阅读说明：本技术 一种矿用智能双臂液压吊装机器人及其控制方法 (Intelligent double-arm hydraulic hoisting robot for mine and control method thereof ) 是由 程刚 康彬 王志宏 陈雨 赵国琪 赵长清 李美四 顾伟 于 2019-10-24 设计创作，主要内容包括：本发明公开了一种矿用智能双臂液压吊装机器人及其控制方法,通过控制三个可伸缩液压缸的伸缩长度变化,配合可伸缩液压缸两端的转动接头,使得动平台相对定平台产生三向的位移,吊装工件；中间支链限制了动平台在驱动支链作用下位移过程中绕自身中心轴的转动。旋转底座、一级转头和二级转头使得吊钩具有三向的转动自由度。上述结构使得本发明可灵活控制工件的坐标和位姿；同时三个可伸缩液压缸的长度不同,配合可伸缩液压缸两端的转动接头,设备体积小巧,承重能力强,在吊装时节省空间,尤其适用于矿井中的使用需求。本发明还具有基于深度学习的模糊控制系统,实现智能自动控制。综上,本发明操作便捷,吊装位置精度高,安全可靠。(The invention discloses a mining intelligent double-arm hydraulic hoisting robot and a control method thereof.A movable platform generates three-way displacement relative to a fixed platform by controlling the telescopic length change of three telescopic hydraulic cylinders and matching with rotary joints at two ends of the telescopic hydraulic cylinders, so as to hoist a workpiece; the middle branched chain limits the rotation of the movable platform around the central axis of the movable platform in the displacement process under the action of the driving branched chain. The rotary base, the first-stage rotating head and the second-stage rotating head enable the lifting hook to have three-directional rotational freedom. The structure enables the invention to flexibly control the coordinate and the pose of the workpiece; the length of three scalable pneumatic cylinder is different simultaneously, and the rotary joint at cooperation scalable pneumatic cylinder both ends, equipment small in size, bearing capacity is strong, saves space when hoist and mount, especially is applicable to the user demand in the mine. The invention also has a fuzzy control system based on deep learning, and realizes intelligent automatic control. In conclusion, the invention has the advantages of convenient operation, high precision of hoisting position, safety and reliability.)

1. The utility model provides a mining intelligent double armed hydraulic lifting robot which characterized in that: comprises a movable working platform (13) and two hydraulic arms positioned above the working platform (13);

each hydraulic arm comprises a rotating base (11), a fixed platform (10) and a movable platform (7); wherein the rotating shaft of the rotating base (11) is vertical to the plane of the working platform; the fixed platform (10) is fixed on the rotating base (11); the plane of the fixed platform (10) is vertical to the plane of the working platform;

each hydraulic arm also comprises three driving branched chains; each of the drive branches comprises a telescopic hydraulic cylinder (16); one end of the telescopic hydraulic cylinder (16) is connected with the fixed platform (10) through a first rotating joint (15), and the other end of the telescopic hydraulic cylinder is connected with the movable platform (7) through a second rotating joint (4); the three first rotating joints (15) are arranged in a triangular manner on the plane of the fixed platform (10); the three second rotating joints (4) are arranged in a triangular mode on the plane where the movable platform (7) is located;

each hydraulic arm also comprises an intermediate branched chain; the intermediate branch comprises an intermediate strut (5); one end of the middle supporting rod (5) is connected with a fixed platform (10) through a third rotating joint (9); the third rotating joint (9) can slide relatively along the middle support rod (5), and the third rotating joint (9) is positioned in a triangular connecting area of the three first rotating joints (15); the other end of the second rotating joint is fixed on the movable platform (7) and is positioned in a triangular connecting area of the three second rotating joints (4); the middle supporting rod (5) and each telescopic hydraulic cylinder (16) are located on the same plane in pairs;

a primary rotating head (1) is arranged on the movable platform (7); the rotating shaft of the first-stage rotating head (1) is parallel to the middle supporting rod (5); the primary rotary head (1) is provided with a secondary rotary head (2); the rotating shaft of the second-stage rotating head (2) is vertical to the rotating shaft of the rotating base (11), and the rotating shaft of the second-stage rotating head (2) is vertical to the rotating shaft of the first-stage rotating head (1); and a lifting hook (3) is arranged on the second-stage rotating head (2).

2. The mining intelligent double-arm hydraulic hoisting robot according to claim 1, characterized in that: the first rotary joint (15) and the third rotary joint (9) are Hooke joints; the second rotating joint (4) is a composite ball hinge; the third rotary joint (9) comprises an outer ring (904) and an inner ring (902) positioned in the outer ring (904); two outer ring rotating shafts (905) are respectively arranged on two sides of the outer ring (904), the two outer ring rotating shafts (905) are connected to the fixed platform (10), and the two outer ring rotating shafts (905) are coaxial; two inner ring rotating shafts (901) are respectively arranged on two sides of the inner ring (902), and the two inner ring rotating shafts (901) are connected to the outer ring (904); the two inner ring rotating shafts (901) are coaxial and are perpendicular to the outer ring rotating shaft (905); a sliding block (903) is arranged on the inner side of the inner ring (902); the middle supporting rod (5) is provided with a sliding groove extending along the direction of the middle supporting rod (5); the middle supporting rod (5) is positioned in the inner ring (904), and the sliding block (903) is correspondingly embedded into the sliding groove.

3. The mining intelligent double-arm hydraulic hoisting robot according to claim 2, characterized in that: the bottom of the working platform is provided with a movable wheel mechanism and a telescopic hydraulic support column (12).

4. The mining intelligent double-arm hydraulic hoisting robot according to claim 3, characterized in that: the system also comprises a control system; the control system comprises an industrial personal computer, a hydraulic special servo controller, a rotating mechanism control unit, a walking motion controller, a displacement sensor and an angle sensor; the displacement sensor is arranged on the movable platform (7) and used for detecting the walking displacement of the movable platform (7) and feeding back displacement information to the hydraulic special servo controller;

the angle sensors are respectively arranged on the rotary base (11), the first-stage rotating head (1) and the second-stage rotating head (2) and are used for detecting the rotating angles of the rotary base (11), the first-stage rotating head (1) and the second-stage rotating head (2); the rotation angle information is fed back to the rotation mechanism control unit;

the industrial personal computer controls the action of the telescopic hydraulic cylinder (16) through a special hydraulic servo controller;

the industrial personal computer controls the rotation angles of the rotary base (11), the first-stage rotating head (1) and the second-stage rotating head (2) through the rotary mechanism control unit;

the industrial personal computer controls the movement of the hydraulic support column (12) and the moving wheel mechanism through the walking motion controller.

5. The mining intelligent double-arm hydraulic hoisting robot according to claim 4, characterized in that: the device also comprises a visual detection device; the vision detection device comprises a self-adaptive adjusting illumination module, an automatic focusing unit, an optical lens unit and an image acquisition processing unit; the optical lens is used for acquiring image information of the hung object; the optical lens transmits the contour characteristic information and the image information of the object acquired in real time to the image acquisition processing unit; the image processing unit processes image information, and performs image recognition, edge fitting and three-dimensional model reconstruction according to the detected corner information and edge information of the object; the industrial personal computer receives parameter information fed back by the visual detection device for analysis, draws up a reasonable path, prevents objects in the space from colliding in the hoisting process, and adjusts the posture of the hoisted objects.

6. The mining intelligent double-arm hydraulic hoisting robot according to claim 5, characterized in that: the industrial personal computer system comprises an information storage module, a planning and analyzing module, a model training module and an execution output module; the information storage module is used for describing states of the robot and collected external information, and pre-storing knowledge and rules of behaviors and action sequences of the robot in different states, targets to be achieved and the like; the model training module is used for carrying out training iteration on data acquired from the outside every time, storing the data in a classified mode and transmitting the trained model to the planning and analyzing module; the planning and analyzing module plans the actions and the routes of the hoisting robot in real time according to the model trained by the model training module, the knowledge stored by the information storage module and the knowledge acquired on site; and outputs the execution command through the execution output module.

7. The control method of the mining intelligent double-arm hydraulic hoisting robot as claimed in claim 5, characterized by comprising the following steps:

firstly, controlling a walking motion controller to drive a bottom walking wheel to walk through an industrial personal computer system, and enabling a hoisting robot to reach the position of equipment to be hoisted;

secondly, acquiring spatial position information of the hoisting robot through a visual detection module, and transmitting the acquired spatial position information to an industrial personal computer system in real time, wherein the industrial personal computer system establishes a spatial coordinate system model according to the spatial position information of the robot;

thirdly, the industrial personal computer system controls the hydraulic support column (12) to extend out through the walking motion controller, and adjusts according to the ground condition until the hoisting robot achieves a stable and balanced state relative to the ground;

and fourthly, acquiring the self space coordinate information of the hoisting robot through a visual detection system, then finding a coordinate reference point, enabling a workpiece to be installed to be located on the coordinate reference point, then inputting the space coordinate information of the installation position relative to the workpiece, operating the telescopic hydraulic cylinder (16), the rotating base (11), the first-stage rotating head (1) and the second-stage rotating head (2) to act, and simultaneously calculating the real-time space coordinate position of the hoisting equipment through the displacement sensor and the angle sensor until the workpiece reaches the installation position.

8. The control method of the mining intelligent double-arm hydraulic hoisting robot as claimed in claim 6, characterized by comprising the following steps:

firstly, controlling a walking motion controller to drive a bottom walking wheel to walk through an industrial personal computer system, and enabling a hoisting robot to reach the position of equipment to be hoisted;

secondly, acquiring spatial position information of the hoisting robot through a visual detection module, and transmitting the acquired spatial position information to an industrial personal computer system in real time, wherein the industrial personal computer system establishes a spatial coordinate system model according to the spatial position information of the robot;

thirdly, the visual detection module collects the image information of the object to be hung: the industrial personal computer system transmits the received image information to an information storage module, the information storage module can store and classify the information and transmit the result to a model training module, the model training module can perform multiple rounds of iteration on a large amount of data to obtain various posture information of an object relative to a space coordinate model, then the information is transmitted to a planning and analyzing module, the planning and analyzing module continuously fits and optimizes actions and routes of the hoisting robot according to the model trained by the model training module, the knowledge stored by the information storage module and the knowledge obtained on site to finally obtain an optimal solution, the path and posture adjustment information of the object to be hoisted to the specified position are given in real time, and finally an execution command is output through an execution output module;

fourthly, the industrial personal computer system controls the hydraulic support column (12) to extend out through the walking motion controller, and adjusts according to the ground condition until the hoisting robot achieves a stable and balanced state relative to the ground;

fifthly, combining the position and the attitude of the current hoisting robot by an industrial personal computer control system, starting to install and match the hoisting equipment according to the optimal installation path fitted by the hoisting equipment, controlling a telescopic hydraulic cylinder (16), a rotating base (11), a primary rotating head (1) and a secondary rotating head (2) by the industrial personal computer system through a hydraulic special servo controller and a rotating mechanism control unit according to the path planned in advance by the hoisting equipment when the installation and the matching are carried out, hoisting the object, acquiring the current spatial position information of the hoisting equipment in real time by a visual detection device, feeding the information back to the industrial personal computer system in real time, fitting, planning and optimizing the walking path again by the system to obtain the walking path, combining the attitude information of the current hoisting object, adjusting the attitude deviation of the hoisting equipment until the hoisted equipment is matched with another equipment, the position with the maximum superposition degree of the two is reached;

and sixthly, after the mining double-arm hydraulic hoisting robot completes the operation instruction of one period, the industrial personal computer system stores various data and model parameters of the time into the information storage module to provide reference for subsequent equipment hoisting, and the steps are continuously circulated, so that the function of deep learning is achieved.

Technical Field

The invention belongs to the field of mining equipment, and particularly relates to a mining intelligent double-arm hydraulic hoisting robot and a control method thereof.

Background

In general, various large mechanical equipment working under a mine needs to be dismantled before being transported to the mine, and then is manually installed on site in the mine, for the mechanical equipment with less weight, more than several tons, more than ten tons and more than ten tons, the construction can be completed on the land by various cranes and lifting machines, and in most cases, flat handlebar components are transported to an assembly room under the mine, the components are assembled into individual assemblies, and then the individual assemblies are transported to an installation position for assembly.

Many devices used under coal mines, such as hydraulic supports, are about 30 tons and play a role in supporting the roof of the coal mine. The coal mining machine set is arranged below the coal mining machine set, but most mines are small, so that a hydraulic support for coal mining needs to be firstly decomposed and transported to the underground for assembly, simple tools are generally used for assembling the hydraulic support in various domestic coal mines at present, and personnel is required to command under hoisting equipment to complete installation.

Disclosure of Invention

In order to solve the problems, the invention provides the mining intelligent double-arm hydraulic hoisting robot and the control method thereof, which can automatically complete hoisting of various mining equipment components under a mine, and are convenient to operate, high in hoisting position precision, safe and reliable.

The technical scheme is as follows: the invention provides a mining intelligent double-arm hydraulic hoisting robot, which comprises a movable working platform and two hydraulic arms positioned above the working platform;

each hydraulic arm comprises a rotating base, a fixed platform and a movable platform; wherein the rotating shaft of the rotating base is vertical to the plane of the working platform; the fixed platform is fixed on the rotating base; the plane of the fixed platform is vertical to the plane of the working platform;

each hydraulic arm also comprises three driving branched chains; each driving branched chain comprises a telescopic hydraulic cylinder; one end of the telescopic hydraulic cylinder is connected with the fixed platform through a first rotating joint, and the other end of the telescopic hydraulic cylinder is connected with the movable platform through a second rotating joint; the three first rotating joints are arranged in a triangular mode on the plane where the fixed platform is located; the three second rotating joints are arranged in a triangular mode on the plane where the movable platform is located;

each hydraulic arm also comprises an intermediate branched chain; the intermediate branched chain comprises an intermediate strut; one end of the middle supporting rod is connected with the fixed platform through a third rotating joint; the third rotating joint can relatively slide along the middle supporting rod, and is positioned in the triangular connecting areas of the three first rotating joints; the other end of the second rotating joint is fixed on the movable platform and is positioned in a triangular connecting area of the three second rotating joints; the middle supporting rod and each telescopic hydraulic cylinder are located on the same plane in pairs;

a first-stage rotating head is arranged on the movable platform; the rotating shaft of the first-stage rotating head is parallel to the middle supporting rod; the first-stage rotating head is provided with a second-stage rotating head; the rotating shaft of the second-stage rotating head is vertical to the rotating shaft of the rotating base, and the rotating shaft of the second-stage rotating head is vertical to the rotating shaft of the first-stage rotating head; and a lifting hook is arranged on the second-stage rotating head.

Further, the first rotary joint and the third rotary joint are Hooke joints; the second rotating joint is a composite ball hinge; the third rotary joint comprises an outer ring and an inner ring positioned in the outer ring; two outer ring rotating shafts are respectively arranged on two sides of the outer ring, the two outer ring rotating shafts are connected to the fixed platform, and the two outer ring rotating shafts are coaxial; two inner ring rotating shafts are respectively arranged on two sides of the inner ring, and the two inner ring rotating shafts are connected to the outer ring; the two inner ring rotating shafts are coaxial and perpendicular to the outer ring rotating shaft; a sliding block is arranged on the inner side of the inner ring; the middle supporting rod is provided with a sliding groove extending along the direction of the middle supporting rod; the middle supporting rod is positioned in the inner ring, and the sliding block is correspondingly embedded into the sliding groove.

Further, the bottom of work platform is provided with removal wheel mechanism and telescopic hydraulic support post.

Further, the system also comprises a control system; the control system comprises an industrial personal computer, a hydraulic special servo controller, a rotating mechanism control unit, a walking motion controller, a displacement sensor and an angle sensor; the displacement sensor is arranged on the movable platform and used for detecting the displacement of the movable platform during walking and feeding back the displacement information to the hydraulic special servo controller;

the angle sensors are respectively arranged on the rotary base, the first-stage rotating head and the second-stage rotating head and are used for detecting the rotating angles of the rotary base, the first-stage rotating head and the second-stage rotating head; the rotation angle information is fed back to the rotation mechanism control unit;

the industrial personal computer controls the action of the telescopic hydraulic cylinder through a special hydraulic servo controller;

the industrial personal computer controls the rotation angles of the rotary base, the first-stage rotating head and the second-stage rotating head through the rotary mechanism control unit;

the industrial personal computer controls the movement of the hydraulic support column and the moving wheel mechanism through the walking motion controller.

Further, the device also comprises a visual detection device; the vision detection device comprises a self-adaptive adjusting illumination module, an automatic focusing unit, an optical lens unit and an image acquisition processing unit; the optical lens is used for acquiring image information of the hung object; the optical lens transmits the contour characteristic information and the image information of the object acquired in real time to the image acquisition processing unit; the image processing unit processes image information, and performs image recognition, edge fitting and three-dimensional model reconstruction according to the detected corner information and edge information of the object; the industrial personal computer receives parameter information fed back by the visual detection device for analysis, draws up a reasonable path, prevents objects in the space from colliding in the hoisting process, and adjusts the posture of the hoisted objects.

Furthermore, the industrial personal computer system comprises an information storage module, a planning and analyzing module, a model training module and an execution output module; the information storage module is used for describing states of the robot and collected external information, and pre-storing knowledge and rules of behaviors and action sequences of the robot in different states, targets to be achieved and the like; the model training module is used for carrying out training iteration on data acquired from the outside every time, storing the data in a classified mode and transmitting the trained model to the planning and analyzing module; the planning and analyzing module plans the actions and the routes of the hoisting robot in real time according to the model trained by the model training module, the knowledge stored by the information storage module and the knowledge acquired on site; and outputs the execution command through the execution output module.

The control method of the mining intelligent double-arm hydraulic hoisting robot comprises the following steps:

firstly, controlling a walking motion controller to drive a bottom walking wheel to walk through an industrial personal computer system, and enabling a hoisting robot to reach the position of equipment to be hoisted;

secondly, acquiring spatial position information of the hoisting robot through a visual detection module, and transmitting the acquired spatial position information to an industrial personal computer system in real time, wherein the industrial personal computer system establishes a spatial coordinate system model according to the spatial position information of the robot;

thirdly, the industrial personal computer system controls the hydraulic support column to extend out through the walking motion controller, and the hydraulic support column is adjusted according to the ground condition until the hoisting robot reaches a stable and balanced state relative to the ground;

and fourthly, acquiring the self space coordinate information of the hoisting robot through a visual detection system, then finding a coordinate reference point, enabling a workpiece to be installed to be located on the coordinate reference point, then inputting the space coordinate information of the installation position relative to the workpiece, operating the telescopic hydraulic cylinder, the rotating base, the primary rotating head and the secondary rotating head to act, and simultaneously calculating the real-time space coordinate position of the hoisting equipment through the displacement sensor and the angle sensor until the workpiece reaches the installation position.

The other control method of the mining intelligent double-arm hydraulic hoisting robot comprises the following steps:

firstly, controlling a walking motion controller to drive a bottom walking wheel to walk through an industrial personal computer system, and enabling a hoisting robot to reach the position of equipment to be hoisted;

secondly, acquiring spatial position information of the hoisting robot through a visual detection module, and transmitting the acquired spatial position information to an industrial personal computer system in real time, wherein the industrial personal computer system establishes a spatial coordinate system model according to the spatial position information of the robot;

thirdly, the visual detection module collects the image information of the object to be hung: the industrial personal computer system transmits the received image information to an information storage module, the information storage module can store and classify the information and transmit the result to a model training module, the model training module can perform multiple rounds of iteration on a large amount of data to obtain various posture information of an object relative to a space coordinate model, then the information is transmitted to a planning and analyzing module, the planning and analyzing module continuously fits and optimizes actions and routes of the hoisting robot according to the model trained by the model training module, the knowledge stored by the information storage module and the knowledge obtained on site to finally obtain an optimal solution, the path and posture adjustment information of the object to be hoisted to the specified position are given in real time, and finally an execution command is output through an execution output module;

fourthly, the industrial personal computer system controls the hydraulic support columns to extend out through the walking motion controller, and the hydraulic support columns are adjusted according to the ground condition until the lifting robot achieves a stable and balanced state relative to the ground;

fifthly, combining the position and the attitude of the current hoisting robot by the industrial personal computer control system, starting to install and match the hoisting equipment according to the optimal installation path fitted by the hoisting equipment, controlling the telescopic hydraulic cylinder, the rotary base, the primary rotary head and the secondary rotary head according to the path planned in advance by the hoisting equipment through the hydraulic special servo controller and the rotary mechanism control unit when the installation and the matching are carried out, hoisting the object, acquiring the current spatial position information of the hoisting equipment in real time by the visual detection device, feeding the information back to the industrial personal computer system in real time, fitting, planning and optimizing the walking path by the system again to obtain the walking path, combining the attitude information of the current hoisting object, adjusting the attitude deviation of the hoisting equipment until the hoisted equipment is opposite to another equipment needing to be matched, the position with the maximum superposition degree of the two is reached;

and sixthly, after the mining double-arm hydraulic hoisting robot completes the operation instruction of one period, the industrial personal computer system stores various data and model parameters of the time into the information storage module to provide reference for subsequent equipment hoisting, and the steps are continuously circulated, so that the function of deep learning is achieved.

Has the advantages that: according to the invention, the telescopic length change of the three telescopic hydraulic cylinders is controlled, and the movable platform is enabled to generate three-way displacement relative to the fixed platform by matching with the rotary joints at the two ends of the telescopic hydraulic cylinders, so that a workpiece is hoisted; the middle branched chain limits the rotation of the movable platform around the central axis of the movable platform in the displacement process under the action of the driving branched chain. Rotating base, one-level turn round and second grade turn round for the lifting hook has the rotational degree of freedom of three-dimensional. The structure enables the invention to flexibly control the coordinate and the pose of the workpiece; the length of three scalable pneumatic cylinder is different simultaneously, and the rotary joint at cooperation scalable pneumatic cylinder both ends, equipment small in size, bearing capacity is strong, saves space when hoist and mount, especially is applicable to the user demand in the mine. The invention also has a fuzzy control system based on deep learning, and realizes intelligent automatic control. In conclusion, the invention has the advantages of convenient operation, high precision of hoisting position, safety and reliability.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic partial structure of an intermediate branch chain according to the present invention;

FIG. 3 is a schematic view of a portion of the moving wheel mechanism of the present invention;

FIG. 4 is a control system schematic of the present invention;

FIG. 5 is a flow chart of the control system of the present invention.

Detailed Description

Referring to fig. 1, the invention provides an intelligent double-arm hydraulic lifting robot for a mine, which comprises a movable working platform 13 and two hydraulic arms located above the working platform 13.

Each hydraulic arm comprises a rotating base 11, a fixed platform 10 and a movable platform 7; wherein, the rotating shaft of the rotating base 11 is vertical to the plane of the working platform; the fixed platform 10 is fixed on the rotating base 11; the plane of the fixed platform 10 is perpendicular to the plane of the working platform.

Each hydraulic arm also comprises three driving branched chains; each of said driving branches comprises a telescopic hydraulic cylinder 16; one end of the telescopic hydraulic cylinder 16 is connected with the fixed platform 10 through a first rotating joint 15, and the other end of the telescopic hydraulic cylinder is connected with the movable platform 7 through a second rotating joint 4; the three first rotating joints 15 are arranged in a triangular shape on the plane of the fixed platform 10; the three second rotating joints 4 are arranged in a triangular mode on the plane where the movable platform 7 is located. The three telescopic hydraulic cylinders 16 in the present embodiment are preferably arranged in pairs on the same plane, and the straight lines of the three telescopic hydraulic cylinders 16 intersect in pairs. In the present embodiment, the first rotary joint 15 is a hook joint; the second rotating joint 4 is a composite ball hinge, and meets the connection requirement of multi-angle rotation and the strength requirement in mechanical action.

Each hydraulic arm also comprises an intermediate branched chain; the intermediate branch comprises an intermediate strut 5; one end of the middle supporting rod 5 is connected with a fixed platform 10 through a third rotating joint 9; the third rotating joint 9 can slide relatively along the middle support rod 5, and the third rotating joint 9 is positioned in the triangular connecting areas of the three first rotating joints 15; the other end of the second rotating joint is fixed on the movable platform 7 and is positioned in a triangular connecting area of the three second rotating joints 4; the middle supporting rod 5 and each telescopic hydraulic cylinder 16 are located on the same plane in pairs.

As shown in fig. 2, in this embodiment, the third rotating joint 9 is a hooke joint, which meets the connection requirement of multi-angle rotation and the strength requirement in mechanical action. The third rotary joint 9 comprises an outer ring 904 and an inner ring 902 located inside the outer ring 904; two outer ring rotating shafts 905 are respectively arranged on two sides of the outer ring 904, the two outer ring rotating shafts 905 are connected to the fixed platform 10, and the two outer ring rotating shafts 905 are coaxial; two inner ring rotating shafts 901 are respectively arranged on two sides of the inner ring 902, and the two inner ring rotating shafts 901 are connected to the outer ring 904; the two inner ring rotating shafts 901 are coaxial and perpendicular to the outer ring rotating shaft 905; a sliding block 903 is arranged on the inner side of the inner ring 902; the middle supporting rod 5 is provided with a sliding groove extending along the direction of the middle supporting rod 5; the middle support rod 5 is positioned in the inner ring 904, and the sliding block 903 is correspondingly embedded in the sliding groove. The intermediate strut 5 slides axially along the inner ring 902, while limiting the rotation of the movable platform 7

The movable platform 7 is provided with a primary rotating head 1; the rotating shaft of the first-stage rotating head 1 is parallel to the middle supporting rod 5; the first-stage rotating head 1 is provided with a second-stage rotating head 2; the rotating shaft of the second-stage rotating head 2 is vertical to the rotating shaft of the rotating base 11, and the rotating shaft of the second-stage rotating head 2 is vertical to the rotating shaft of the first-stage rotating head 1; and a lifting hook 3 is arranged on the second-stage rotating head 2.

The invention controls the extension and retraction of the three telescopic hydraulic cylinders 16 to ensure that the three telescopic hydraulic cylinders 16 have different lengths, and the movable platform 7 generates three-way displacement relative to the fixed platform 10 by matching with the rotary joints at the two ends of the telescopic hydraulic cylinders 16 to hoist the workpiece; the middle branched chain limits the rotation of the movable platform 7 around the central axis thereof in the displacement process under the action of the driving branched chain, and brakes the rotational freedom degree of the middle branched chain. The base 11, the first-stage swivel 1 and the second-stage swivel 2 are rotated, so that the hook 3 has three-directional rotational freedom. The structure enables the invention to flexibly control the coordinate and the pose of the workpiece; meanwhile, the three telescopic hydraulic cylinders 16 are different in length and are matched with the rotary joints at the two ends of the telescopic hydraulic cylinders 16, so that the equipment is small in size, strong in bearing capacity, capable of saving space during hoisting, and particularly suitable for use requirements in mines.

The bottom of the working platform is provided with a movable wheel mechanism and a telescopic hydraulic support column 12. As shown in fig. 3, the moving wheel mechanism adopted in the embodiment can be folded and has a self-locking function; the lifting mechanism mainly comprises a telescopic hydraulic oil cylinder and a retractable position lock, wherein the retractable position lock ensures that the undercarriage is reliably kept at a retracted position and a put-down position, the undercarriage is provided with the retractable position lock and the put-down position lock, the structure not only has larger supporting force for the whole mechanism, but also adopts mechanical self-locking when the complex road surface of a mine can greatly reduce vibration caused by walking, and the effect of supporting stability is achieved.

The invention also includes a control system; the control system comprises an industrial personal computer, a hydraulic special servo controller, a rotating mechanism control unit, a walking motion controller, a displacement sensor and an angle sensor; the displacement sensor is arranged on the movable platform 7 and used for detecting the displacement of the movable platform 7 during walking and feeding back displacement information to the hydraulic special servo controller.

The angle sensors are respectively arranged on the rotary base 11, the first-stage rotating head 1 and the second-stage rotating head 2 and are used for detecting the rotating angles of the rotary base 11, the first-stage rotating head 1 and the second-stage rotating head 2; and feeds back the rotation angle information to the rotation mechanism control unit.

The industrial personal computer controls the action of the telescopic hydraulic cylinder 16 through a hydraulic special servo controller.

The industrial personal computer controls the rotation angles of the rotating base 11, the first-stage rotating head 1 and the second-stage rotating head 2 through the rotating mechanism control unit.

The industrial personal computer controls the movement of the hydraulic support column 12 and the moving wheel mechanism through the walking motion controller.

The invention also comprises a visual inspection device; the vision detection device comprises a self-adaptive adjusting illumination module, an automatic focusing unit, an optical lens unit and an image acquisition processing unit; the optical lens is used for acquiring image information of the hung object; the optical lens transmits the contour characteristic information and the image information of the object acquired in real time to the image acquisition processing unit; the image processing unit processes image information, and performs image recognition, edge fitting and three-dimensional model reconstruction according to the detected corner information and edge information of the object; the industrial personal computer receives parameter information fed back by the visual detection device for analysis, draws up a reasonable path, prevents objects in the space from colliding in the hoisting process, and adjusts the posture of the hoisted objects.

The control method of the mining intelligent double-arm hydraulic hoisting robot adopts manual operation and comprises the following steps:

firstly, controlling a walking motion controller to drive a bottom walking wheel to walk through an industrial personal computer system, and enabling a hoisting robot to reach the position of equipment to be hoisted;

secondly, acquiring spatial position information of the hoisting robot through a visual detection module, and transmitting the acquired spatial position information to an industrial personal computer system in real time, wherein the industrial personal computer system establishes a spatial coordinate system model according to the spatial position information of the robot;

thirdly, the industrial personal computer system controls the hydraulic support column 12 to extend out through the walking motion controller, and the hydraulic support column is adjusted according to the ground condition until the hoisting robot reaches a stable and balanced state relative to the ground;

and fourthly, acquiring the self space coordinate information of the hoisting robot through a visual detection system, then finding a coordinate reference point, enabling a workpiece to be installed to be located on the coordinate reference point, then inputting the space coordinate information of the installation position relative to the workpiece, operating the telescopic hydraulic cylinder 16, the rotating base 11, the first-stage rotating head 1 and the second-stage rotating head 2 to act, and simultaneously calculating the real-time space coordinate position of the hoisting equipment through the displacement sensor and the angle sensor until the workpiece reaches the installation position.

As shown in fig. 4 and 5, the present invention can be further improved, so that the industrial personal computer system has a fuzzy control system based on deep learning, which comprises an information storage module, a planning and analyzing module, a model training module, and an execution output module; the information storage module is used for describing states of the robot and collected external information, and pre-storing knowledge and rules of behaviors and action sequences of the robot in different states, targets to be achieved and the like; the model training module is used for carrying out training iteration on data acquired from the outside every time, storing the data in a classified mode and transmitting the trained model to the planning and analyzing module; the planning and analyzing module plans the actions and the routes of the hoisting robot in real time according to the model trained by the model training module, the knowledge stored by the information storage module and the knowledge acquired on site; and outputs the execution command through the execution output module.

The control method of the mining intelligent double-arm hydraulic hoisting robot with the industrial personal computer system can realize intelligent operation, and comprises the following steps:

firstly, controlling a walking motion controller to drive a bottom walking wheel to walk through an industrial personal computer system, and enabling a hoisting robot to reach the position of equipment to be hoisted;

secondly, acquiring spatial position information of the hoisting robot through a visual detection module, and transmitting the acquired spatial position information to an industrial personal computer system in real time, wherein the industrial personal computer system establishes a spatial coordinate system model according to the spatial position information of the robot;

thirdly, the visual detection module collects the image information of the object to be hung: the industrial personal computer system transmits the received image information to an information storage module, the information storage module can store and classify the information and transmit the result to a model training module, the model training module can perform multiple rounds of iteration on a large amount of data to obtain various posture information of an object relative to a space coordinate model, then the information is transmitted to a planning and analyzing module, the planning and analyzing module continuously fits and optimizes actions and routes of the hoisting robot according to the model trained by the model training module, the knowledge stored by the information storage module and the knowledge obtained on site to finally obtain an optimal solution, the path and posture adjustment information of the object to be hoisted to the specified position are given in real time, and finally an execution command is output through an execution output module;

fourthly, the industrial personal computer system controls the hydraulic support column 12 to extend out through the walking motion controller, and the hydraulic support column is adjusted according to the ground condition until the hoisting robot reaches a stable and balanced state relative to the ground;

fifthly, the industrial personal computer control system combines the position and the attitude of the current hoisting robot, simultaneously, the installation and the coordination of the hoisting equipment are carried out according to the optimal installation path fitted by the hoisting equipment, when the installation and the coordination are carried out, the industrial personal computer system controls the telescopic hydraulic cylinder 16, the rotating base 11, the first-stage rotating head 1 and the second-stage rotating head 2 according to the path planned in advance by the hoisting equipment through the hydraulic special servo controller and the rotating mechanism control unit, the object hoisting is carried out, the visual detection device can acquire the current spatial position information of the hoisting equipment in real time and feed the information back to the industrial personal computer system in real time, the system can carry out the fitting, planning and optimization of the walking route again to obtain the walking path, the attitude deviation of the hoisting equipment is adjusted according to the attitude information of the current hoisting object until the hoisted equipment is matched with another equipment, the position with the maximum superposition degree of the two is reached;

and sixthly, after the mining double-arm hydraulic hoisting robot completes the operation instruction of one period, the industrial personal computer system stores various data and model parameters of the time into the information storage module to provide reference for subsequent equipment hoisting, and the steps are continuously circulated, so that the function of deep learning is achieved.