Disclosure of Invention
The invention aims to provide a swing arm structure motion control method and a swing device aiming at overcoming the defects of the prior art, and aims to drive an empty box detection device or inspection equipment to approach a container.
The invention realizes the aim through the following technical scheme that the swing arm structure motion control method comprises the following steps:
The track equipartition step, namely equally dividing the motion travel amax of the screw rod seat into M driving sections;
the time calculation step, namely dividing the total movement time t of the detection head by M to obtain the average time delta t used by each swing segment;
A functional relation obtaining step of obtaining a functional relation corresponding to the geometric structure between the detection head and the screw seat;
Substituting the current coordinates of the screw rod seat into the functional relation to obtain the current coordinates of the corresponding detection head, obtaining the coordinates of two nodes corresponding to the current swinging section of the detection head in a similar way, and then calculating the distance between the two nodes;
Dividing the distance by delta t to obtain the average speed Vdn of the current swinging section of the detection head, obtaining the average speeds of all the swinging sections by the same, accumulating, and dividing the accumulated value by M to obtain the average speed Vd of the total movement stroke of the detection head;
a step of obtaining the speed of the screw rod seat, which is to calculate the speed ratio of the detection head (1)Then calculate the average speed of the screw rod seatDividing the average speed of the screw rod seat by the speed ratio of the detection head to obtain the average speed Vcn of the current driving section of the screw rod seat;
And a screw seat control step, wherein the screw seat moves along a preset track at the average speed Vcn of the current driving section of the screw seat so as to drive the detection head to swing.
The control step of the screw rod seat further comprises the step that the main control unit controls the driving mechanism to move, so that the driving mechanism drives the screw rod seat to move along the guide rail at the average speed Vcn of the current driving section of the screw rod seat, and the short swing arm and the long swing arm are driven to swing in the moving process of the screw rod seat, so that the detection head on the long swing arm swings.
The swing device manufactured by the swing arm structure motion control method comprises a swing arm rod, wherein the swing arm rod comprises a short swing arm and a long swing arm which form fixed included angles; the device comprises a swinging device, a connecting rod, a transmission assembly, a driving mechanism and a driving mechanism, wherein one end of the connecting rod is hinged to a long swinging arm, and the other end of the connecting rod is hinged to the side wall of the swinging device;
The track equipartition step also includes:
And initializing, namely establishing a plane rectangular coordinate system by taking the upward sliding direction of the screw rod seat along the guide rail as the positive direction of the Y axis and the downward sliding bottommost end of the screw rod seat along the guide rail as the original point, wherein the screw rod seat moves in the Y axis of the coordinate system corresponding to a point C, the coordinate of the point C is (0, a), the coordinate of the point F is (-b, C), and parameters b, C, e, h, F and beta are input.
The track equipartition step also comprises the steps of recording the coordinates of the point D corresponding to the detection head once every m unit distances of upward movement of the point C, wherein a is the ordinate of the point C, and amax is the maximum value of a;
The step of obtaining the functional relation further comprises the step of obtaining the functional relation by using formulas (1) - (8);
The detecting head speed obtaining step further comprises the step of obtaining the average speed Vdn of the current swinging section of the detecting head by using a formula (11), wherein the average speed Vd of the total moving stroke of the detecting head is obtained by using formulas (10) to (12);
The step of obtaining the speed of the screw base further comprises the step of obtaining the average speed Vcn of the current driving section of the screw base (223) by using formulas (9) - (13);
θ=∠FCJ+90°=∠FCG+∠GCD(7)
In the formula, a is the ordinate of the point C, (-b, C) is the coordinate of the point F, (xD,yD) is the coordinate of the point D, FG=d, CE=e, EG=f, ED=h, GD=h-f=g, CED=β, t is the total time of one movement of the point D, amax is the maximum value of a, m is the distance of each driving segment of the point C per movement of the driving segment, Δt is the time of each driving segment of the point C, Vd1 is the average speed of the point D in the 1 st swinging segment, Vdn is the average speed of the point D in the n-th swinging segment, Vd is the total average speed of the point D, Vcn is the average speed of the point C in the n-th driving segment, point J is the intersection point of FG and the y axis, dxn+1、Dyn+1 is the integer of which the value of n is equal to or more than 0 according to the known D, e, F, h, and substituted equation (8) to obtain the point Dn+1(Dxn+1,Dyn+1).
As a further aspect of the present invention, the β is 135 °.
As a further aspect of the present invention, the β is an obtuse angle.
As a further aspect of the invention, the point F has coordinates (-b, C), the point C has coordinates (0, a), and the maximum value of a is amax, wherein b >0, C > amax.
As a further aspect of the invention, point F is a fixed point, FG oscillates around point F, β is a fixed angle, and point G is on ED.
The control step of the screw rod seat is that the point C moves along the Y axis at the average speed Vcn of the current driving section;
the screw seat control step further comprises the following steps:
Judging a speed change step, namely when (0, ap)∈T1, executing the detection head coordinate acquisition step again to reset the current coordinate of the point C and the current coordinate of the point D, then executing the screw seat speed acquisition step again to reset the average speed Vcn of the current driving section of the point C, and sending a speed change signal to a driving mechanism by a main control unit, wherein ap is the current ordinate of the point C, and T1 is an integer multiple of m;
And a cyclic speed change step, namely the driving mechanism moves along the Y axis at the average speed Vcn after the driving point C is reset according to the speed change signal.
The invention also provides another scheme that the swinging device manufactured by the swinging arm structure motion control method according to any one of the previous schemes comprises:
The swing arm rod comprises a short swing arm and a long swing arm with fixed included angles;
One end of the connecting rod is hinged with the long swing arm, and the other end of the connecting rod is hinged with the side wall of the swing device;
Drive assembly, and
The driving mechanism drives the transmission assembly to drive one end of the short swing arm far away from the long swing arm to move along the linear direction;
the connecting rod is hinged to the swinging device at a hinge point F, the intersection point of the short swinging arm and the long swinging arm is a point E, the intersection point of the connecting rod and the long swinging arm is a point G, and one end of the long swinging arm, which is far away from the short swinging arm, is a point D.
The driving mechanism is a motor, the transmission assembly comprises a guide rail, a screw rod and a screw rod seat, the screw rod seat is movably arranged on the guide rail, the screw rod is in threaded connection with the screw rod seat, the motor is in transmission connection with the screw rod, and one end of the short swing arm, which is far away from the long swing arm, is hinged with the screw rod seat;
The direction of the screw rod seat sliding upwards along the guide rail is the positive direction of the Y axis, the bottommost end of the screw rod seat sliding downwards along the guide rail is the origin of the coordinate system, and the screw rod seat is point C.
The invention has the beneficial effects that:
the detection head is used as an empty box detection device to detect the container, the average speed Vcn of the current driving section of the screw rod seat is obtained by the method, and the screw rod seat moves along a preset track at the average speed Vcn of the current driving section of the screw rod seat so as to drive the detection head to swing, thereby realizing that the detection head is driven to approach the container;
In addition, through the track equipartition step, divide into M drive section with the motion stroke amax of lead screw seat equally, in theory as long as the value of M is enough big, and the motion track amax of lead screw seat equally divides enough, and the speed of detection head just can be close to the uniform velocity in the motion process to optimize the swing effect of detection head, make the detection head can be fast evenly gently be close to the container.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 14, in the embodiment of the present invention, there is provided a container information acquisition device, including a detection head 1 and a swing control device 2 for driving the detection head 1 to move, where the swing control device 2 is provided with a main control board and a main control terminal electrically connected to each other,
The detection head 1 is provided with a laser radar 11, a shooting device 12, an ultrasonic detection head 14, an ultrasonic control board 13, a diffuse reflection photoelectric switch 15, a first lamp panel 16 and a probe adapter plate 17, wherein the first lamp panel 16 is provided with an indicator lamp, the laser radar 11 and the shooting device 12 are used for collecting images, azimuth and other data in a container, the ultrasonic detection head 14 is electrically connected with the ultrasonic control board 13 and used for detecting an obstacle, and collision damage is prevented in the process of driving the detection head 1 to move by the swing control device 2;
The ultrasonic control board 13, the diffuse reflection photoelectric switch 15 and the first lamp panel 16 are respectively and electrically connected with the probe adapter plate 17, the probe adapter plate 17 is electrically connected with the main control board, and the probe adapter plate 17 is used for simplifying circuit connection so as to facilitate wiring and routing; the laser radar 11 comprises a radar probe and a radar control box, wherein the radar probe is arranged on the radar control box, the radar control box is connected to a main control terminal through an exchanger on one hand, and radar information acquired by the radar probe is sent to a platform through the exchanger on the other hand;
In addition, the ultrasonic detection heads 14 are arranged on the outer wall of the detection shell and have bulges, and the diffuse reflection photoelectric switch 15 does not form bulges, so that the diffuse reflection photoelectric switch 15 and the laser radar 11 are arranged on the detection shell in the same direction, and the container vehicle or other obstacles are prevented from being collided easily due to the bulges;
The swing control device 2 is further provided with a motor 21, a guide rail 221, a screw 222, a screw seat 223, a connecting rod 23, a short swing arm 24 and a long swing arm 25 with fixed included angles, the screw seat 223 is movably arranged on the guide rail 221, the screw 222 is in threaded connection with the screw seat 223, the motor 21 and the screw 222 are in transmission connection through a synchronous wheel and a synchronous belt, the motor 21 is electrically connected with a main control board through a motor 21 driver, one end of the short swing arm 24, which is far away from the long swing arm 25, is hinged to the screw seat 223, the detection head 1 is arranged at one end of the long swing arm 25, which is far away from the short swing arm 24, one end of the connecting rod 23 is hinged to the long swing arm 25, and the other end of the connecting rod 23 is hinged to the swing control device 2.
On one hand, the laser radar 11 is arranged on the detection head 1, and the laser radar 11 is utilized to emit detection signals into the container vehicle to acquire imaging so as to judge whether the container is empty or not;
On the other hand, by arranging the swing control device 2 to accommodate the detection head 1 and drive the detection head 1 to approach the container, in detail, the motor 21 drives the transmission assembly 22, specifically, the motor 21 drives the screw rod 222 to rotate, so that the screw rod 222 drives the screw rod seat 223 to slide up and down along the direction of the guide rail 221, when the screw rod seat 223 slides up, the long swing arm 25 is driven to swing down, so that the detection head 1 at the tail end of the long swing arm 25 swings out and approaches the container, and when the screw rod seat 223 slides down, the long swing arm 25 is driven to swing up, so as to accommodate the detection head 1, and the lane space is prevented from being occupied and the running of the vehicle is prevented from being affected. The automatic degree is high, whether the container is completely unloaded or not is favorably checked, and the checking efficiency is effectively improved.
When the device is in operation, the swing control device 2 is arranged beside a road or a safety island, a container vehicle drives in, the motor 21 drives the screw 222 to rotate, the screw 222 drives the screw seat 223 to slide up and down along the direction of the guide rail 221, when the screw seat 223 slides up, the long swing arm 25 is driven to swing down in a direction perpendicular to the moving direction of the container vehicle, so that the detection head 1 at the tail end of the long swing arm 25 swings out and approaches the container, an inspection opening can be formed right above the container approaching the vehicle head, so that the detection head 1 approaches and inspects the interior of the container through the ultrasonic detection head 14 and the shooting device 12, the box door does not need to be completely opened when inspection is achieved, and after inspection is finished, the motor 21 drives the screw seat 223 to slide down, the long swing arm 25 swings up to store the detection head 1, and the influence on the vehicle running due to occupation of the lane space is avoided. For more details, please refer to fig. 14.
Referring to fig. 13, the main communication of the container information acquisition device is 232 serial communication, TTL serial communication, network communication, USB communication and IO signals. The infrared sensor comprises a 232 serial port, a TTL serial port, a USB serial port, a main control terminal, a shooting device 12, an IO signal, a probe adapter plate 17 and a diffuse reflection photoelectric switch 15, wherein the 232 serial port is used for communication of a main control terminal, the main control plate, the probe adapter plate 17, the ultrasonic control plate 13 and the main control plate, the network communication of the main control terminal, the radar control box, the main control terminal and the platform, the USB serial port is used for communication of the main control terminal, the shooting device 12 and the IO signal is used for communication of the probe adapter plate 17 and the diffuse reflection photoelectric switch 15.
In some embodiments, the fixed angle formed between the short swing arm 24 and the long swing arm 25 is β, and β is an obtuse angle.
In some embodiments, the fixed angle formed between the short swing arm 24 and the long swing arm 25 is β, β=135°.
In some embodiments, a plane rectangular coordinate system is established according to the positive direction of the Y-axis along the upward sliding direction of the screw base 223 along the guide rail 221, the hinge point of the connecting rod 23 hinged to the swing control device 2 is a point F, the coordinate of the point F is (-b, C), the coordinate of the screw base 223 is a point C, the coordinate of the point C is (0, a), and the maximum value of a is amax, wherein b >0, C > amax. Specifically, as shown in fig. 10, in the rectangular planar coordinate system of the present invention, a point F is a hinge point where a connecting rod 23 is hinged to the swing control device 2, a point C is a screw seat 223 and slides up and down along a positive Y-axis, CE is a short swing arm 24, ed is a long swing arm 25, fg is a connecting rod 23, and angle CED is a fixed angle β formed between the short swing arm 24 and the long swing arm 25. The coordinates of point F are (-B, C), the coordinates of point C are (0, a), and it is known that point C (0, a) reciprocates between point a (0, 0) and point B (0, amax), a is a variable, so the maximum value of a is denoted as amax, where B >0 and C > amax, preferably b=20 mm. In detail, it has been found through the study of the inventor that when b=0, that is, when the point F is on the Y axis, the motor 21 drives the point C, that is, the screw seat 223, to push the short swing arm 24 and the long swing arm 25 apart and swing out against a large pushing force, which affects the swing effect, so that the point F is disposed at one side of the guide rail 221 to avoid the point F in the length direction of the movement track of the point C, and when the point F (-b, C) and b >0, the pushing force encountered when the motor 21 is driven is more effectively reduced.
The device transmits a detection signal (laser beam) to the interior of the container vehicle through the laser radar 111, compares a received signal (target echo) reflected from a target with the transmission signal, and images the result after proper processing. Meanwhile, the camera 2 is used as an auxiliary means to realize automatic detection of container opening of the container vehicle. The device is provided with an ultrasonic detection head 143 and a diffuse reflection photoelectric 4 for detecting obstacles and preventing collision damage in the device detection process.
As shown in fig. 2 to 4, the left end of the detection head 1 is a left mounting cylinder 101, a left camera bracket 104 is mounted on the left mounting cylinder 101, and a first camera 121 is mounted on the left camera bracket 104. The middle section of the detection head 1 is a middle mounting cylinder 102, the middle mounting cylinder 102 is fixedly connected with a left mounting cylinder 101 through screws, a middle pressure silica gel pad 106 is waterproof, a laser radar 11 is mounted in the middle mounting cylinder 102, one end of the laser radar 11 is limited by one end face of a cylinder body, and the other end of the laser radar 11 is fixed with the other end face of the cylinder body of the middle mounting cylinder 102 through a radar mounting plate 1014. The left end face of the laser radar 11 is fixed with a circuit board bracket 107, and the probe adapter plate 17 is arranged on the circuit board bracket 107. In the appearance position of the lidar 11, a wiring port shield 108 is installed for line-out avoidance, one side of the wiring port shield 108 is fixed with the left mounting cylinder 101, the other side is fixed with the middle mounting cylinder 102, and the middle is waterproof by a waterproof rubber pad 109. The right end of the middle mounting cylinder 102 is connected with the right mounting cylinder 103, the middle pressure O-shaped ring 1010 is waterproof, and the ultrasonic detection head 14 is arranged on the cylinder wall of the right mounting cylinder 103 and used for sensing ultrasonic models so as to prevent collision damage between equipment and obstacles in the movement process. The circuit board mounting plate 1011 is arranged on the inner wall of the right side of the right mounting cylinder 103, the ultrasonic signal control board 13 is arranged on the circuit board mounting plate 1011, and the front end of the right mounting cylinder 103 is replaced by diffuse reflection photoelectricity because the ultrasonic signal control board can only control the signals of 4 ultrasonic detection heads 14, the diffuse reflection photoelectricity is arranged on the inner wall of the right side of the right mounting cylinder 103, the diffuse reflection front baffle 1012 is arranged on the detection surface of the diffuse reflection photoelectricity, the diffuse reflection front baffle 1012 is adhered on the cylinder wall of the front end of the right mounting cylinder 103, and black tea semitransparent materials are adopted, so that the waterproof and light-transmitting effects are achieved, and meanwhile, the interference of external strong light on diffuse reflection signals is prevented. The right camera support 105 is mounted on the right inner wall of the right mounting cylinder 103, a second camera 122 is mounted thereon, and the first camera 121 and the second camera 122 mounted on the left mounting cylinder 101 and the right mounting cylinder 103 are mounted obliquely toward the middle, and coverage of the detection area is achieved by using the wide angle of the cameras. The right end face of the right mounting cylinder 103 is provided with a first lamp panel 16 which can flash light with different colors and transmit the state of the device to the outside. The first lamp panel 16 is wrapped with an end cover 1013, the end cover 1013 is fixed with the right side of the right mounting cylinder 103, and the middle pressure silica gel pad 106 is waterproof. The end cover 1013 is made of milky acrylic, which is beneficial to light transmission. The probe adapter plate 17 is used for transferring signals of the first lamp panel 16, the ultrasonic detection head 14 and the diffuse reflection photoelectric signals, and the signals are collected and then conducted to the platform.
The device is used for detecting whether the container is in an empty state or not, and the motor 21 drives the transmission assembly 22 to enable the swing arm rod (namely the short swing arm 24 and the long swing arm 25) to extend out, and the detection device on the swing arm rod detects and collects data in the container box. The problem of manual site detection efficiency is low is solved, the detection result is fair and public, and the operation of a camera bellows is stopped. The drive assembly 22 preferably includes a guide rail 221, a lead screw 222, and a lead screw seat 223.
As shown in fig. 5 to 9, the swing control device 2 of the whole apparatus is divided into an upper main body base 20 and a lower main body base 30, which are connected by screws, the upper main body base 20 and the lower main body base 30. The main body upper base 20 can be machined by using section steel, a left sealing plate 201 is arranged on the left side of the main body upper base 20, and a long-strip-shaped edge switch 202 is arranged on the left sealing plate 201 and used for preventing clamping when the transmission assembly 22 moves and is retracted. A dust brush 203 is mounted on the left seal plate 201 for preventing dust from entering the interior of the apparatus when the transmission assembly 22 is moved. A set of mounting brackets 204 are mounted on the main body upper base 20, a middle sealing plate 205 is mounted on the mounting brackets 204, a right sealing plate 206 is mounted on the right side of the main body upper base 20, and the right sealing plate 206 is also provided with an edge switch 202 for clamping prevention. A transmission component 22 is arranged in the middle of the base 20 on the main body, and the front end of the transmission component 22 is provided with a detection head 1. The transmission assembly 22 controls the motion of the detection head 1 to complete the detection task. The motor guard plate 207 is installed at the lower ends of the left sealing plate 201 and the right sealing plate 206 and is used for protecting the motor 21 of the driving transmission assembly 22, and the left sealing plate 201, the middle sealing plate 205, the right sealing plate 206 and the motor guard plate 207 are convenient to assemble and disassemble and are beneficial to maintenance. The top end shield 208 is installed on the top of the base 20 on the main body, the second lamp panels 209 are installed on two sides of the top end shield 208, and the second lamp panels 209 can emit light sources to transmit equipment status signals.
The movement process is as follows:
The main body upper base 20 is provided with a lower mounting seat 2011, and the bearing seat 2012 is arranged on the lower mounting seat 2011. An upper mounting seat 2010 is mounted on the upper end of the main body upper base 20, a seated bearing 2013 is mounted on the upper mounting seat 2010, and a screw 222 is hinged between the bearing seat 2012 and the seated bearing 2013. The screw seat 223 is mounted on the screw 222 and can move up and down along the screw 222, the main body upper base 20 is provided with a guide rail 221, and a sliding block of the guide rail 221 is in butt joint with the screw seat 223 to guide the screw seat 223. The motor 21 is installed to lower mount pad 2011, and motor 21 drives the synchromesh 2015 of lower extreme in order to drive lead screw 222 rotation. One end of the screw rod seat 223 is hinged with a short swing arm 24, and the short swing arm 24 is fixedly connected with a long swing arm 25. A connecting rod base 2014 is mounted on the main body upper base 20, one end of a connecting rod 23 is hinged with the connecting rod base 2014, and the other end is hinged with a long swing arm 25. The whole process is that the motor 21 drives the synchronous wheel group 2015 to drive the screw rod 222 to rotate, the screw rod seat 223 ascends or descends under the drive of the screw rod 222 and the guiding action of the guide rail 221, and the short swing arm 24 and the long swing arm 25 swing out or retract under the action of the screw rod seat 223 and the connecting rod 23. An upper limit seat 2016 and a lower limit seat 2017 are arranged on the main body upper base 20, and a shock-absorbing rubber block 2018 is arranged on the upper limit seat 2016 and the lower limit seat 2017 and used as a physical limit for the up-and-down movement of the screw rod seat 223. A travel switch 2019 is mounted on the upper base 20 of the main body for detecting a signal of the movement of the screw base 223 in place.
The motor synchronizing wheel 2020 is installed to motor 21 lower extreme, and synchronizing wheel pressure plate 2021 is installed to motor synchronizing wheel 2020 lower extreme, and synchronizing wheel pressure plate 2021 and motor synchronizing wheel 2020, centre and motor 21 axle screw fixation, screw hole outside design become the hexagon, and when outage, usable ratchet box spanner drive synchronizing wheel group 2015 makes long swing arm 25 withdraw, does not influence the normal use of lane.
The detection head 1 comprises a laser radar 11, a first camera 121 and a second camera 122, and is used for acquiring data such as images, orientations and the like in a container. The ultrasonic detection head 14 and the diffuse reflection photoelectric mounted on the detection head 1 are used to detect an obstacle when the apparatus swings out to operate, so as to protect the detection head 1 from no collision.
The main body upper base 20 is screwed with the main body lower base 30. The base front shield 301 and the base rear shield 302 are installed at the bottom of the main body lower base 30, the control circuit layer board 303 is installed inside the main body lower base 30 and used for controlling the circuit system operation of equipment, and the main control board and the main control terminal are arranged on the control circuit layer board 303. The front end of the main body lower base 30 is provided with a lower main body shield 304, a third camera 305 is arranged on the lower main body shield 304 and used for detecting image signals of a vehicle at the front end of the equipment, and an active amplifier 306 is arranged on the lower main body shield 304 and used for playing equipment voice. The ultrasonic second detecting heads 307 are installed at the front end and both sides of the lower body shield 304 for detecting whether people are mistakenly inserted around the equipment when the equipment is operated so as not to be dangerous. The operation box small door 308 is installed on the right side of the lower main body shield 304, the upper end of the operation box small door 308 is hinged with the lower main body shield 304, the lower end of the operation box small door 308 is matched with the rebound magnetic attraction piece 309 installed on the lower main body shield 304, when the operation box small door 308 is closed, the operation box small door 308 is turned downwards to be attached to the rebound magnetic attraction piece 309, the operation box small door is pressed to be flush with the outer end face of the right side of the lower main body shield 304, the operation box small door 308 is pressed again, the rebound magnetic attraction piece 309 is ejected outwards for a small distance, the operation box small door 308 is driven to be turned outwards, the operation box small door is conveniently opened by hands, and the operation box small door is simple and exquisite in structure. When necessary, the operation box door 308 can be opened, and the key switch 3010 mounted on the lower body cover 304 can be operated to manually operate the apparatus. The front end of the lower body shield 304 is provided with a lower body front cover 3011, and the lower body front cover 3011 is provided with a light curtain 3012 for detecting the in-place condition of the vehicle.
The present invention also provides another aspect, a swing control device 2, including:
the swing arm rod comprises a short swing arm 24 and a long swing arm 25 with fixed included angles;
A connecting rod 23, one end of which is hinged to the long swing arm 25, and the other end of which is hinged to the side wall of the swing control device 2;
drive assembly 22, and
The driving mechanism drives the transmission assembly 22 to drive one end of the short swing arm 24 away from the long swing arm 25 to move along the straight line direction.
By arranging the swing control device 2 to drive an inspection apparatus such as a camera close to the container, inspection of the information inside the container is facilitated. In detail, the inspection device is placed at one end of the long swing arm 25 far away from the short swing arm 24, the driving mechanism drives the transmission assembly 22 to drive one end of the short swing arm 24 far away from the long swing arm 25 to move along a straight line direction, when one end of the short swing arm 24 far away from the long swing arm 25 slides upwards, the long swing arm 25 is driven to swing downwards, so that the inspection device at the tail end of the long swing arm 25 swings out and approaches the container, and when one end of the short swing arm 24 far away from the long swing arm 25 slides downwards, the long swing arm 25 is driven to swing upwards to store the inspection device, so that the lane space is prevented from being occupied to influence the running of a vehicle. The automatic degree is high, is favorable to driving check out test set to be close to the container to whether the inspection of container is unloaded completely, effectively improves inspection efficiency.
In some embodiments, the driving mechanism is a motor 21, the transmission assembly 22 includes a guide rail 221, a screw rod 222 and a screw rod seat 223, the screw rod seat 223 is movably disposed on the guide rail 221, the screw rod 222 is threaded through the screw rod seat 223, the motor 21 is in transmission connection with the screw rod 222, and one end of the short swing arm 24, which is far away from the long swing arm 25, is hinged to the screw rod seat 223.
In some embodiments, the driving mechanism is a hydraulic cylinder or an air cylinder, the transmission assembly 22 includes a linear slide rail and a slide block, one end of the short swing arm 24 away from the long swing arm 25 is hinged to the slide block, and the hydraulic cylinder or the air cylinder drives the slide block to move along the linear slide rail.
In some embodiments, the motor 21 is coupled to the lead screw 222 via a belt or gear drive.
The invention also provides another scheme, a swing arm structure motion control method, which comprises the following steps:
The track equally dividing step is to equally divide the motion travel amax of the screw rod seat 223 into M driving sections;
The time calculation step is that the total movement time t of the detection head 1 is divided by M to obtain the average time deltat used by each swing segment;
A functional relation acquisition step of acquiring a functional relation corresponding to the geometric structure between the detection head 1 and the screw seat 223;
Substituting the current coordinates of the screw rod seat 223 into the functional relation to obtain the corresponding current coordinates of the detection head 1, obtaining the coordinates of two nodes corresponding to the current swinging section of the detection head 1 in a similar way, and then calculating the distance between the two nodes;
Dividing the distance by delta t to obtain the average speed Vdn of the current swinging section of the detection head 1, obtaining the average speeds of all the swinging sections by the same, accumulating, and dividing the accumulated value by M to obtain the average speed Vd of the total movement stroke of the detection head 1;
a step of obtaining the speed of the screw rod seat, which is to calculate the speed ratio of the detection head 1The average speed of the screw seat 223 is calculatedDividing the average speed of the screw seat 223 by the speed ratio of the detection head 1 to obtain the average speed Vcn of the current driving section of the screw seat 223;
And a screw base control step, namely the screw base 223 moves along a preset track at the average speed Vcn of the current driving section so as to drive the detection head 1 to swing.
The detection head is used as an empty box detection device to detect the container, the average speed Vcn of the current driving section of the screw rod seat is obtained by the method, and the screw rod seat moves along a preset track at the average speed Vcn of the current driving section of the screw rod seat so as to drive the detection head to swing, thereby realizing that the detection head is driven to approach the container;
In addition, through the track equipartition step, divide into M drive section with the motion stroke amax of lead screw seat equally, in theory as long as the value of M is enough big, and the motion track amax of lead screw seat equally divides enough, and the speed of detection head just can be close to the uniform velocity in the motion process to optimize the swing effect of detection head, make the detection head can be fast evenly gently be close to the container.
In some embodiments, the lead screw seat control step further comprises a main control unit controlling the driving mechanism to move, so that the driving mechanism drives the lead screw seat 223 to move along the guide rail 221 at the average speed Vcn of the current driving section, and the short swing arm 24 and the long swing arm 25 are driven to swing during the movement of the lead screw seat 223, so that the detection head 1 on the long swing arm 25 swings.
In some embodiments, as shown in fig. 10, 15 and 16, the track sharing step further includes, before:
The initialization step is to establish a plane rectangular coordinate system by taking the upward sliding direction of the screw rod seat 223 along the guide rail 221 as the positive direction of the Y axis and the downward sliding bottommost end of the screw rod seat 223 along the guide rail 221 as the original point, wherein the screw rod seat 223 moves corresponding to a point C in the Y axis of the coordinate system, the coordinate of the point C is 0, the coordinate of the point F is-b and-C, and input parameters b, C, e, h, F and beta are input.
In some embodiments, the track sharing step further comprises recording coordinates of a point D corresponding to the detection head 1 once every m unit distances of upward movement of the point C, wherein a is the ordinate of the point C, and amax is the maximum value of a;
The step of obtaining the functional relation further comprises the step of obtaining the functional relation by using formulas (1) - (8);
The detection head speed obtaining step further comprises the step of obtaining the average speed Vdn of the current swinging section of the detection head 1 by using a formula (11), wherein the average speed Vd of the total movement stroke of the detection head 1 is obtained by using formulas (10) - (12);
the step of obtaining the speed of the screw base further comprises the step of obtaining the average speed Vcn of the current driving section of the screw base 223 by using formulas (9) - (13);
θ=∠FCJ+90°=∠FCG+∠GCD(7)
In the formula, a is the ordinate of the point C, (-b, C) is the coordinate of the point F, (xD,yD) is the coordinate of the point D, FG=d, CE=e, EG=f, ED=h, GD=h-f=g, CED=β, t is the total time of one movement of the point D, amax is the maximum value of a, m is the distance of each driving segment of the point C per movement of the driving segment, Δt is the time of each driving segment of the point C, Vd1 is the average speed of the point D in the 1 st swinging segment, Vdn is the average speed of the point D in the n-th swinging segment, Vd is the total average speed of the point D, vcn is the average speed of the point C in the n-th driving segment, point J is the intersection point of FG and the y axis, dxn+1、Dyn+1 is the point C in (0, 0.1 n) respectively, and the point D is recorded as Dn+1(Dxn+1,Dyn+1 according to a known D, e, F, h, and the substituted equation (8), and the n is an integer greater than or equal to 0.
The empty box detection device is arranged at the position of the point D, the distance between the current coordinate of the detection point C and the origin is used for calculating the average speed Vcn of the current section of the point C by substituting the distance into a formula, and the average speed Vcn of the current section is sent to the main control unit, so that the main control unit outputs the corresponding driving speed by the driving mechanism according to the average speed Vcn of the current section, thereby driving the point C to move along the Y-axis direction so as to drive the ED to swing, and the empty box detection device on the point D is close to the container. The average speed Vcn of the current segment of the point C is obtained through a formula algorithm, the driving mechanism drives the point C to move along the Y-axis direction according to the average speed Vcn, so that the ED swings, in theory, as long as the value of M is large enough, namely the movement track amax of the point C is divided into enough parts, the speed of the point D can be close to a uniform speed in the movement process, so that the swinging effect of the ED is optimized, and the speed of the detection head 1 on the point D can be uniformly and smoothly close to the container.
In some embodiments, the angle ced=β=135°.
In some embodiments, the β is an obtuse angle.
In some embodiments, the point F has coordinates (-b, C), the point C has coordinates (0, a), and the maximum value of a is amax, where b >0, C > amax. Specifically, as shown in fig. 10, 15 and 16, it is known that the point C (0, a) makes a reciprocating motion between the point a (0, 0) and the point B (0, amax), a is a variable, and thus the maximum value of a is denoted as amax, where B >0 and C > amax, preferably b=20 mm. In detail, the inventor found that when b=0, that is, when the point F is on the Y axis, since the point F is a fixed point, the driving point C of the driving mechanism needs to overcome a larger abutting force to push the CE and the ED out and to influence the swinging effect when moving along the Y axis, the point F is disposed at one side of the Y axis to avoid that the point F is in the length direction of the movement track of the point C, and when the point F (-b, C) and b >0, the abutting force encountered when the driving point C of the driving mechanism moves is more effectively reduced.
In some embodiments, point F is a fixed point, FG oscillates around point F, and +_ced=β is a fixed angle, point G being on ED.
In some embodiments, the lead screw seat control step is replaced by point C moving along the Y-axis at the average speed Vcn of the current drive section;
the screw seat control step further comprises the following steps:
Judging a speed change step, namely when (0, ap)∈T1, executing the detection head coordinate acquisition step again to reset the current coordinate of the point C and the current coordinate of the point D, then executing the screw seat speed acquisition step again to reset the average speed Vcn of the current driving section of the point C, and sending a speed change signal to a driving mechanism by a main control unit, wherein ap is the current ordinate of the point C, and T1 is an integer multiple of m;
And a cyclic speed change step, namely the driving mechanism moves along the Y axis at the average speed Vcn after the driving point C is reset according to the speed change signal.
The present invention also provides another solution, as shown in fig. 1 to 16, in another embodiment, a swinging device manufactured according to the method for controlling movement of a swinging arm structure according to any one of the foregoing embodiments, where the swinging device includes:
the swing arm rod comprises a short swing arm 24 and a long swing arm 25 with fixed included angles;
A connecting rod 23, one end of which is hinged with the long swing arm 25, and the other end of which is hinged with the side wall of the swinging device 2;
drive assembly 22, and
The driving mechanism drives the transmission assembly 22 to drive one end of the short swing arm 24 away from the long swing arm 25 to move along the linear direction;
the hinge point of the connecting rod 23 hinged to the swinging device 2 is a point F, the intersection point of the short swinging arm 24 and the long swinging arm 25 is a point E, the intersection point of the connecting rod 23 and the long swinging arm 25 is a point G, and one end of the long swinging arm 25 away from the short swinging arm 24 is a point D.
In some embodiments, the driving mechanism is a motor 21, the transmission assembly 22 includes a guide rail 221, a screw rod 222 and a screw rod seat 223, the screw rod seat 223 is movably disposed on the guide rail 221, the screw rod 222 is threaded through the screw rod seat 223, the motor 21 is in transmission connection with the screw rod 222, and one end of the short swing arm 24, which is far away from the long swing arm 25, is hinged to the screw rod seat 223;
the upward sliding direction of the screw base 223 along the guide rail 221 is the positive direction of the Y axis, the bottommost end of the screw base 223 sliding downward along the guide rail 221 is the origin of the coordinate system, and the screw base 223 is point C.
In some embodiments, the β is a fixed angle formed between the short swing arm 24 and the long swing arm 25.
The formula derivation process:
As shown in fig. 10, 15 and 16, fg=d, ce=e, eg=f, ed=h, gd=h-f=g, +_ced=β=135°;
1) Auxiliary lines CG and CD are added to fig. 10, see fig. 15.
According to the cosine law, the length of CG and CD can be calculated:
taking the point C as the center of a circle and the CD as the radius, making a circle, namely the circle C, see FIG. 15;
2) Since the center point C coordinates are (0, a), assuming a is a constant, the parameter equation for circle C is as follows:
Assume that the point D coordinates are (xD,yD).
Because point D is on circle C
3) From fig. 16, it can be seen that θ= angle FCJ +. 90 degree= angle fcg+.gcd (7)
According to Pythagorean theorem, we can find out the angles FCJ and CF
According to cosine theorem, the +.FCG and +.GCD can be obtained
Therefore, the point D position can be found from the point C position:
firstly, obtaining 2 auxiliary lengths (CG and CD) according to formulas (1) and (2) according to the length of a swing arm, a bending angle and the position of a fulcrum on the swing arm;
Secondly, calculating the angle and the length required to be used for the current position of the point C according to the substitution of the position of the current point C and the formulas (6), (7), (8) and (9);
thirdly, calculating the current inclination angle (theta) of the straight line CD from the angle calculated in the second step;
And fourthly, substituting the inclination angle into the step (4) to obtain the position of the point D corresponding to the current position of the point C.
The above is a method of obtaining the point D from the point C.
According to the specific embodiment, the movement range of the point C is 0-1170 mm (amax =1170), FG=844mm, CE=215 mm, EG=522.4mm, ED=2237.2 mm and GD= 1714.8mm;
Assuming that the point C moves up 0.1mm (m=0.1), the point D coordinates are recorded once, the point C is at (0, 0), the calculated point D is recorded as D1(Dx1,Dy1 according to the known D, e, f, h substituted equation (8), the calculated point D is recorded as D2(Dx2,Dy2 according to the known D, e, f, h substituted equation (8), and the like until the point C moves to (0,1170), the known D, e, f, h substituted equation (8), and the calculated point D takes 11701 points in total (specific points can refer to excel table).
Since the distance D1 to D2 is:
The distance Dn to Dn+1 is therefore:
Assuming that the device requires 3 seconds to turn on or off (t=3), the 3 seconds are divided into 11700 parts (m=1700), each of which is about
So the speed of the first segment point D is
The speed of the nth segment point D is:
averaging the speed of 11700 points D, i.e
The speed of the first segment point C is therefore:
the velocity of the nth segment point C can be found according to equation (15) as:
Principle of formula (13) by findingDeriving the velocity variation of point D between the average velocity Vdn of the nth segment and the total average velocity Vd of point D, and then passing through the total average velocity of point CDivided by the amount of change in speedThe actual velocity Vcn at point C is derived. In the detailed embodiment, when Vdn is 0.8 and Vd is 1, the variation is 0.8 and the actual speed of C point Vcn isVcn＝0.48828125 mm/ms, i.e. since the average velocity Vdn of point D over n segments is smaller than the actual velocity Vd, byThe average speed of the point C in the n segment is accelerated to Vcn, so that the average speed Vdn of the point D in the n segment is close to or even equal to the total average speed Vd of the point D, namely, the difference between the point D and Vd is complemented by Vdn, and similarly, when the average speed Vdn of the point D in the n segment is larger than the actual speed Vd, the difference between the point D and Vd is reduced by Vdn to be close to or even equal to Vd.
In view of the above, the present invention has the above-mentioned excellent characteristics, so that it can be used to improve the performance and practicality of the prior art, and is a product with great practical value.
The foregoing is merely exemplary of the present invention, and those skilled in the art should not be considered as limiting the invention, since modifications may be made in the specific embodiments and application scope of the invention in light of the teachings of the present invention.