CN107276204A - One kind energy-conservation loading robot - Google Patents
One kind energy-conservation loading robot Download PDFInfo
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- CN107276204A CN107276204A CN201710512054.XA CN201710512054A CN107276204A CN 107276204 A CN107276204 A CN 107276204A CN 201710512054 A CN201710512054 A CN 201710512054A CN 107276204 A CN107276204 A CN 107276204A
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- loading robot
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- 238000004134 energy conservation Methods 0.000 title claims abstract description 15
- 238000005461 lubrication Methods 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 239000010813 municipal solid waste Substances 0.000 abstract description 11
- 238000006243 chemical reaction Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000000605 extraction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241001424688 Enceliopsis Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000002803 fossil fuel Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- 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
-
- 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
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
- H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
- H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/30—Electrical components
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Photovoltaic Devices (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of energy-conservation loading robot, and the robot is widely used in the loading loading transport operation of boiler fitting, rubbish, workshop parts.Devised in the present invention relative to the rotatable solar energy photovoltaic panel group of objective table, the robot makes full use of solar energy to be charged, reduce the dependence for the common energy, and conversion of solar energy can be obviously improved, so that there is provided a kind of environmental protection humanoid robot.
Description
Technical field
The present invention relates to robot field, and in particular to one kind energy-conservation loading robot.
Background technology
Loading transport operation occupies highly important status in modern industry, and wherein loading robot is mainly engaged in material
Position move or change its place posture, widely used in most fields, the installation of such as conventional boiler is mainly used
Manually, or some non-dedicated suspenders are made to carry heavy heat exchanger or boiler, wasted time and energy；And heat exchanger is boiler
Key componentses, 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
Injury to personnel.If installing relatively large boiler, the plant equipment that some can also be used large-scale, such as derrick crane, automobile
Formula crane, but if when installing small-sized boiler, heat exchanger, large scale equipment will have an installation blind area, and equipment itself
Dismounting 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 loading
Robot, substantially improves the condition of work of operator, improves production efficiency；Existing loading 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 loading robot manipulating task to be current heat
Point problem.
The content of the invention
The present invention provides a kind of energy-conservation loading robot.The present invention is realized with following technical scheme：
One kind energy-conservation loading robot, the loading robot includes objective table and solar energy photovoltaic panel group, the loading
Platform bottom is fixed with battery, and the battery is connected to store the solar energy photovoltaic panel group with solar energy photovoltaic panel group
The electric energy converted solar energy into；The solar energy photovoltaic panel group is made up of N to solar energy photovoltaic panel group, each photovoltaic
Plate group includes two two solar energy photovoltaic panels being oppositely arranged；
The loading robot also includes motion, and the motion is connected with the battery.
Further, the first connecting portion of two solar energy photovoltaic panels in each solar energy photovoltaic panel group is carried with described
Thing platform rotates connection；Two solar energy photovoltaic panels in each solar energy photovoltaic panel group are connected by a telescoping mechanism, institute
Stating telescoping mechanism includes motor and the expansion link for being controlled by the motor, passes through the flexible of the expansion link, the sun
The angle of energy photovoltaic panel changes.
Further, light sensitive device and control device, the light sensitive device are laid with each solar energy photovoltaic panel group
Communicate and connect with the control device, the control device controls the electricity in the corresponding telescoping mechanism of the solar energy photovoltaic panel group
Motivation is so as to control the angle of solar energy photovoltaic panel；
Be provided with photosensitive circuit and selection circuit in the light sensitive device, the photosensitive circuit be divided into the first photosensitive circuit and
Second photosensitive circuit, first photosensitive circuit is layed in the first solar energy photovoltaic panel of solar energy photovoltaic panel group, described second
Photosensitive circuit is layed in the second solar energy photovoltaic panel of solar energy photovoltaic panel group；Photosensitive circuit is used to perceive solar energy photovoltaic panel group
The light intensity that various pieces are received, each photosensitive circuit includes two photosensitive branch roads in parallel, and tie point is used to perceive the sun
The light intensity of energy photovoltaic panel X-direction, the second branch road is used for the light intensity for perceiving solar energy photovoltaic panel Y direction；
The selection circuit receives the electric signal that the first photosensitive circuit and the second photosensitive circuit are sent, comprehensive selection intensity compared with
Big electric signal, and it is selected to enable control device to adjust in real time that the electric signal selected is sent into control device
The posture of the corresponding solar energy photovoltaic panel of electric signal is to realize the preferentially gesture stability of the solar energy photovoltaic panel for being oppositely arranged.
Further, the motion includes support platform, motor and more than one vehicle wheel component, the support
Platform is connected with the objective table by more than one support bar, and the motor is connected with the battery, the wheel
Component is controlled by the motor.
Further, the motion also includes control module, and the control module is used to control the motor,
So as to drive the wheel movement.
Further, the vehicle wheel component includes a foreign steamer and a lubrication groove, and the foreign steamer opens up one along its inner periphery
Individual first groove, the lubrication groove is fixedly arranged in first groove, and the vehicle wheel component also includes a balance element, the balance
Part is slideably positioned in the excircle of the lubrication groove and is contained in first groove, and the gravity of the balance element is more than described put down
The frictional force weighed between part and the lubrication groove.
Further, the length of the balance element is 1/6th of the lubrication groove girth.
The beneficial effects of the invention are as follows：
The present invention provides a kind of energy-conservation loading robot, possesses following beneficial effects：
Devised in the present invention relative to the rotatable solar energy photovoltaic panel group of objective table, and described photovoltaic
Plate group, which is controlled by telescoping mechanism, can voluntarily adjust its corner relative to objective table, so that the angle of photovoltaic panel being capable of root
Adjusted in real time according to direction of illumination, make it that photovoltaic panel smooth surface tends to be vertical with sunray all the time during shining upon
Directly, so as to be obviously improved conversion of solar energy；Make full use of solar energy to be charged, reduce the dependence for the common energy, and
It can be widely used in boiler fitting, rubbish, the transport operation of workshop parts.
Brief description of the drawings
Fig. 1 is the basic structure schematic diagram of loading robot provided in an embodiment of the present invention；
Fig. 2 is that solar energy photovoltaic panel group provided in an embodiment of the present invention sets schematic diagram；
Fig. 3 is the control module block diagram provided in an embodiment of the present invention based on electronic eyes.
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.
One kind energy-conservation loading robot, as shown in figure 1, the loading robot includes objective table 1 and solar energy photovoltaic panel
Group 2, the bottom of objective table 1 is fixed with battery 3, and the battery 3 is connected to store with solar energy photovoltaic panel group 2
State the electric energy that solar energy photovoltaic panel group converts solar energy into；The solar energy photovoltaic panel group 2 is by N to solar energy photovoltaic panel group structure
Into each solar energy photovoltaic panel group includes two two solar energy photovoltaic panels being oppositely arranged；
The loading robot also includes motion 4, and the motion 4 is connected with the battery.
In the possible embodiments of the present invention, as shown in Fig. 2 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 the objective table 1 and is connected；Two in each solar energy photovoltaic panel group
It is connected between individual solar energy photovoltaic panel by a telescoping mechanism 5, the telescoping mechanism 5 includes motor 51 and is controlled by institute
The expansion link 52 of motor is stated, by the flexible of the expansion link 52, the angle of the solar energy photovoltaic panel changes, so that
Can be vertical with light as much as possible, so as to lift light conversion ratio；Specifically, the expansion link 52 includes the first pole and second
Pole, is connected between first pole and the second pole by revolute pair；Two sun in each solar energy photovoltaic panel group
Energy photovoltaic panel is homogeneous component, and the barycenter of solar energy photovoltaic panel is provided with fixedly connected part, the first photovoltaic
The barycenter of plate 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 fixedly connected part
202-2, the first fixedly connected part 201-2 is hinged with the first pole, and the second fixture 202-2 and the second pole are cut with scissors
Connect.
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.
Further, the motion includes support platform 41, motor 42 and more than one vehicle wheel component 43, institute
Support platform 41 is stated with the objective table 1 by more than one support bar (not shown) to be connected, the motor 42 with
The battery 3 is connected, and the vehicle wheel component 43 is controlled by the motor 42.The motion also includes control mould
Block, the control module is used to control the motor, so as to drive the wheel movement.The motion also includes logical
Module is interrogated, the communication module is used for and external world's communication；The communication module supports 2G, 3G, 4G, infrared, bluetooth and WIFI logical
News.
In order that the loading robot can more stably loading and transport goods, the embodiment of the present invention also for
The vehicle wheel component of the loading 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 loading robot wheel center of gravity is relatively stablized, is difficult to overturn during enforcement.
In order to lift the intelligent of the loading robot, control module provided in an embodiment of the present invention is to be a kind of based on electricity
The control module of sub- eye, the electronic eyes is the image taking and identifying device for recognizing default road sign, the default road sign
It is made up of black background regular hexagon profile and multiple white features portions, the features are filled circles.The default road of black and white
Mark is designed to avoid when illumination range significantly changes, the problem of recognition effect is undesirable.The design of regular hexagon profile is
In order to road sign and electronic eyes camera in the case that posture is entirely different, 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
Features produce adhesion after binaryzation.
Specifically, the control module based on electronic eyes includes as shown in Figure 3：
Image capture unit, for shooting the default road sign occurred in loading 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, operations described below is performed in the feature extraction unit：
(1) build multiple analysis templates of the target image, the acquisition formula of the analysis template for M (x, y, s)=
(T (x, y, ks)-T (x, y, s)) * I (x, y), wherein I (x, y) be object region, the smoothness of s identification images, T (x,
Y) it is fuzzy son.
Specifically,Wherein, the size for obscuring the Fuzzy Template used in son is m*
n。
(2) obtain the key point based on analysis template and describe son：Taylor expansion is carried out to the analysis template in (1), and asked
The gray value that its extreme point is obtained at crucial point coordinates, key point constitutes key point description.
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 loading robot, and wheel is controlled according to the obtained control instruction
Component 43 is moved.
Control device provided in an embodiment of the present invention based on electronic eyes enables to loading robot default according to certain
Road sign and autonomous travel, so that it is intelligent to be obviously improved its.
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 (7)
1. one kind energy-conservation loading robot, it is characterised in that：
The loading robot includes objective table and solar energy photovoltaic panel group, and the objective table bottom is fixed with battery, described
Battery is connected to store the electric energy that the solar energy photovoltaic panel group converts solar energy into solar energy photovoltaic panel group；Institute
Solar energy photovoltaic panel group is stated to be made up of solar energy photovoltaic panel group N, what each solar energy photovoltaic panel group was oppositely arranged including two
Two solar energy photovoltaic panels；
The loading robot also includes motion, and the motion is connected with the battery.
2. a kind of energy-conservation loading robot as claimed in claim 1, it is characterised in that：
The first connecting portion of two solar energy photovoltaic panels in each solar energy photovoltaic panel group is rotated with the objective table to be connected；
Two solar energy photovoltaic panels in each solar energy photovoltaic panel group are connected by a telescoping mechanism, and the telescoping mechanism includes
Motor and the expansion link for being controlled by the motor, pass through the flexible of the expansion link, the angle of the solar energy photovoltaic panel
Change.
3. a kind of energy-conservation loading robot as described in claim 1 and 2, it is characterised in that：
Light sensitive device and control device, the light sensitive device and the control device are laid with each solar energy photovoltaic panel group
Communication connection, the control device controls the motor in the corresponding telescoping mechanism of the solar energy photovoltaic panel group to control too
The angle of positive energy photovoltaic panel；
Photosensitive circuit and selection circuit are provided with the light sensitive device, the photosensitive circuit is divided into the first photosensitive circuit and second
Photosensitive circuit, first photosensitive circuit is layed in the first solar energy photovoltaic panel of solar energy photovoltaic panel group, and described second is photosensitive
Circuit is layed in the second solar energy photovoltaic panel of solar energy photovoltaic panel group；Photosensitive circuit be used for perceive solar energy photovoltaic panel group each
The light intensity that part is received, each photosensitive circuit includes two photosensitive branch roads in parallel, and tie point is used to perceive solar energy
The light intensity of plate X-direction is lied prostrate, the second branch road is used for the light intensity for perceiving solar energy photovoltaic panel Y direction；
The selection circuit receives the electric signal that the first photosensitive circuit and the second photosensitive circuit are sent, and comprehensive selection intensity is larger
Electric signal, and the electric signal selected is sent to control device to enable control device to adjust selected telecommunications in real time
The posture of number corresponding solar energy photovoltaic panel is to realize the preferentially gesture stability of the solar energy photovoltaic panel for being oppositely arranged.
4. a kind of energy-conservation loading robot as claimed in claim 1, it is characterised in that：
The motion includes support platform, motor and more than one vehicle wheel component, and the support platform is carried with described
Thing platform is connected by more than one support bar, and the motor is connected with the battery, and the vehicle wheel component is controlled by institute
State motor.
5. a kind of energy-conservation loading robot as claimed in claim 4, it is characterised in that：
The motion also includes control module, and the control module is used to control the motor, so as to drive described
Wheel movement.
6. a kind of energy-conservation loading robot as claimed in claim 4, it is characterised in that：
The vehicle wheel component includes a foreign steamer and a lubrication groove, and the foreign steamer opens up first groove, institute along its inner periphery
State lubrication groove to be fixedly arranged in first groove, the vehicle wheel component also includes a balance element, the balance element is slideably positioned in
The excircle of the lubrication groove and be contained in first groove, the gravity of the balance element be more than the balance element with it is described interior
Frictional force between wheel.
7. a kind of energy-conservation loading robot as claimed in claim 6, it is characterised in that：
The length of the balance element is 1/6th of the lubrication groove girth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710512054.XA CN107276204B (en) | 2017-06-28 | 2017-06-28 | Energy-saving object carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710512054.XA CN107276204B (en) | 2017-06-28 | 2017-06-28 | Energy-saving object carrying robot |
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| Publication Number | Publication Date |
|---|---|
| CN107276204A true CN107276204A (en) | 2017-10-20 |
| CN107276204B CN107276204B (en) | 2020-10-09 |
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ID=60069781
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710512054.XA Active CN107276204B (en) | 2017-06-28 | 2017-06-28 | Energy-saving object carrying robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108736811A (en) * | 2018-06-20 | 2018-11-02 | 郑州琼佩电子技术有限公司 | A kind of solar power supply apparatus of operating punch machine robot |
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