CN107234606A - A kind of environmentally friendly transfer robot - Google Patents
A kind of environmentally friendly transfer robot Download PDFInfo
- Publication number
- CN107234606A CN107234606A CN201710505418.1A CN201710505418A CN107234606A CN 107234606 A CN107234606 A CN 107234606A CN 201710505418 A CN201710505418 A CN 201710505418A CN 107234606 A CN107234606 A CN 107234606A
- Authority
- CN
- China
- Prior art keywords
- solar energy
- photovoltaic panel
- objective table
- energy photovoltaic
- transfer robot
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of environmentally friendly transfer robot, can be widely used in boiler fitting, rubbish, the transport operation of workshop parts, so as to play a part of environmental protection.The present invention includes objective table, solar energy photovoltaic panel group and motion, and the objective table bottom is fixed with battery, and the battery is connected to store the electric energy that the solar energy photovoltaic panel group converts solar energy into solar energy photovoltaic panel group.Robot of the present invention makes full use of solar energy to be charged, and reduces the dependence for the common energy, is a kind of friendly plant equipment of green environment.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of environmentally friendly transfer robot.
Background technology
Transport operation occupies highly important status in modern industry, and wherein transfer robot is mainly engaged in the position of material
Put and move or change its placement posture, widely used in most fields, the installation of such as conventional boiler is mainly used manually,
Or make some non-dedicated suspenders to carry heavy heat exchanger or boiler, waste time and energy；And heat exchanger is the pass of boiler
Key component, once the life-span of boiler may all be influenceed by falling or being collided with boiler support, it could even be possible to making carrying personnel
It is injured.If installing relatively large boiler, the plant equipment that some can also be used large-scale, such as derrick crane, truck mounted rise
Heavy-duty machine, but if when installing small-sized boiler, heat exchanger, large scale equipment will have installation blind area, and the dismounting of equipment itself
It is also very troublesome.
Simultaneously in actual life, garbage disposal problem is always people's concern, existing garbage disposal
Method is that usual manually simply sealed using polybag is packed, and temporarily stacks management, is then transported with garbage truck.This processing side
Method certainly will have problems with presence：Rubbish is unprocessed to be directly loadable into refuse bag, and rubbish is fluffy random, refuse bag utilization rate
Lowly；During garbage collection process is stacked, floor space is big, and space utilization ability is poor；Rubbish band is all simple envelope
Mouthful, rubbish is easy to shed in refuse bag, and ground health is poor；Load garbage is few in unit volume, and cost of transportation is high.
In addition to the foregoing, parts carrying, the processing of explosive perishable material of workshop, by using carrying
Robot, substantially improves the condition of work of operator, improves production efficiency；Existing transfer robot is typically directly used
Rechargable power supplies, such as battery, or directly external power supply, the working strength of robot and less efficient, and need not timing
Charged, be monitored while also needing to special messenger in most cases, automaticity is low；Meanwhile, subtract increasingly in fossil fuel
In the case of few, solar energy has turned into the mankind and has used the important component of the energy, and is constantly developed.The utilization of solar energy
There are photothermal deformation and opto-electronic conversion two ways, solar power generation is a kind of emerging regenerative resource, wherein photovoltaic board component
It is that a kind of exposure will produce the TRT of direct current in the sun, is made up of almost all with semiconductor material (such as silicon)
Solid photovoltaic cell composition.Solar energy how is effectively utilized to provide power supply to drive transfer robot operation to be current heat
Point problem.
The content of the invention
The present invention provides a kind of environmentally friendly transfer robot, and the present invention is realized with following technical scheme：
A kind of environmentally friendly transfer robot, including the first objective table, solar energy photovoltaic panel group and motion, described first carries
Thing platform bottom is fixed with battery, and the battery is connected to store the solar energy photovoltaic panel with solar energy photovoltaic panel group
The electric energy that group converts solar energy into；The motion is connected with the battery, and the motion also includes and electric power storage
Pond connection controller and communication module, the controller be used for control motion to move, the communication module be used for
External world's communication.
Further, the transfer robot includes the first objective table and the second load slided along the surface of the first objective table
Thing platform, sets feed screw and the gap more than one or two to absorb structure in the spot-facing portion for being formed at the first objective table
Part, and coupling member is set, the feeding of the coupling member and feed screw synchronously slides the second objective table.
Further, the motion includes support platform, motor and more than one vehicle wheel component, the support
Platform is connected with first objective table by more than one support bar, and the motor is connected with the battery, described
Vehicle wheel component is controlled by the motor, and the motion also includes the controller being connected with battery, the controller
For controlling the motor, so as to drive the wheel movement.The controller is the controller for being equipped with electronic eyes, institute
It is the image taking and identifying device for recognizing default road sign to state electronic eyes.
Further, the solar energy photovoltaic panel group includes 2-6 solar energy photovoltaic panel group.
The beneficial effects of the invention are as follows：
The present invention provides a kind of environmentally friendly transfer robot, possesses following beneficial effects：
(1) the environmentally friendly transfer robot in the present invention, makes full use of solar energy to be charged, reduces for the common energy
Dependence, and can be widely used in boiler fitting, rubbish, the transport operation of workshop parts；
(2) controller based on electronic eyes designed in the present invention, enables to transfer robot default according to certain
Road sign and autonomous travel, improve the operating efficiency of transfer robot, so as to be obviously improved, its is intelligent, and then effectively reduces the energy
Waste problem.
Brief description of the drawings
Fig. 1 is a kind of environmentally friendly transfer robot structural representation provided in an embodiment of the present invention；
Fig. 2 (a) is objective table schematic front view provided in an embodiment of the present invention；
Fig. 2 (b) is objective table sectional view provided in an embodiment of the present invention；
Fig. 3 is that solar energy photovoltaic panel group provided in an embodiment of the present invention sets schematic top plan view；
Fig. 4 is electronic eyes block diagram provided in an embodiment of the present invention；
Fig. 5 is feature extraction unit block diagram provided in an embodiment of the present invention；
Fig. 6 is controller block diagram provided in an embodiment of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with accompanying drawing
It is described in detail on step ground.
A kind of environmentally friendly transfer robot, as shown in figure 1, the transfer robot includes the first objective table 1, described first carries
The bottom of thing platform 1 is fixed with battery 3, and the battery 3 is connected to store the solar energy with solar energy photovoltaic panel group 2
The electric energy that volt plate group converts solar energy into；The solar energy photovoltaic panel group 2 is made up of N to solar energy photovoltaic panel group, Mei Getai
Positive energy photovoltaic panel group includes two two solar energy photovoltaic panels being oppositely arranged；
The transfer robot also includes motion 4, and the motion 4 is connected with the battery.The motion
Mechanism includes support platform 41, motor 42 and more than one vehicle wheel component 43, and the support platform 41 is carried with described first
Thing platform 1 is connected by more than one support bar (not shown), and the motor 42 is connected with the battery 3, described
Vehicle wheel component 43 is controlled by the motor 42.The motion also includes the controller being connected with battery 3, the control
Device processed is used to control the motor, so as to drive the wheel movement.The motion also includes communication module, described
Communication module is used for and external world's communication；The communication module supports 2G, 3G, 4G, infrared, bluetooth and WIFI communication.
Specifically, such as Fig. 2 (a) and Fig. 2 (b) in Fig. 2, the transfer robot includes the first objective table 1 and along first
The second objective table 100 that the surface of objective table 1 is slided, feed screw 12 is set in the spot-facing portion 11 for being formed at the first objective table 1
And the gap absorption component 13 more than one or two, and coupling member, the coupling member and feed screw 12 are set
Feeding synchronously slide the second objective table 100.
In the possible embodiments of the present invention, as shown in figure 3, solar energy photovoltaic panel group 2 has three pairs of solar energy
Photovoltaic panel group, i.e. solar energy photovoltaic panel group 21, solar energy photovoltaic panel group 22 and solar energy photovoltaic panel group 23 are constituted.
Specifically, the first connecting portion 201-1 and second of the first solar energy photovoltaic panel in each solar energy photovoltaic panel group
The first connecting portion 202-1 of solar energy photovoltaic panel is rotated with first objective table 1 and is connected；In each solar energy photovoltaic panel group
Two solar energy photovoltaic panels between be connected by a telescoping mechanism 5, the telescoping mechanism 5 includes motor 51 and controlled
In the expansion link 52 of the motor, by the flexible of the expansion link 52, the angle of the solar energy photovoltaic panel changes,
So as to vertical with light as much as possible, so as to lift light conversion ratio；Specifically, the expansion link 52 include the first pole and
Second pole, is connected between first pole and the second pole by revolute pair；Two in each solar energy photovoltaic panel group
Solar energy photovoltaic panel is homogeneous component, and the barycenter of solar energy photovoltaic panel is provided with fixedly connected part, the first solar energy
The barycenter of photovoltaic panel is provided with the first fixedly connected part 201-2, and the barycenter of the second solar energy photovoltaic panel is provided with the second fixation company
Fitting 202-2, the first fixedly connected part 201-2 are hinged with the first pole, the second fixture 202-2 and the second pole
It is hinged.
Each solar energy photovoltaic panel group is laid with light sensitive device 6 and control device 7, specifically, the He of light sensitive device 6
The communication of control device 7 connection, can be fixed on the telescoping mechanism 5.The light sensitive device 6 and the control dress
Put 7 communications connection, the control device 7 control motor 51 in the corresponding telescoping mechanism 5 of the solar energy photovoltaic panel group from
And control the angle of the solar energy photovoltaic panel.
Specifically, photosensitive circuit and selection circuit are provided with the light sensitive device, specifically, the photosensitive circuit is divided into
First photosensitive circuit and the second photosensitive circuit, first photosensitive circuit are layed in first sun of the solar energy photovoltaic panel group
Energy photovoltaic panel, second photosensitive circuit is layed in the second solar energy photovoltaic panel of the solar energy photovoltaic panel group.Photosensitive circuit
Light intensity for perceiving the reception of solar energy photovoltaic panel group various pieces.Each photosensitive circuit includes two photosensitive branch in parallel
Road, tie point is used for the light intensity for perceiving solar energy photovoltaic panel X-direction, and the second branch road is used to perceive solar energy photovoltaic panel Y-axis
The light intensity in direction.
The selection circuit receives the electric signal that the first photosensitive circuit and the second photosensitive circuit are sent, comprehensive selection electric signal
The electric signal that stronger photosensitive circuit is sent, and the electric signal is sent to control device with enable control device according to
The currently received light conditions for receiving the solar energy photovoltaic panel of stronger signal adjust the posture of the solar energy photovoltaic panel in real time,
It is allowed to reach the posture vertical with sunray as far as possible to lift its light conversion ratio.The selection circuit, which is realized, to be oppositely arranged
Solar energy photovoltaic panel preferentially control, i.e., control can receive more solar energy solar energy photovoltaic panel posture.
Specifically, every branch road of each photosensitive circuit includes two voltage comparators and two photosensitive branches, wherein
First photo-sensitive cell group and PC1 pass through the first potentiometer RP1 and second the in series first photosensitive branches of photo-sensitive cell group PC2；
3rd photo-sensitive cell group PC3 the second potentiometer RP2 and the 4th the in series second photosensitive branches of photo-sensitive cell group PC4；Two electricity
The negative input end of pressure comparator is connected, and the positive input terminal of first voltage comparator is connected with the first potentiometer RP1, second voltage
The positive input terminal of comparator is connected with the second potentiometer RP2；Wherein, the first photo-sensitive cell group and PC1 and the 3rd photosensitive yuan
Part group PC3 is distributed along solar energy photovoltaic panel X-direction, and the second photo-sensitive cell group PC2 and the 4th photo-sensitive cell group PC4 are along too
Positive energy photovoltaic panel Y direction distribution.
In order that obtaining electric signal can be exaggerated to select electric signal in selection circuit, first potentiometer
RP1 is connected with the first amplifier, and the second potentiometer RP2 is connected with the second amplifier.Photosensitive circuit is so designed that, can be made
Proper PC1, PC2, PC3 and PC4 simultaneously by naturally light action when, RP1 and RP2 central point voltage are constant, now export
Voltage is minimum, and electric signal is most weak, and the posture of current solar energy photovoltaic panel need not change；If only PC1, PC3 are by sunshine
Irradiate, then the first amplifier output high level signal, if only PC2, PC4 are irradiated by sunshine, the output of the second amplifier
Under high level signal, both of these case, control device may be triggered to adjust the posture of current solar energy photovoltaic panel.
In order that the transfer robot can more stably loading and transport goods, the embodiment of the present invention also for
The vehicle wheel component of the transfer robot is improved, and the vehicle wheel component includes a foreign steamer and a lubrication groove, described outer
Wheel opens up first groove along its inner periphery, and the lubrication groove is fixedly arranged in first groove, and the vehicle wheel component also includes
One balance element, the balance element is slideably positioned in the excircle of the lubrication groove and is contained in first groove, described flat
The gravity of weighing apparatus part is more than the frictional force between the balance element and the lubrication groove.The length of the balance element is the lubrication groove girth
1/6th.Improvement purpose for vehicle wheel component is that the balance element in motion begins due to the gravity of its own
The lower section of lubrication groove is maintained at eventually, so that transfer robot wheel center of gravity is relatively stablized, is difficult to overturn during enforcement.
In order to lift the intelligent of the transfer robot, controller provided in an embodiment of the present invention is to be equipped with electronic eyes
Controller, the electronic eyes is the image taking and identifying device for recognizing default road sign, and the default road sign is by black
Background regular hexagon profile and multiple white features portions are constituted, and the features are filled circles.The default road sign design of black and white
It can avoid when illumination range significantly changes, the problem of recognition effect is undesirable.The design of regular hexagon profile is for road
The camera of mark and electronic eyes is in the case that posture is entirely different, and road sign can be also recognized accurately in electronic eyes, and white
Filled circles are designed to so that under depth defocus condition, can avoid in image recognition processes, image passes through binaryzation
Features produce adhesion afterwards.
Specifically, the electronic eyes as shown in figure 4, including：
Image capture unit, for shooting the default road sign occurred in the transfer robot traveling process.
Image pre-processing unit, it is default that must only include for being cut to the image comprising default road sign photographed
The target image of road sign.
Feature extraction unit, it is sub to obtain key point description for carrying out feature extraction to the target image.
Specifically, in the feature extraction unit as shown in figure 5, including：
Analyzer, multiple analysis templates for building the target image, the acquisition formula of the analysis template is M
(x, y, s)=(T (x, y, ks)-T (x, y, s)) * I (x, y), wherein I (x, y) are object region, s identification images it is smooth
Degree, T (x, y) is fuzzy son,Wherein, obscure son in use Fuzzy Template it is big
Small is m*n；
Extractor, obtains the key point based on analysis template and describes son：Taylor expansion is carried out to analysis template, and asks its pole
The gray value that value point is obtained at crucial point coordinates, key point constitutes key point description.
The controller as shown in fig. 6, including electronic eyes, in addition to：
Control instruction memory cell, describes son, according to the specification key point description is sub for storage specification key point
Key point description that the corresponding default road sign of control instruction is extracted.
Unit is sentenced at the beginning of control instruction, is stored for the key point obtained in feature extraction unit to be described into son with control instruction
Key point description in unit is compared one by one, and obtains suspected target key point description, and the suspected target key point is retouched
State son and describe closest specification key point description of sub- Euclidean distance for the key point with being obtained in the feature extraction unit.
Control instruction confirmation unit, for judging that the suspected target key point is described in the sub and feature extraction unit
Whether the Euclidean distance of obtained key point description is less than predetermined threshold value, if so, it is right that the target critical point then is described into son
The control instruction that the control instruction answered is obtained as the transfer robot, and wheel is controlled according to the obtained control instruction
Component 43 is moved.
Environmentally friendly transfer robot provided in an embodiment of the present invention, makes full use of solar energy to be charged, reduces for general
The dependence of the logical energy, and can be widely used in boiler fitting, rubbish, the transport operation of workshop parts；
The controller with electronic eyes in the present invention, enables to transfer robot according to certain default road sign simultaneously
Autonomous travel, improves the operating efficiency of transfer robot, so as to be obviously improved, its is intelligent, and then effectively reduces energy waste and ask
Topic.
Control device based on electronic eyes enable to transfer robot according to certain default road sign autonomous travel so that
It is obviously improved its intelligent.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (4)
1. a kind of environmentally friendly transfer robot, it is characterised in that：
Including the first objective table, solar energy photovoltaic panel group and motion, the first objective table bottom is fixed with battery, institute
Battery is stated to be connected to store the electric energy that the solar energy photovoltaic panel group converts solar energy into solar energy photovoltaic panel group；
The motion is connected with the battery, and the motion also includes the controller being connected with battery and communication mould
Block, the controller is used to control motion to move, and the communication module is used for and external world's communication.
2. a kind of environmentally friendly transfer robot as claimed in claim 1, it is characterised in that：
The transfer robot includes the first objective table and the second objective table slided along the surface of the first objective table, is being formed at
The spot-facing portion of first objective table sets feed screw and the gap absorption component more than one or two, and sets link
Component, the feeding of the coupling member and feed screw synchronously slides the second objective table.
3. a kind of environmentally friendly transfer robot as claimed in claim 1, it is characterised in that：
The motion includes support platform, motor and more than one vehicle wheel component, the support platform and described the
One objective table is connected by more than one support bar, and the motor is connected with the battery, and the vehicle wheel component is controlled
In the motor, the motion also includes the controller being connected with battery, and the controller is described for controlling
Motor, so as to drive the wheel movement.
4. a kind of environmentally friendly transfer robot as claimed in claim 1, it is characterised in that：
The solar energy photovoltaic panel group includes 2-6 solar energy photovoltaic panel group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710505418.1A CN107234606B (en) | 2017-06-28 | 2017-06-28 | Environment-friendly carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710505418.1A CN107234606B (en) | 2017-06-28 | 2017-06-28 | Environment-friendly carrying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107234606A true CN107234606A (en) | 2017-10-10 |
| CN107234606B CN107234606B (en) | 2021-02-19 |
Family
ID=59986731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710505418.1A Active CN107234606B (en) | 2017-06-28 | 2017-06-28 | Environment-friendly carrying robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107234606B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102396032A (en) * | 2010-06-02 | 2012-03-28 | 中富芳春 | Stage mechanism |
| CN204263159U (en) * | 2014-11-22 | 2015-04-15 | 天津米岚泽科技发展有限公司 | A kind of solar energy transfer robot |
| KR20150110209A (en) * | 2014-03-24 | 2015-10-02 | 모터웰 주식회사 | A Robot Apparatus of Traffic Control |
| CN105459079A (en) * | 2016-01-08 | 2016-04-06 | 金陵科技学院 | Solar energy robot for chemistry accident treatment and working method |
| CN105774861A (en) * | 2016-05-09 | 2016-07-20 | 徐洪军 | Household carrying robot |
| CN106112958A (en) * | 2016-07-31 | 2016-11-16 | 丁皇刚 | A kind of dual energy sources supply apparatus people |
| CN206055512U (en) * | 2016-08-11 | 2017-03-29 | 河北智恒达塔业有限公司 | A kind of solar lighting tower with automatic light tracking function |
| CN206261563U (en) * | 2016-08-30 | 2017-06-20 | 天津三合成自行车配件有限公司 | A kind of dedusting robot of recharging |
-
2017
- 2017-06-28 CN CN201710505418.1A patent/CN107234606B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102396032A (en) * | 2010-06-02 | 2012-03-28 | 中富芳春 | Stage mechanism |
| KR20150110209A (en) * | 2014-03-24 | 2015-10-02 | 모터웰 주식회사 | A Robot Apparatus of Traffic Control |
| CN204263159U (en) * | 2014-11-22 | 2015-04-15 | 天津米岚泽科技发展有限公司 | A kind of solar energy transfer robot |
| CN105459079A (en) * | 2016-01-08 | 2016-04-06 | 金陵科技学院 | Solar energy robot for chemistry accident treatment and working method |
| CN105774861A (en) * | 2016-05-09 | 2016-07-20 | 徐洪军 | Household carrying robot |
| CN106112958A (en) * | 2016-07-31 | 2016-11-16 | 丁皇刚 | A kind of dual energy sources supply apparatus people |
| CN206055512U (en) * | 2016-08-11 | 2017-03-29 | 河北智恒达塔业有限公司 | A kind of solar lighting tower with automatic light tracking function |
| CN206261563U (en) * | 2016-08-30 | 2017-06-20 | 天津三合成自行车配件有限公司 | A kind of dedusting robot of recharging |
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| Publication number | Publication date |
|---|---|
| CN107234606B (en) | 2021-02-19 |
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