CN106743541A - A kind of method for carrying and haulage equipment - Google Patents
A kind of method for carrying and haulage equipment Download PDFInfo
- Publication number
- CN106743541A CN106743541A CN201611033503.4A CN201611033503A CN106743541A CN 106743541 A CN106743541 A CN 106743541A CN 201611033503 A CN201611033503 A CN 201611033503A CN 106743541 A CN106743541 A CN 106743541A
- Authority
- CN
- China
- Prior art keywords
- control system
- mechanical arm
- frock
- cleaning machine
- rope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses a kind of method for carrying, including：Control system obtains the current location of frock and the relative position information for carrying target location；Linear amount of movement of the control system according to each joint of relative position information calculating machine arm；Control system controls corresponding joint motions according to linear amount of movement；When frock is adjusted when target location is carried, control system control machinery arm stop motion；Cleaning machine in control system control frock placement or picking up board.The present invention is by mechanical arm configuration come the attitude of cleaning machine in adjustment plate, it is to solve one of committed step of cleaning machine carrying on plate, technical scheme improves the automatization level of equipment, reduce artificial operation difficulty, improve the precision in place of cleaning machine in adjustment plate, it is prevented from cleaning machine on plate and damages photovoltaic panel, improves cleaning robot human reriability.The invention also discloses a kind of haulage equipment.
Description
Technical field
The present invention relates to technical field of mechanical design, more specifically to a kind of method for carrying.Additionally, the present invention is also
It is related to a kind of haulage equipment for realizing above-mentioned method for carrying.
Background technology
Dirt can be produced during due to using in photovoltaic panel, photovoltaic plate surface can be caused to produce heat conduction difference, ultimately cause " heat
Spot ", damages photovoltaic module；Dirt also results in the reduction of photovoltaic panel surface transmission rate, so as to influence the light of photovoltaic panel assembly array
Heat conversion, that is, reduce generating efficiency.Therefore in order to ensure that generating efficiency does not decline, it is to avoid photovoltaic module is damaged, photovoltaic panel
Cleaning is necessary.
The chassis of current existing ground washing car is identical with mini-excavator, and arm of the mechanical arm configuration also to digging machine is similar,
Two track drive is advanced；Clean and completed by the round brush of mechanical arm tail end, can be sprayed water in cleaning process.In live applicable cases,
The travel speed of ground washing car is slower, and cleaning operation is complicated, higher to operating personnel's requirement, and automaticity is low, and satisfies the need
The requirement in face is higher.There is the discrepancy in elevation on road surface if hollow, particularly both sides crawler belt corresponding ground, and car body can be caused to sidewinder.Ground
The chassis of cleaning Vehicle is similar with excavator, equipped with driver's cabin, cleaning task is carried out by pilot steering, it is desirable to have excavator driving is passed through
The personnel for testing.
In sum, how a kind of carrying technology of high degree of automation is provided, be current those skilled in the art urgently
The problem of solution.
The content of the invention
In view of this, it is an object of the invention to provide a kind of method for carrying, the method for carrying high degree of automation can drop
The cost of labor of low operation, and enable to position precisely reliable.
It is a further object of the present invention to provide a kind of haulage equipment for realizing above-mentioned method for carrying.
To achieve these goals, the present invention provides following technical scheme：
A kind of method for carrying, it is characterised in that be applied to haulage equipment, the haulage equipment includes control system, machinery
Arm and the frock being connected with the mechanical arm, including：
The control system obtains the current location of the frock and the relative position information for carrying target location；
The control system calculates the linear amount of movement in each joint of the mechanical arm according to the relative position information；
The control system controls the corresponding joint motions according to the linear amount of movement；When the frock adjust to
During the carrying target location, the control system controls the mechanical arm stop motion；
The control system controls cleaning machine on the frock placement or picking up board.
Preferably, the control system calculates the linear shifting in each joint of the mechanical arm according to the relative position information
The step of momentum, including：
The control system calculates the adjustment amount that the frock needs to carry out according to the relative position information；The control
System calculates the linear amount of movement in each joint of the mechanical arm according to the adjustment amount.
Preferably, it is described according to the step of the linear amount of movement control corresponding joint motions, including：
The control system sends the drive device of the linear amount of movement to each joint, the drive device according to
While the linear amount of movement controls the corresponding joint motions, the control system obtains the same joint of connection
Two position relationships of mechanical arm, the current linear amount of exercise in the joint is calculated, when the current linear amount of exercise and institute
When stating amount of linear movement difference, return to the control system and obtain current location with the relative position information for carrying target location
Step.
Preferably, the step of control system controls cleaning machine on the frock placement or picking up board, including：
When the pick-up operation of cleaning machine on the plate is carried out, the control system controls the electric motor starting of the frock to enter
Row rope closing, when cleaning machine abuts in the rope stretching anchor point of the frock on the plate, and the control system obtains frock and believes in place
After number, the controller controls the motor stalls；
When the placement operation of cleaning machine on the plate is carried out, the control system controls the electric motor starting of the frock to enter
Row puts rope, and when cleaning machine touches photovoltaic surface on the plate, and control system acquisition frock is to after micro-signal, the control
System processed controls the motor to stop movement.
A kind of haulage equipment, including：
Frock for lifting cleaning machine on plate, the frock is connected with mechanical arm；
For the mechanical arm being controlled to washer on the plate by self structure；
Calculated with the relative position information of carrying target location, according to the relative position information for obtaining current location
The linear amount of movement in each joint of the mechanical arm simultaneously controls the control of the corresponding joint motions according to the linear amount of movement
System processed, the control system is connected with the frock, the mechanical arm respectively.
Preferably, the mechanical arm is the mechanical arm with least two frees degree, and the frock is fixed on the machinery
The end of arm.
Preferably, the mechanical arm includes being provided with the rotary table of angular transducer and several machineries being linked in sequence
Arm joint, the rotary table mechanical arm joint described with first is connected, and is all provided with the joint of the described mechanical arm joint of adjacent connection
It is equipped with the angular transducer for measuring joint angles adjustment.
Preferably, the frock includes support, rope, the leading on the support for connecting the mechanical arm
Rail, wind spring, rope reel and the mobile pulley on the guide rail；The wind spring be fixed on the support and with the shifting
Movable pulley is connected；One end of the rope is used for cleaning machine on connecting plate, and the other end of the rope bypasses the mobile pulley
And it is fixed on the rope reel；The rope is by during the pulling force of cleaning machine, the mobile pulley is to away from described on the plate
Wind spring direction is moved, and the restoring force of the wind spring is less than cleaning machine on the plate to the pulling force of the rope, the rope reel
It is connected with driving machine.
Preferably, one end that the wind spring is not provided with the guide rail is provided with two fixed pulleys, the rope it is another
End bypasses first fixed pulley, the mobile pulley and second fixed pulley and is fixed on the rope that holds and rolls up successively
Cylinder.
Preferably, the two ends of the support are respectively provided with the guide rail, and two guide rails and are respectively provided with the shifting
Movable pulley, distinguishes rope described in winding on the mobile pulley, two ropes are respectively used to connect cleaning machine on the plate
Diverse location.
In method for carrying provided by the present invention, the relative position obtained currently with target location by control system is believed
Breath, and by relative position information be used for calculate, obtain the amount of exercise in each joint of mechanical arm, and control each joint carry out correspondence
Motion, when frock is adjusted when target location is carried, control machinery arm stops, and controls frock to grasp cleaning machine on plate
Make.In this method, by sensing the current location of frock and carrying the relative position information of target location, and relative position is believed
The calculating of the amount of exercise for each joint of mechanical arm is ceased, accurately linear amount of movement can be obtained, it is convenient to cause that frock is accurate
Move to carrying target location.
The present invention, come the attitude of cleaning machine in adjustment plate, is to solve the key that cleaning machine is carried on plate by mechanical arm configuration
One of step, technical scheme improves the automatization level of equipment, reduces artificial operation difficulty, improves adjustment
The precision in place of cleaning machine on plate, is prevented from cleaning machine on plate and damages photovoltaic panel, improves cleaning robot human reriability.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the flow chart of the specific embodiment of method for carrying provided by the present invention；
Fig. 2 is the structural representation of the specific embodiment of haulage equipment provided by the present invention；
Fig. 3 be haulage equipment provided by the present invention specific embodiment in frock structural representation；
Fig. 4 be haulage equipment provided by the present invention specific embodiment in frock top view；
Fig. 5 be haulage equipment provided by the present invention specific embodiment in frock partial top view；
Fig. 6 be haulage equipment provided by the present invention specific embodiment in mechanical arm front view.
In figure 1 above -6：
1 is frock, 11 is support, 12 is reductor, 13 is rope stretching anchor point hole, 14 is rope reel, 15 is longitudinally guiding
Pulley, 16 be laterally steering pulley, 17 be mobile pulley, 18 be fixed pulley, 19 be guide rail, 10 be wind spring；
2 be mechanical arm, 21 rotary tables, 22 be first mechanical arm section, 23 be second mechanical arm section, 24 be three-mechanical arm
Section, 25 be the first driving cylinder, 26 be the second driving cylinder, 27 be the 3rd driving cylinder, 28 be motor, 29 be angular transducer；
3 is detection means.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Core of the invention is to provide a kind of method for carrying, the method for carrying high degree of automation, can reduce operation
Cost of labor, and enable to position precisely reliable.
It is a further object of the present invention to provide a kind of haulage equipment for realizing above-mentioned method for carrying.
Fig. 1 to Fig. 6 is refer to, Fig. 1 is the flow chart of the specific embodiment of method for carrying provided by the present invention；Fig. 2 is
The structural representation of the specific embodiment of haulage equipment provided by the present invention；Fig. 3 is haulage equipment provided by the present invention
The structural representation of frock in specific embodiment；Fig. 4 be haulage equipment provided by the present invention specific embodiment in frock
Top view；Fig. 5 be haulage equipment provided by the present invention specific embodiment in frock partial top view；Fig. 6 is the present invention
The front view of mechanical arm in the specific embodiment of the haulage equipment for being provided.
A kind of method for carrying provided by the present invention, is mainly used in haulage equipment, and haulage equipment includes control system, machine
Tool arm and the frock being connected with mechanical arm.The above method specifically includes following steps：
Step S1：Control system obtains the current location of frock and the relative position information for carrying target location.
Step S2：Linear amount of movement of the control system according to each joint of relative position information calculating machine arm.
Step S3：Control system controls corresponding joint motions according to linear amount of movement；When frock is adjusted to carrying target
During position, control system control machinery arm stop motion.
Step S4：Cleaning machine in control system control frock placement or picking up board.
It should be noted that in step S1, current location is haulage equipment position, target location is carried to carry behaviour
The target shift position of work, that is to say, that it is that control haulage equipment moves to carrying target location by current location to carry operation,
Can be that empty driving is used for the object that pickup need to be carried, i.e. cleaning machine on plate to target location is carried；Or target is carried in carrying,
I.e. cleaning machine on plate, moves to carrying target location.
In step S1, executive agent is control system, and control system includes controller and sensing device, for present bit
Put and carry the relative position information that target location measures.Sensing device can be arranged on frock or mechanical arm, so as to
Measure.Optionally, it is also possible to a fixed position is arranged on, by measuring and being calculated distance therebetween.Separately
Outward, above-mentioned relative position information is digital information, the i.e. digital information comprising distance.
In step S2, executive agent is control system, and control system is calculated according to the relative position information for getting,
Obtain the amount of movement of mechanical arm, the specially linear amount of movement in each joint.The structure letter of mechanical arm is prestored in control system
Breath, the amount of moving integrally can be distributed to each joint of mechanical arm, will resultant motion distribute to each componental movement, to realize entirety
Movement it is accurate.
In step S3, executive agent is control system, and control system is according to the linear amount of movement control for distributing to each joint
Corresponding joint motion processed, motion process includes mobile, rotation etc., after control system completes above-mentioned control campaign, stops to machinery
The operation of arm, mechanical arm stop motion.
In step S4, executive agent is control system, and control system control frock is operated.When this operation is receipts plate
During operation, i.e., this time operation is for when packing up cleaning machine on plate, in step S1-S3, frock is in empty driving state, and step S4 i.e. should
It is cleaning machine on control system control frock picking up board.When this operation is operated to put plate, i.e., this time operate to place on plate
During cleaning machine, in step S1-S3, frock is in lifting state with cleaning machine on plate, and step S4 is to should be control system control
Frock places cleaning machine on plate.
In method for carrying provided by the present invention, the relative position obtained currently with target location by control system is believed
Breath, and by relative position information be used for calculate, obtain the amount of exercise in each joint of mechanical arm, and control each joint carry out correspondence
Motion, when frock is adjusted when target location is carried, control machinery arm stops, and controls frock to grasp cleaning machine on plate
Make.In this method, by sensing the current location of frock and carrying the relative position information of target location, and relative position is believed
The calculating of the amount of exercise for each joint of mechanical arm is ceased, accurately linear amount of movement can be obtained, it is convenient to cause that frock is accurate
Move to carrying target location.
The present invention, come the attitude of cleaning machine in adjustment plate, is to solve the key that cleaning machine is carried on plate by mechanical arm configuration
One of step, technical scheme improves the automatization level of equipment, reduces artificial operation difficulty, improves adjustment
The precision in place of cleaning machine on plate, is prevented from cleaning machine on plate and damages photovoltaic panel, improves cleaning robot human reriability.
On the basis of above-described embodiment, wherein, the control system in step S2 is according to relative position information computer
The step of linear amount of movement in each joint of tool arm, can specifically include：Control system calculates frock according to relative position information
The adjustment amount that needs are carried out；Linear amount of movement of the control system according to each joint of adjustment amount calculating machine arm.
On the basis of above-mentioned any one embodiment, in step S3, corresponding joint is controlled according to linear amount of movement
The step of motion, including：
Control system sends the drive device of linear amount of movement to each joint, and it is right that drive device is controlled according to linear amount of movement
While the joint motions answered, control system obtains two position relationships of mechanical arm in the same joint of connection, calculates joint
Current linear amount of exercise, when current linear amount of exercise is different from amount of linear movement, return control system obtain current location
The step of with the relative position information for carrying target location.In the step, closed loop is formed by by detection and control, overcome evil
The negative effect of escabrodura.
On the basis of above-mentioned any one embodiment, in step S4, control system control frock is placed or picking up board
The step of upper cleaning machine, can specifically include：
When the pick-up operation of andante supernatant washing machine is entered, the electric motor starting of control system control frock carries out rope closing, works as plate
Upper cleaning machine abuts in the rope stretching anchor point of frock, and control system obtains frock in place after signal, and controller controlled motor stops
Rotate.
When the placement operation of andante supernatant washing machine is entered, the electric motor starting of control system control frock carries out putting rope, works as plate
Upper cleaning machine touches photovoltaic surface, and control system obtains frock to after micro-signal, and control system controlled motor stops movement.
Optionally, in above-mentioned any one embodiment, control system includes position sensor, and position sensor can set
Put in frock, or set on the robotic arm.Although position sensor is arranged on frock or mechanical arm, and it still belongs to
In a part for control system.
On the basis of above-mentioned any one embodiment, the invention provides a specific embodiment, its operation step
It is rapid specific as follows：
For receive plate process, position sensor detection photovoltaic panel on plate on cleaning machine position, by cleaning machine on plate with
After relative position detection collection between frock is finished, control system is resolved to relative position information, and the principle of resolving is
Packing up the operation of cleaning machine on plate can set the initial position of frock and cleaning machine on plate, and it is two that the relative position relation can be resolved
Numerical value of the person in space coordinates.Control system can be contrasted real time position data with target location is carried, thus
Calculate to reach target location, frock needs the adjustment amount for carrying out.Because frock is mounted on mechanical arm, can install
In the end of mechanical arm, the adjustment amount of frock will be changed into the regulated quantity in each joint of mechanical arm by inverse motion calculation.Adjustment amount
Each can be distributed to by the controller of hydraulic valve and drive oil cylinder, i.e., in order to be adjusted to be easy to cleaning machine on picking up board by frock
Suitable position, the driving oil cylinder corresponding to each joint obtains the control of control system, that is, control each joint to carry out correspondence
Linear amount of movement motion, should be by control system by calculating, it is possible to be allocated by hydraulic controller.Oil cylinder is obtained
Start after call instruction drive mechanical arm, can also be set on each joint of mechanical arm angular transducer by each arm of mechanical arm it
Between location variation carry out Real-time Collection, and return control system and contrasted, thus host controller, angular transducer,
Oil cylinder three is driven to form a closed-loop control, the frock that mechanical arm tail end is most fixed at last has been adjusted to target location.
Now, frock is operated to cleaning machine on plate, is specifically as follows the electric motor starting in frock, reel rope closing, plate
Upper cleaning machine is lifted to leaving photovoltaic plate face.Operated through the rope closing of certain hour, cleaning machine abuts in going out in frock on plate
Line anchor point, the proximity switch on cleaning machine installed on the board has sensed frock position, feedback signal, and rope closing motor stops turning
Dynamic, rope closing terminates, and cleaning machine collects release on plate.
Put plate operation with receive plate it is similar, predominantly detect frock and need placement plate on cleaning machine target photovoltaic panel between
Position relationship, detection is similar with above-mentioned receipts plate flow with the flow of adjustment.When adjustment frock and target photovoltaic plate face is to suitable
After position, the electric motor starting in frock is slowly put plate, treats that cleaning machine touches photovoltaic plate face on plate.In the mistake of decentralization
Cheng Zhong, rope can produce redundancy condition, and under the universal wheel effect of Gravitative Loads and belly, self-adaptative adjustment is extremely for cleaning machine on plate
Suitable position, and the sensors in place that cleaning machine upper end is installed in trigger board, so far put plate operation and terminate, and are lifted on mechanical arm,
Into cleaning process.
Except the method for carrying disclosed in above-described embodiment, the invention also discloses a kind of for realizing removing for the above method
Fortune equipment, the haulage equipment includes：Frock 1, mechanical arm 2 and control system.
Frock 1 is used to lift cleaning machine on plate, and frock is connected with mechanical arm 2；
Mechanical arm 2 is used to move control to washer on plate by self structure；
Control system is for obtaining the relative position information of current location and carrying target location, according to relative position information
The linear amount of movement in each joint of calculating machine arm 2 simultaneously controls corresponding joint motions, control system point according to linear amount of movement
It is not connected with frock, mechanical arm 2.
It should be noted that above-mentioned frock can be the framework of rectangle rack or other structures, serving equipment is internally provided with,
For lifting cleaning machine on plate.The present embodiment does not limit its concrete structure.Mechanical arm 2 can be the connecting rod machine of any structure
Structure, mechanical arm 2 is fixedly connected with frock, for the movement by controlling frock, realizes the mobile control to cleaning machine on plate.Control
System processed can include controller and induction installation, and induction installation can be position sensor mentioned above.
The specifically used mode of haulage equipment provided by the present invention may refer to the embodiment of above-mentioned method for carrying, herein
Repeat no more.
Haulage equipment provided by the present invention is used for the mobile control to cleaning machine on plate, improves the cleaning of photovoltaic straddle
Automation characteristic and positional accuracy, facilitate the operation of cleaning process, compared with prior art, can be greatly saved artificial behaviour
Make and cost input, and the damage that photovoltaic panel causes from artificial misoperation can be protected.
On the basis of above-mentioned any one embodiment, mechanical arm 2 is the mechanical arm 2 with least two frees degree,
Frock is fixed on the end of mechanical arm 2.
Optionally, mechanical arm 2 can include at least three linking arms, the rotational angle set between each linking arm and side
To can be with difference.
Above-mentioned any one embodiment basis on, mechanical arm include be provided with angular transducer rotary table and
Several mechanical arm joints being linked in sequence, rotary table is connected with first mechanical arm joint, the pass of the mechanical arm joint of adjacent connection
The angular transducer for measuring joint angles adjustment is provided with section.
Refer to Fig. 6, Fig. 6 be haulage equipment provided by the present invention specific embodiment in mechanical arm 2 front view.
Mechanical arm 2 includes being provided with the rotary table 21 of angular transducer 29, and rotary table 21 is provided with first mechanical arm
Section 22, is provided with second mechanical arm section 23 on first mechanical arm section 22, three-mechanical arm section is provided with second mechanical arm section 23
24；The link position of first mechanical arm section 22 and second mechanical arm section 23, second mechanical arm section 23 and three-mechanical arm section 24
Link position is provided with the angular transducer 29 for measuring joint angles adjustment.
In the present embodiment, the multi-joint mechanism that mechanical arm 2 is made up of multiple rod members, bottom is a revolution driving, tool
There are the rotational freedom and 1 free degree of plane rotation of multiple shoulder joints, scope of activities is respectively 90 ° and 360 °, can be by
Cleaning machine is adjusted to suitable attitude in the fixed frock and plate of end, to adapt to the photovoltaic panel of different attitudes.
Base is a revolution driving device, and what is be connected with revolution driving device is first mechanical arm section 22, drives the first machinery
Arm joint 22 is the first driving cylinder 25, it is necessary to explanation is that driving cylinder can be that oil cylinder can also be electricity relative to base rotation
Cylinder, or other drive devices, the tailstock of the first driving cylinder 25 are connected with base, and the first driving cylinder 25 goes out shaft end and the first machinery
The upper end of arm joint 22 is connected；The end of first mechanical arm section 22 is connected with second mechanical arm section 23, second mechanical arm section 23 grow compared with
It is long, it is, in order to adapt to the length of cleaning machine on plate, to drive second mechanical arm section 23 relative to the second of the rotation of first mechanical arm section 22
The base of driving cylinder 26 is fixed on first mechanical arm section 22, and the shaft end that goes out of the second driving cylinder 26 is fixed on second mechanical arm section
23 juxtra-articular with first mechanical arm section 22；It is shorter with the three-mechanical arm section 24 that second mechanical arm section 23 is connected, it is similar to
The Last hinge of machinery, the Main Function of three-mechanical arm section 24 is connected with frock, drives three-mechanical arm section 24 relative
The tailstock of the 3rd driving cylinder 27 that second mechanical arm section 23 is rotated is fixed near the end of second mechanical arm section 23, its cylinder shaft
End is connected with three-mechanical arm section 24.Angular transducer 29 is assembled with the gyroaxis in each joint, on rotary table 21
Also setting angle sensor 29.
It should be noted that frock top is the end of mechanical arm 2 there is also mounted position-detection sensor, i.e. detection means,
Detection means can be 3D laser or other induction installations.
Above-mentioned any one embodiment basis on, frock include for connect mechanical arm support 11, rope,
Guide rail 19, wind spring 10, rope reel 14 on support 11 and the mobile pulley 17 on guide rail 19；Wind spring 10 is fixed on
Support 11 is simultaneously connected with mobile pulley 17；One end of rope is used for cleaning machine on connecting plate, and the other end of rope bypasses mobile cunning
Wheel 17 is simultaneously fixed on rope reel 14；Rope is by during the pulling force of cleaning machine, mobile pulley 17 is moved to away from the direction of wind spring 10 on plate
Dynamic, less than cleaning machine on plate to the pulling force of rope, rope reel 14 is connected with driving machine for the restoring force of wind spring 10.
It should be noted that guide rail 19 and wind spring 10 have been fixedly mounted on above-mentioned support 11, a part and the shifting of wind spring 10
Movable pulley 17 is connected, and mobile pulley 17 is set on rails 19, and rope bypasses mobile pulley 17, one end of rope and rope reel
14 connections, drive rope to be wound or release when rope reel 14 is rotated, and the other end of rope is used to be cleaned on connecting plate
Machine.It should be noted that above-mentioned rope bypasses the canoe that mobile pulley 17 refers to using mobile pulley 17 as movable pulley
Connection, that is to say, that rope needs to bypass other fixing points or fixed pulley 18 respectively before and after mobile pulley 17 is bypassed, with
Just mobile pulley 17 realizes the effect of movable pulley.
When the end of mechanical arm 2 rocks more serious, rope is by during the pulling force of cleaning machine, mobile pulley 17 is to away from volume on plate
Move in the direction of spring 10, that is to say, that when cleaning machine is stress on rope and plate, mobile pulley 17 may be located remotely from wind spring 10,
Now, the stress of wind spring 10, reverse tractive force is applied to mobile pulley 17 so that the rope being wrapped on mobile pulley 17 is formed
Biaxial tension state, now rope extension is elongated, can cause that cleaning machine on plate will not be pulled away from light by rocking for mechanical arm 2
Volt plate surface, also eliminates the need for negative effect of the breaks to mobile device and mechanical arm 2.
When mechanical arm 2 is steadily mobile, the pulling force of wind spring 10 is just pulled near oneself mobile pulley 17 along line slideway 19
Position, the direct rope length of cleaning machine just shortens on rope stretching anchor point and plate, would not also cause rope to be rolled on plate and clean
In the driving wheel of machine or hang on photovoltaic board mount 11, it is to avoid potential safety hazard.
The present invention is combined using wind spring 10 and guide rail 19 with tension force, for solving the problems, such as redundancy rope.Using this
The effect of individual combination similar to the spooler of fishing rod, fishing line freely from bobbin can be extracted out with certain pulling force, it is necessary to
Fishing line can also be reversely rolled when take-up.The present invention for lifting the rope of cleaning machine on plate by will bypass and wind spring 10
The mobile pulley 17 of connection, realizes the control to rope under different service conditions, eliminates breaks to mobile device
With the negative effect of mechanical arm 2, rope will not be also caused to be rolled on plate in the driving wheel of cleaning machine or hang over photovoltaic panel branch
On frame 11, it is to avoid potential safety hazard.
On the basis of above-described embodiment, one end for being not provided with wind spring 10 of guide rail 19 is provided with two fixed pulleys 18,
The other end of rope bypasses first fixed pulley 18, mobile pulley 17 and second fixed pulley 18 and is fixed on rope reel successively
14。
In view of mobile pulley 17 as the set-up mode of movable pulley, two fixed pulleys 18 are set in one end of guide rail 19,
Rope is stretched out by rope reel 14, bypasses second fixed pulley 18, and the direction back towards mobile pulley 17 extends, and bypasses mobile cunning
After wheel 17, extend to first fixed pulley 18, it is protruding and be connected with cleaning machine on plate after bypassing first fixed pulley 18.
In the above-described embodiments, the redundant length of rope is just stored by the combination of wind spring 10 and guide rail 19, the length of storage
Twice of the degree equal to the length of guide rail 19.It is above-mentioned not only to ensure that mobile pulley 17 by the way of two fixed pulleys 18 carry out coiling
Use, that goes back larger capacity stores rope lengths, so as to use during, the control to the adjustment position of cleaning machine on plate
System.
On the basis of above-mentioned any one embodiment, leading block is provided between wind spring 10 and rope reel 14,
Leading block is for being that the rope between wind spring 10 and rope reel 14 is oriented to.Because in said apparatus, rope can
Can in use exist and swing, and swing the difficulty for being likely to result in the rope closing of rope reel 14, even influence cleaning machine on plate
Position, so, in order to avoid the swing of rope, leading block can be set inside support 11, specifically, leading block can
To be arranged between fixed pulley 18 and rope reel 14, or it is arranged between fixed pulley 18 and mobile pulley 17.
Further, in order to be controlled to rocking for rope on twocouese, leading block can include laterally steering
Pulley 16 and longitudinally guiding pulley 15, laterally steering pulley 16 are conllinear with the guide direction of longitudinally guiding pulley 15.Laterally steering
The guide direction of pulley 16 and longitudinally guiding pulley 15 can collinearly cause that rope avoids the occurrence of inflection point in moving process.
Consider that cleaning machine generally has or Mulit-point Connection at 2 points on the lifting plate of frock 1, that is to say, that above-mentioned each embodiment
The rope for being provided may have a plurality of, and two days or a plurality of rope need to be respectively provided with mobile pulley 17 and wind spring 10 and carry out rope
Certainly the control of length.So, on the basis of above-mentioned any one embodiment, can be respectively provided with the two ends of support 11 and led
Mobile pulley 17 is respectively provided with rail 19, and two guide rails 19, winding rope is distinguished on mobile pulley 17, two ropes are used respectively
In the diverse location of cleaning machine on connecting plate.
Optionally, three or more guide rails 19 can be set on above-mentioned support 11, and corresponding matching rope, move
Movable pulley 17 etc., does not influence mutually between the lifting group that each guide rail 19 is formed.
On the basis of above-mentioned any one embodiment, it is provided with out with the corresponding position of fixed pulley 18 on support 11
Line anchor spot hole 13, rope is passed through and is connected with cleaning machine on plate with rope stretching anchor point hole 13.
The effect in rope stretching anchor point hole 13 can be that the swing for making rope is tried one's best reduction, and ensure that the inside of support 11 has one
Fixed closure, it is ensured that externalities is not received in the movement between each pulley and guide rail 19.
On the basis of above-mentioned any one embodiment, fixed pulley 18 is parallel with the rotary shaft of mobile pulley 17.Can be with
Stability when further ensureing that rope is moved between fixed pulley 18, mobile pulley 17.
Optionally, above-mentioned guide rail 19 can be line slideway 19, and line slideway 19 can farthest save support 11
Space.Or, above-mentioned guide rail 19 can also be the curvilinear guide 19 that curvature has change, be led when guide rail 19 is set into curve
During rail 19, when can stretch out diverse location by setting different curature variation ropes, stretch out and the speed retracted.Especially pin
During to being more accurately controlled, can be by changing curvature, realization is precisely controlled to rope.
Except the agent structure of the haulage equipment disclosed in above-described embodiment, the present invention also provides a kind of including above-mentioned implementation
The disclosed haulage equipment of example, the structure of other each several parts of the haulage equipment refer to prior art, repeat no more herein.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
A kind of method for carrying provided by the present invention and haulage equipment are described in detail above.It is used herein
Specific case is set forth to principle of the invention and implementation method, and the explanation of above example is only intended to help and understands this
The method and its core concept of invention.It should be pointed out that for those skilled in the art, not departing from this hair
On the premise of bright principle, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into power of the present invention
In the protection domain that profit is required.
Claims (10)
1. a kind of method for carrying, it is characterised in that be applied to haulage equipment, the haulage equipment includes control system, mechanical arm
And the frock being connected with the mechanical arm, including：
The control system obtains the current location of the frock and the relative position information for carrying target location；
The control system calculates the linear amount of movement in each joint of the mechanical arm according to the relative position information；
The control system controls the corresponding joint motions according to the linear amount of movement；When the frock is adjusted to described
When carrying target location, the control system controls the mechanical arm stop motion；
The control system controls cleaning machine on the frock placement or picking up board.
2. method for carrying according to claim 1, it is characterised in that the control system is according to the relative position information
The step of calculating the linear amount of movement in each joint of the mechanical arm, including：
The control system calculates the adjustment amount that the frock needs to carry out according to the relative position information；The control system
The linear amount of movement in each joint of the mechanical arm is calculated according to the adjustment amount.
3. method for carrying according to claim 2, it is characterised in that described corresponding according to the linear amount of movement control
The step of joint motions, including：
The control system sends the drive device of the linear amount of movement to each joint, and the drive device is according to
While linear amount of movement controls the corresponding joint motions, the control system obtains the two of the same joint of connection
The position relationship of individual mechanical arm, calculates the current linear amount of exercise in the joint, when the current linear amount of exercise and the line
Property amount of exercise it is different when, return to the step that the control system obtains current location and the relative position information for carrying target location
Suddenly.
4. the method for carrying according to claims 1 to 3 any one, it is characterised in that the control system control is described
In frock placement or picking up board the step of cleaning machine, including：
When the pick-up operation of cleaning machine on the plate is carried out, the control system controls the electric motor starting of the frock to be received
Rope, when cleaning machine abuts in the rope stretching anchor point of the frock on the plate, and the control system obtains frock in place after signal,
The controller controls the motor stalls；
When the placement operation of cleaning machine on the plate is carried out, the control system controls the electric motor starting of the frock to be put
Rope, when cleaning machine touches photovoltaic surface on the plate, and the control system obtains frock to after micro-signal, the control system
The system control motor stops movement.
5. a kind of haulage equipment, it is characterised in that including：
Frock for lifting cleaning machine on plate, the frock is connected with mechanical arm；
For the mechanical arm being controlled to washer on the plate by self structure；
For obtaining the relative position information of current location and carrying target location, according to the relative position information is calculated
The linear amount of movement in each joint of mechanical arm simultaneously controls the control system of the corresponding joint motions according to the linear amount of movement
System, the control system is connected with the frock, the mechanical arm respectively.
6. haulage equipment according to claim 5, it is characterised in that the mechanical arm is with least two frees degree
Mechanical arm, the frock is fixed on the end of the mechanical arm.
7. haulage equipment according to claim 6, it is characterised in that the mechanical arm includes being provided with angular transducer
Rotary table and several mechanical arm joints being linked in sequence, the rotary table mechanical arm joint described with first is connected, adjacent
The angular transducer for measuring joint angles adjustment is provided with the joint of the described mechanical arm joint of connection.
8. haulage equipment according to claim 5, it is characterised in that the frock is included for connecting the mechanical arm
Support, rope, the guide rail on the support, wind spring, rope reel and the mobile pulley on the guide rail；It is described
Wind spring is fixed on the support and is connected with the mobile pulley；One end of the rope is used for cleaning machine on connecting plate, described
The other end of rope bypasses the mobile pulley and is fixed on the rope reel；The rope is drawn by cleaning machine on the plate
During power, the mobile pulley is moved to away from the wind spring direction, and the restoring force of the wind spring is less than cleaning machine pair on the plate
The pulling force of the rope, the rope reel is connected with driving machine.
9. haulage equipment according to claim 8, it is characterised in that one end of the wind spring is not provided with the guide rail
It is provided with two fixed pulleys, the other end of the rope bypasses first fixed pulley, the mobile pulley and second successively
The fixed pulley is simultaneously fixed on the rope reel.
10. haulage equipment according to claim 9, it is characterised in that the two ends of the support are respectively provided with the guide rail,
And the mobile pulley is respectively provided with two guide rails, rope described in winding is distinguished on the mobile pulley, described in two
Rope is respectively used to connect the diverse location of cleaning machine on the plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611033503.4A CN106743541B (en) | 2016-11-17 | 2016-11-17 | Carrying method and carrying equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611033503.4A CN106743541B (en) | 2016-11-17 | 2016-11-17 | Carrying method and carrying equipment |
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| CN106743541A true CN106743541A (en) | 2017-05-31 |
| CN106743541B CN106743541B (en) | 2022-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611033503.4A Active CN106743541B (en) | 2016-11-17 | 2016-11-17 | Carrying method and carrying equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019100625A1 (en) * | 2017-11-23 | 2019-05-31 | 浙江国自机器人技术有限公司 | Cleaning method of photovoltaic cleaning robot |
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| US20110271989A1 (en) * | 2008-12-23 | 2011-11-10 | Rafael Ma Mendez De La Cuesta | Device for cleaning photovoltaic panels and solar thermal panels |
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| Publication number | Publication date |
|---|---|
| CN106743541B (en) | 2022-11-04 |
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Address after: Room 501-516, 518, 5 / F, building 4, No. 66, Dongxin Avenue, Binjiang District, Hangzhou City, Zhejiang Province Applicant after: Zhejiang Guozi Robot Technology Co.,Ltd. Address before: 310053 3 building, 2 six Binjiang District Road 309, Hangzhou, Zhejiang. Applicant before: ZHEJIANG GUOZI ROBOT TECHNOLOGY Co.,Ltd. |
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