roller slides, the mechanical hand can shake due to inertia in the process of grabbing an object to move, the object to be grabbed cannot be accurately placed by the mechanical hand, the object with the offset placement position cannot be corrected, and the next grabbing action cannot be corrected according to the action parameters of the previous grabbing of the object.
Disclosure of Invention
Therefore, the invention provides a stable control system for an automatic grabbing conical head, which is used for solving the problems that in the prior art, a claw type grabbing mechanism is used for grabbing a conical roller and is easy to slide, meanwhile, the spring mechanism is easy to have fatigue, so that the elastic force is insufficient to enable the conical roller to slide, the mechanical gripper can shake due to inertia in the process of grabbing an object to move, the mechanical gripper cannot accurately place the object to be grabbed, the object with offset placement cannot be corrected, and the next grabbing action cannot be corrected according to the action parameters of the last object grabbing.
In order to achieve the above object, the present invention provides a stability control system for an automatic gripping cone, comprising:
The mechanical arm is used for grabbing the cone and transferring the cone to the limiting platform;
The controller is connected with the mechanical arm and is used for acquiring measurement results of different stages in one grabbing process and adjusting the transfer rate, the initial distance value and the final distance value of the mechanical arm according to the measurement results in the next stage in the same grabbing process or the corresponding stage in the next grabbing process, wherein the transfer rate, the initial distance value and the final distance value comprise a grabbing stage, a transferring stage and a stabilizing stage;
Wherein the measurement includes the initial distance value, the final distance value, an amplitude value, and the transfer rate.
Further, the method further comprises the following steps:
the distance sensor is respectively connected with the mechanical arm and the controller and used for measuring the distance between the mechanical arm and the cone at the beginning of the grabbing stage and at the end of the stabilizing stage and respectively generating an initial distance value and a final distance value;
The vibration sensor is respectively connected with the mechanical arm and the controller and is used for measuring the amplitude of the grabbing head of the mechanical arm and generating an amplitude value;
The displacement sensor is respectively connected with the mechanical arm and the controller and is used for measuring the displacement of the mechanical arm grabbing head in unit time and generating a transfer rate;
The limiting platform is connected with the mechanical arm and used for fixing a bolt and adjusting the cone position to enable the cone position to correspond to the bolt position.
Further, the controller obtains an initial distance value at the beginning of the grabbing stage and a first amplitude value at the end of the grabbing stage, and compares the first amplitude value with a maximum set value;
If the first amplitude value is larger than the maximum set value, the controller judges that the initial distance value is too large and reduces the initial distance value at the beginning of the next grabbing stage;
If the first amplitude value is not greater than the maximum set value, the controller judges that the initial distance value is normal and grabs with the same initial distance value when the next grabbing stage begins;
wherein the maximum set point is inversely related to the weight of the cone being grasped.
Further, the controller obtains a first transfer rate of the transfer phase and a second amplitude value at the end of the transfer phase, and compares the second amplitude value with the maximum set value;
If the second amplitude value is greater than the maximum set value, the controller determines that the first transfer rate is too great and reduces the first transfer rate of the next transfer stage;
and if the second amplitude value is not greater than the maximum set value, the controller judges that the first transfer rate is normal and drives the mechanical arm at the same first transfer rate in the next transfer stage.
Further, at the beginning of the stabilization phase, if the second amplitude value is greater than the maximum set point, the controller decreases the first transfer rate;
If the second amplitude value is not greater than the maximum set point, the controller maintains the first transfer rate unchanged.
Further, when the stabilization phase is finished, the controller acquires a third amplitude value and a second transfer rate of the stabilization phase, and compares the third amplitude value with the maximum set value;
If the third amplitude value is greater than the maximum set value, the controller determines that the second transfer rate is too great and reduces the first transfer rate of the next transfer stage;
And if the third amplitude value is not greater than the maximum set value, the controller judges that the second transfer rate is normal and drives the mechanical arm at the same second transfer rate in the next stable stage.
Further, at the end of the stabilization phase, if the third amplitude value is greater than the maximum set value, the mechanical arm is stationary until the third amplitude value is not greater than the maximum set value, and the gripped cone is released.
Further, the cone falls onto the limiting platform when the mechanical arm loosens the grabbing head, the controller obtains the final distance value, and if the cone falls into the effective area of the limiting platform, the controller loosens the grabbing head with the same final distance value next time;
if the cone falls outside the effective area of the limiting platform, the controller reduces the final distance value when the grabbing head is loosened next time.
Further, the limiting platform is composed of a fixed part and a moving part, and the moving part pushes the cone falling on the effective area to the fixed part.
Further, the controller obtains the height of the grabbing head and the limiting platform measured by the distance sensor and keeps the height always larger than the final distance value.
Compared with the prior art, the system has the beneficial effects that by adopting the mode of arranging the devices, various parameters in the single cone grabbing action of the mechanical arm are effectively detected, so that the subsequent grabbing actions are guided and adjusted, the grabbing action efficiency is improved, and the stability and the practicability of the automatic cone grabbing device are effectively improved.
Further, by means of detecting the initial distance at the beginning of the grabbing stage and the amplitude value at the end of the grabbing stage, the amplitude values at the end of the grabbing stage corresponding to the initial distance at the beginning of the different grabbing stages are obtained through analysis, and the initial distance at the beginning of the grabbing stage is adjusted, so that the amplitude value at the end of the grabbing stage is adjusted, the stability and the practicability of the automatic grabbing cone head device are further improved while the inertia shaking of an object during grabbing is effectively reduced.
Further, by means of detecting the transfer rate and the amplitude value, the transfer rate of the mechanical arm is adjusted, the transfer time is effectively reduced, meanwhile, the vibration amplitude of the object to be grabbed is reduced, and the stability and the practicability of the automatic grabbing cone head device are further improved.
Further, by means of the limiting platform, the position of the cone can be further adjusted after the cone is placed by the mechanical arm, and the stability and practicality of the automatic grabbing cone head device are further improved while the object with the position offset is effectively corrected.
Drawings
FIG. 1 is a schematic diagram of a stabilization control system for an automatic gripping cone according to the present invention;
FIG. 2 is a diagram of a robotic arm gripping cone according to an embodiment of the present invention;
FIG. 3 is a block diagram of a limiting platform according to an embodiment of the present invention;
FIG. 4 is a logic diagram illustrating the operation of the controller at each stage of the present invention;
wherein: 1, a mechanical arm; 2, cone; 3, limiting a platform; 31, a fixing part; 32, a moving part; 33, an effective area; 4, a distance sensor; 5, a vibration sensor; 6, a displacement sensor; 7, a bolt; 8, grabbing the head.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, which is a schematic structural diagram of a stabilization control system for an automatic gripping cone according to the present invention, the stabilization control system for an automatic gripping cone includes:
the mechanical arm is used for grabbing the cone and transferring the cone to the limiting platform;
The controller is connected with the mechanical arm and used for acquiring measurement results of different stages in the grabbing process at one time and adjusting the transfer rate, the initial distance value and the final distance value of the mechanical arm according to the measurement results at the next stage in the same grabbing process or the corresponding stage in the next grabbing process, wherein the transfer rate, the initial distance value and the final distance value comprise a grabbing stage, a transferring stage and a stabilizing stage;
wherein the measurement results include an initial distance value, a final distance value, an amplitude value, and a transfer rate.
Specifically, a stable control system of automatic awl head of snatching still includes:
the distance sensor is respectively connected with the mechanical arm and the controller and is used for measuring the distance between the mechanical arm and the cone at the beginning of the grabbing stage and at the end of the stabilizing stage and respectively generating an initial distance value and a final distance value;
the vibration sensor is respectively connected with the mechanical arm and the controller and is used for measuring the amplitude of the grabbing head of the mechanical arm and generating an amplitude value;
the displacement sensor is respectively connected with the mechanical arm and the controller and is used for measuring the displacement of the mechanical arm grabbing head in unit time and generating a transfer rate;
and the limiting platform is connected with the mechanical arm and used for fixing the bolt and adjusting the position of the cone to enable the position of the cone to correspond to the position of the bolt.
Fig. 2 is a diagram showing a structure of a mechanical arm grabbing cone according to an embodiment of the invention; wherein one end of the mechanical arm 1 is fixed; the grabbing head 8 is arranged at the other end of the mechanical arm; the cone 2 is loosened by the grabbing head 8 and falls on the limiting platform 3; the distance sensor 4 is connected with the mechanical arm 1; the vibration sensor 5 is connected with the mechanical arm 1; the displacement sensor 6 is connected with the mechanical arm 1; the bolt 7 is connected with the cone 2 after the position of the cone 2 is fixed by the limiting platform 3.
Specifically, the system of the invention effectively detects various parameters in the single cone grabbing action of the mechanical arm by means of arranging the devices, so that the subsequent grabbing actions are guided and adjusted, the efficiency of the grabbing actions is improved, and the stability and the practicability of the automatic cone grabbing device are effectively improved.
Please refer to fig. 4, which is a logic diagram of the controller operation of each stage of the present invention, wherein the controller obtains an initial distance value at the beginning of the capturing stage and a first amplitude value at the end of the capturing stage, and compares the first amplitude value with a maximum set value;
If the first amplitude value is larger than the maximum set value, the controller judges that the initial distance value is too large and reduces the initial distance value at the beginning of the next grabbing stage;
if the first amplitude value is not greater than the maximum set value, the controller judges that the initial distance value is normal and performs grabbing with the same initial distance value at the beginning of the next grabbing stage;
Example 1: in this embodiment, the maximum set value is 2 cm, the controller acquires an initial distance value of 1cm at the beginning of the grabbing stage, and if the first amplitude value at the end of the grabbing stage is 3cm and is greater than the maximum set value, the controller determines that the initial distance value is too large and adjusts the initial distance value at the beginning of the next grabbing stage to be 0.5 cm;
If the first amplitude value at the end of the grabbing stage is 1 cm and is smaller than the maximum set value, the controller judges that the initial distance value is normal and continues grabbing with the initial distance value of 1 cm when the next grabbing stage starts.
Wherein the maximum set point is inversely related to the weight of the cone being grasped.
In one embodiment, the cone weight being grasped is 0.1 kg, with a maximum set point of 3 cm;
the weight of the grabbed cone is 0.5 kg, and the maximum set value is 2 cm;
The cone to be grasped weighs 1 kg and the maximum set point is 1 cm.
Specifically, by means of detecting the initial distance at the beginning of the grabbing stage and the amplitude value at the end of the grabbing stage, the amplitude values at the end of the grabbing stage corresponding to the initial distance at the beginning of the different grabbing stages are obtained through analysis, and the initial distance at the beginning of the grabbing stage is adjusted, so that the amplitude value at the end of the grabbing stage is adjusted, the stability and the practicability of the automatic grabbing cone head device are further improved while the shaking of the object due to inertia during grabbing is effectively reduced.
With continued reference to fig. 4, the controller obtains a first transfer rate of the transfer phase and a second amplitude value at the end of the transfer phase, and compares the second amplitude value with a maximum set value;
If the second amplitude value is larger than the maximum set value, the controller judges that the first transfer rate is too large and reduces the first transfer rate of the next transfer stage;
If the second amplitude value is not greater than the maximum set value, the controller judges that the first transfer rate is normal and drives the mechanical arm at the same first transfer rate in the next transfer stage.
Example 2: on the basis of embodiment 1, this embodiment differs from this in that the controller acquires a first transfer rate of 0.5 meters per second for the transfer phase, and if the second amplitude value at the end of the transfer phase is 3 cm greater than the maximum set value of 2 cm, the controller determines that the first transfer rate is excessive and drives the robot arm at a transfer rate of 0.3 meters per second for the next transfer phase;
if the second amplitude value at the end of the transfer phase is 1 cm less than the maximum set point of 2 cm, the controller determines that the first transfer rate is normal and drives the robot arm at a transfer rate of 0.5 meters per second in the next transfer phase.
With continued reference to fig. 4, at the beginning of the steady phase, if the second amplitude value is greater than the maximum set value, the controller decreases the first transfer rate;
if the second amplitude value is not greater than the maximum set point, the controller maintains the first transfer rate unchanged.
Example 3: on the basis of embodiment 2, this embodiment differs from this in that, at the beginning of the steady phase, the controller acquires a first transfer rate of 0.5 meters per second for the transfer phase, and if the second amplitude value is 3 cm greater than the maximum set point of 2 cm, the controller reduces the first transfer rate to 0.3 meters per second;
If the second amplitude value is 1cm less than the maximum set point of 2 cm, the controller maintains the first transfer rate unchanged.
With continued reference to fig. 4, at the end of the stabilization phase, the controller obtains a third amplitude value and a second transfer rate of the stabilization phase, and compares the third amplitude value with a maximum set value;
if the third amplitude value is larger than the maximum set value, the controller judges that the second transfer rate is too large and reduces the first transfer rate of the next transfer stage;
if the third amplitude value is not greater than the maximum set value, the controller judges that the second transfer rate is normal and drives the mechanical arm at the same second transfer rate in the next stable stage.
Example 4: on the basis of embodiment 3, this embodiment differs from this in that, at the end of the steady phase, the controller acquires the second transfer rate of 0.5 m/s, and if the third amplitude value 3 cm is acquired at this time to be greater than the maximum set value 2 cm, the controller determines that the second transfer rate is too great and drives the robot arm at the transfer rate of 0.3 m/s in the next transfer phase;
If the third amplitude value is obtained at this time and is smaller than the maximum set value by 2 cm, the controller judges that the second transfer rate is normal and drives the mechanical arm at the transfer rate of 0.5 m/s in the next stable stage.
With continued reference to fig. 4, at the end of the stabilization phase, if the third amplitude value is greater than the maximum set value, the mechanical arm is stationary until the third amplitude value is not greater than the maximum set value, and the gripped cone is released.
Specifically, by means of detecting the transfer rate and the amplitude value and adjusting the transfer rate of the mechanical arm, the vibration amplitude of the object to be grabbed is reduced while the transfer time is effectively reduced, and the stability and the practicability of the automatic grabbing cone head device are further improved.
With continued reference to fig. 4, the cone is dropped onto the limiting platform when the mechanical arm releases the gripping head, the controller obtains a final distance value, and if the cone drops into the effective area of the limiting platform, the controller releases the gripping head at the same final distance value next time;
If the cone falls outside the effective area of the limiting platform, the controller reduces the final distance value the next time the gripping head is released.
Please refer to fig. 3, which is a block diagram of a limiting platform according to an embodiment of the present invention; the limiting platform 3 comprises a fixed part 31 and a moving part 32, and the effective area 33 is an area between two baffles on the fixed part 31 and the moving part 32.
Example 5: on the basis of embodiment 4, the difference between the embodiment and the embodiment is that the cone falls onto the limiting platform when the mechanical arm loosens the grabbing head, the controller obtains a final distance value of 3 cm, and if the cone falls into the effective area of the limiting platform, the controller loosens the grabbing head with the same final distance value next time;
If the cone falls outside the effective area of the restraining stage, the controller releases the cone at a final distance value of 2 cm the next time the gripper head is released.
Specifically, the limiting platform consists of a fixed part and a moving part, and the moving part pushes the cone falling in the effective area to the fixed part.
Specifically, by means of the limiting platform, the position of the cone can be further adjusted after the cone is placed by the mechanical arm, and the stability and practicality of the automatic grabbing cone head device are further improved while the object with the position offset is effectively corrected.
Specifically, the controller obtains the height of the grabbing head and the limiting platform measured by the distance sensor and keeps the height always larger than a final distance value.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A stability control system for an automatic gripping cone, comprising:
The mechanical arm is used for grabbing the cone and transferring the cone to the limiting platform;
The controller is connected with the mechanical arm and is used for acquiring measurement results of different stages in one grabbing process and adjusting the transfer rate, the initial distance value and the final distance value of the mechanical arm according to the measurement results in the next stage in the same grabbing process or the corresponding stage in the next grabbing process, wherein the transfer rate, the initial distance value and the final distance value comprise a grabbing stage, a transferring stage and a stabilizing stage;
wherein the measurement includes the initial distance value, the final distance value, an amplitude value, and the transfer rate;
the distance sensor is respectively connected with the mechanical arm and the controller and used for measuring the distance between the mechanical arm and the cone at the beginning of the grabbing stage and at the end of the stabilizing stage and respectively generating an initial distance value and a final distance value;
The vibration sensor is respectively connected with the mechanical arm and the controller and is used for measuring the amplitude of the grabbing head of the mechanical arm and generating an amplitude value;
The displacement sensor is respectively connected with the mechanical arm and the controller and is used for measuring the displacement of the mechanical arm grabbing head in unit time and generating a transfer rate;
The limiting platform is connected with the mechanical arm and used for fixing a bolt and adjusting the cone position to enable the cone position to correspond to the bolt position;
The controller obtains an initial distance value at the beginning of the grabbing stage and a first amplitude value at the end of the grabbing stage, and compares the first amplitude value with a maximum set value;
If the first amplitude value is larger than the maximum set value, the controller judges that the initial distance value is too large and reduces the initial distance value at the beginning of the next grabbing stage;
If the first amplitude value is not greater than the maximum set value, the controller judges that the initial distance value is normal and grabs with the same initial distance value when the next grabbing stage begins;
wherein the maximum set point is inversely related to the weight of the cone being grasped;
the controller obtains a first transfer rate of the transfer phase and a second amplitude value at the end of the transfer phase, and compares the second amplitude value with the maximum set value;
If the second amplitude value is greater than the maximum set point, the controller determines that the first transfer rate is excessive, decreases the first transfer rate at the beginning of the steady phase and decreases the first transfer rate of the next transfer phase;
If the second amplitude value is not greater than the maximum set value, the controller judges that the first transfer rate is normal, keeps the first transfer rate unchanged at the beginning of the stable phase and drives the mechanical arm at the same first transfer rate in the next transfer phase;
when the stable phase is finished, the controller acquires a third amplitude value and a second transfer rate of the stable phase, and compares the third amplitude value with the maximum set value;
If the third amplitude value is greater than the maximum set value, the controller determines that the second transfer rate is too great and reduces the first transfer rate of the next transfer stage;
If the third amplitude value is not greater than the maximum set value, the controller judges that the second transfer rate is normal and drives the mechanical arm at the same second transfer rate in the next stable stage;
And when the stabilization stage is finished, if the third amplitude value is larger than the maximum set value, loosening the grabbed cone when the mechanical arm is static until the third amplitude value is not larger than the maximum set value.
2. The automatic gripping cone stabilization control system of claim 1, wherein the cone is dropped onto the limiting platform when the gripping cone is released by the robotic arm, the controller obtains the final distance value, and if the cone is dropped into the effective area of the limiting platform, the controller releases the gripping cone at the same final distance value the next time;
if the cone falls outside the effective area of the limiting platform, the controller reduces the final distance value when the grabbing head is loosened next time.
3. The automatic gripping cone stabilization control system according to claim 2, wherein the limit platform is composed of a fixed portion and a moving portion that pushes the cone dropped on the effective area to the fixed portion.
4. The automatic gripping cone stabilization control system of claim 3, wherein the controller acquires the height of the gripping head and the limit platform measured by the distance sensor and keeps the height always greater than the final distance value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411054414.2A CN118559722B (en) | 2024-08-02 | 2024-08-02 | A stable control system for automatically grabbing cone heads |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411054414.2A CN118559722B (en) | 2024-08-02 | 2024-08-02 | A stable control system for automatically grabbing cone heads |
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| CN118559722A CN118559722A (en) | 2024-08-30 |
| CN118559722B true CN118559722B (en) | 2024-11-08 |
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| CN202411054414.2A Active CN118559722B (en) | 2024-08-02 | 2024-08-02 | A stable control system for automatically grabbing cone heads |
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| US20230341247A1 (en) * | 2020-06-18 | 2023-10-26 | Endress+Hauser Flowtec Ag | Vibronic measuring system |
| CN216657995U (en) * | 2021-12-28 | 2022-06-03 | 上海恒灼科技有限公司 | Multi-control mechanical arm for power device detection |
| CN218402653U (en) * | 2022-08-15 | 2023-01-31 | 浪潮金融信息技术有限公司 | Can stably snatch grabbing device with automatic identification label |
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| CN116678343A (en) * | 2023-04-24 | 2023-09-01 | 清华大学 | Measurement method, device, computer equipment and storage medium |
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