CN110733909B

CN110733909B - Leveling robot lifting system and control method and strategy thereof

Info

Publication number: CN110733909B
Application number: CN201910848181.6A
Authority: CN
Inventors: 房华
Original assignee: Jiangsu Liangyou Robot Co ltd
Current assignee: Jiangsu Liangyou Robot Co ltd
Priority date: 2019-09-09
Filing date: 2019-09-09
Publication date: 2021-04-13
Anticipated expiration: 2039-09-09
Also published as: CN110733909A

Abstract

The invention relates to a leveling robot lifting system and a control method and a strategy thereof.A servo motor transmits torque to lifting rope assemblies at two sides after being switched by a high-precision gear set through a driving shaft, so that the linear speed consistency of two rope lifting mechanisms is ensured on hardware, and a foundation is provided for quantitative lifting. Through the stay wire sensor arranged above the frame and on one side of the winding roll, a basis is provided for the quantitative lifting of the system in control. The bearings and the high-precision axial matching shafts are used in the two cross connecting rod supporting mechanisms, and the wire rail roller wheels and the sliding seat are guided simultaneously, so that the axial and radial play of the connecting rods in the action process is reduced, the rigidity of a single set of cross connecting rod mechanism is ensured, and the front and back play and the left and right play of the connected leveling mechanism are avoided. The limit sensor effectively ensures the safety of the equipment, and particularly effectively avoids the problem of mechanism collision caused by accidental faults or misoperation in the installation and debugging process of the equipment.

Description

Leveling robot lifting system and control method and strategy thereof

Technical Field

The invention relates to the field of grain leveling, in particular to a leveling robot lifting system and a control method and strategy thereof.

Background

The prior grain warehouse leveling work in China is purely human work, the grain warehouse leveling speed is low, labor is wasted, the labor intensity is high, the grain warehouse leveling quality is difficult to guarantee, and particularly for grain piles with large height difference, a grain leveling machine is needed to realize grain warehouse leveling.

The chinese patent discloses a grain leveling machine (No. CN 203998207U), including the track that sets up along the level of warehouse both sides inner wall, it has the support to transversely put between the track, the support both ends be equipped with respectively with track complex rail wheel, have at least one rail wheel to pass through the motor and drive, still be equipped with on the support with support sliding connection's leveling equipment, leveling equipment includes a rotatory stick by motor drive, the motor passes through frame and support sliding connection, rotatory stick end is equipped with the stirring leaf.

In combination with the above mentioned patents and with the existing commonly used levelling devices, the following problems are common: 1. the lifting stroke of the leveling equipment is insufficient, and the stirring blades of the leveling equipment cannot contact grains when the granary is not in a full-load state; 2. the intelligent elevator has no self-lifting and obstacle avoidance capability, and the intelligent degree is not high; 3. a shear fork type lifter adopted by a traditional lifting mechanism adopts a slide rail and a slide block as stroke limit, and the slide block and the slide rail are easy to wear under the long-term falling and dragging of a leveling working mechanism, so that the swinging is further caused.

Disclosure of Invention

The purpose of the invention is as follows: aiming at providing a lifting system of a leveling robot to solve the problems in the prior art. A further object is to provide a control method and strategy based on the above-mentioned leveling robot lifting system.

The technical scheme is as follows: a leveling robot lifting system comprises five parts, namely a foundation assembly, a lifting driving shaft assembly, a lifting rope assembly, a cross connecting rod supporting mechanism and a control module.

Wherein the base assembly comprises a frame; the machine frame is arranged on the ceiling in the granary room.

The lifting driving shaft assembly comprises a servo motor fixedly arranged at a preset position on the upper part of the rack, a speed reduction gear set arranged on the rack and connected with an output shaft of the servo motor, and driving shafts fixedly connected to two ends of the speed reduction gear set; the lifting driving shaft assembly is used for outputting the output power of the servo motor to the winding roll, and the winding roll is used for driving the rope to lift, so that the leveling working mechanism is driven to lift integrally to adapt to different grain surface heights.

The lifting rope assembly comprises winding reels rotatably arranged on two sides of the rack, a rope wound on the winding reels, a leveling working mechanism connected with the rope through a lifting rope fixing ring, and a pull wire sensor which is arranged on the rack, positioned on one side of the winding reels and connected with the leveling working mechanism through a lead wire; the winding roll is concentrically connected with the driving shaft; the servo motor transmits torque to the lifting rope assembly after being connected with the driving shaft through the high-precision gear set; the introduced pull wire sensor mechanism provides a basis for controlling the quantitative lifting of the system.

The cross connecting rod supporting mechanism comprises an upper line rail sliding block set, a lower line rail sliding block set and a cross connecting rod set, wherein the upper line rail sliding block set is fixed at the lower part of the rack and is positioned at two ends of the winding roll; the rope lifting and cross connecting rod supporting mechanisms are matched for use, so that the problem of small space occupation under a large stroke is solved.

The control module comprises a remote control module for establishing remote communication with the lifting system and an automatic control module arranged in the lifting system. The remote control module is used for directly controlling the lifting system by an operator by using the mobile terminal and is mainly used for the scenes of equipment fault maintenance, battery charging, equipment unloading and the like; meanwhile, height limit control is added, and the equipment is prevented from being damaged due to manual misoperation. The automatic control module is used for completing automatic lifting and obstacle avoidance for the lifting system according to a preset strategy.

In a further embodiment, the reduction gear set comprises a box body, at least four bearing installation seats arranged on two sides of the box body, bearings arranged in the bearing installation seats in an interference fit mode respectively, plug-in shafts in transition fit with the two opposite bearings in a plug-in mode, adapter flanges fixedly arranged at two ends of the plug-in shafts, and an input gear and an output gear which are sleeved in the middle of the plug-in shafts in a key connection transition fit mode respectively. The speed reduction gear set is used for improving the torque of the servo motor and is output to the driving shaft through the output gear, so that the output shaft has the power of a tension rope, the linear speeds of the two rope lifting mechanisms are ensured to be consistent from hardware, and a foundation is provided for quantitative lifting.

In a further embodiment, a rotating shaft is welded at the center of the winding roll, and the rotating shaft of the winding roll is connected with the driving shaft through a coupling; the ratio of the reference circle diameters of the input gear and the output gear is 2: 3; the adapter flange on one side of the input gear is fixedly connected with an output shaft of the servo motor, and the adapter flange on one side of the output gear is fixedly connected with the driving shaft. The take-up reel is used to wind the rope when the hoist system is raised and to release the rope when lowered.

In a further embodiment, the upper linear guide rail sliding block set and the lower linear guide rail sliding block set are the same in structure and comprise a connecting plate, two hinged supports symmetrically fixed on one side of the connecting plate, two sliding seats symmetrically fixed on the other side of the connecting plate, and a cross connecting rod set hinged to the hinged supports and the sliding seats in a cross mode. The cross connecting rod group is hinged by a plurality of connecting rods in a crossed manner; one connecting rod of the cross connecting rod group is hinged with the hinged support, the tail end of the other connecting rod is fixedly provided with a pin shaft, the pin shaft is sleeved with a roller, and the roller is clamped in the sliding seat and drives one end of the cross connecting rod group to slide along the sliding seat; the centers and the tail ends of two adjacent connecting rods are hinged with each other through pin shafts to form linkage. Bearings and high-precision axial matching shafts are used in the two cross connecting rod supporting mechanisms, and linear rail sliding blocks are introduced for guiding, so that axial and radial play in the action process of the connecting rods is reduced to a great extent, and the rigidity of a single set of cross connecting rod mechanism is guaranteed; the front and back and left and right movement of the connected leveling working mechanism are avoided. Meanwhile, the traditional upper-line rail sliding block set and the traditional lower-line rail sliding block set generally adopt sliding blocks and sliding rails, and are easy to wear quickly when a long-term heavy object is pulled; reduce the dependence to the slide rail, the rigidity effect is better simultaneously.

A control method and a strategy of a leveling robot lifting system comprise a manual control method and an automatic control method:

the manual control method comprises the following steps: an operator adopts a mobile terminal pre-installed with a preset APP, adopts a wireless AP, and communicates in a connection-oriented reliable TCP communication mode to artificially control the starting and stopping of a servo motor;

the automatic control method comprises the following steps: the flat car autonomously determines the lifting height of a lifting scraper according to the position of the trolley and data such as laser radar and RFID sensing, and finishes obstacle avoidance and abnormal condition treatment;

the automatic control method is based on the following strategies:

strategy 1, local flat cabin lifting strategy;

strategy 2, an integral leveling lifting strategy;

strategy 3, obstacle avoidance processing strategy;

and 4, processing an abnormal state and uploading log alarm information.

In a further embodiment, the policy 1 further comprises:

strategy 1.1, setting initial height

cm, final leveling height

cm, reference value of blade descent

cm, estimated total number of dropsNCurrent number of descentnWhereinNThe following conditions are satisfied:

wherein the lift cable assembly is lowered by a height of

cm。

In a further embodiment, the policy 2 further comprises:

strategy 2.1, obtaining the final height of the flat grain according to laser radar dataH cm, and average height of current area

cm, left average height

cm, average height on right side

cm；

Strategy 2.2, judging whether the sensor data receives the obstacle marking information, and if the obstacle marking information is true, turning to an obstacle avoidance processing flow;

strategy 2.3 if

If the current state is true, the leveling vehicle is lifted and does not act to continue to move forwards; if neither of the cases in strategy 2.2 and strategy 2.3 are trueIf it is, the covariance of current area height is determined

Determining a reference value for the descent height

And the number of times of descent N, and the blade is lifted and lowered according to the strategy 1.

In a further embodiment, the policy 3 further comprises:

and 3.1, acquiring RFID information in real time according to the card reader, judging whether an obstacle avoidance area exists, and if the obstacle avoidance area exists, performing the action of lifting the scraper according to the height specified by the configuration information of the RFID ID.

In a further embodiment, the policy 4 further comprises:

strategy 4.1, if the lifting motor scraper plate moves up and down, the stay wire sensor obtains the height value without change, the lifting is immediately stopped, a log is recorded, and warning information is reported to a remote client;

strategy 4.2, if the flat car cannot normally run, recording log information, sequentially lifting the scraper blades for 5 cm for at most 3 times, and recording logs within the limited height range; and if the normal state is not recovered for three times, immediately stopping moving the flat wagon, and reporting alarm information to the remote client.

Has the advantages that: the invention relates to a leveling robot lifting system and a control method and a strategy thereof.A servo motor transmits torque to lifting rope assemblies at two sides after being switched by a high-precision gear set through a driving shaft, so that the linear speed consistency of two rope lifting mechanisms is ensured on hardware, and a foundation is provided for quantitative lifting. Through the stay wire sensor arranged above the frame and on one side of the winding roll, a basis is provided for the quantitative lifting of the system in control. The bearings and the high-precision axial matching shafts are used in the two cross connecting rod supporting mechanisms, and the wire rail roller wheels and the sliding seat are guided simultaneously, so that the axial and radial play of the connecting rods in the action process is reduced, the rigidity of a single set of cross connecting rod mechanism is ensured, and the front and back play and the left and right play of the connected leveling mechanism are avoided. The rope line is lifted and the cross connecting rod is supported and matched for use, the problem of small space occupation under a large stroke is solved, the effective lifting stroke of the lifting mechanism reaches 2 meters, the requirement on the height of a flat bin in the granary is effectively met, and meanwhile, the requirement on small space occupation is also met, so that the installation and debugging difficulty and the safety problem of entering the granary are reduced, and more spaces are released so as to meet other purposes of the granary. The limit sensor structure effectively ensures the equipment safety, particularly effectively avoids the mechanism collision problem caused by accidental faults or misoperation in the equipment installation and debugging process, and ensures the equipment safety. Simultaneously, traditional rail sliding block set that reaches standard grade and the rail sliding block set that rolls off the production line adopt slider and slide rail usually, pull at long-term heavy object and wear and tear fast easily down, and this application adopts slide and gyro wheel cooperation, reduces the reliance to the slide rail, and the rigidity effect is better simultaneously.

Drawings

Fig. 1 is a front view of a leveling robot lift system.

Fig. 2 is a perspective view of a lift drive shaft assembly in a lift system of a flat-cabin robot.

Fig. 3 is a front view of a cross link support mechanism in the lift system of the flat bin robot.

Fig. 4 is a perspective view of a cross connecting rod supporting mechanism in the leveling robot lifting system.

Fig. 5 is a schematic interface diagram of a mobile terminal in the manual control method of the present invention.

FIG. 6 is a schematic interface diagram of the alarm status indicator light of the present invention.

Fig. 7 is a strategy diagram based on the automatic control method of the present invention.

The figures are numbered: the device comprises a rack 1, a servo motor 2, a reduction gear set 3, an adapter flange 301, a bearing 302, an input gear 303, an output gear 304, a box body 305, a driving shaft 4, a winding reel 5, a limit switch set 6, a cross connecting rod supporting mechanism 7, a connecting plate 701, a sliding seat 702, a roller 703, a hinged support 704, a connecting rod 705, a pin 706, a lifting rope fixing ring 8, a leveling working mechanism 9, a pull wire sensor 10, a rope 11, an outgoing wire 12, an upper track sliding block set 13 and a lower track sliding block set 14.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The applicant believes that the lifting systems for conventional levelling installations have the following problems and drawbacks in use: the lifting stroke of the leveling equipment is insufficient, and the stirring blades of the leveling equipment cannot contact grains when the granary is not in a full-load state; meanwhile, the intelligent control system does not have the self-lifting and obstacle avoidance capabilities, and the intelligent degree is not high. Therefore, the present invention is intended to provide a lift system of a leveling robot to solve the above problems in the prior art, and a further object of the present invention is to provide a control method and strategy based on the lift system of the leveling robot. The invention aims to solve the following three points: the leveling working mechanism 9 must be capable of quantitative lifting; the contradiction between large lifting stroke and small space occupation in the granary is solved; the rigidity of the lifting mechanism is prevented from influencing the working effect of the leveling working mechanism 9.

Based on the above objects and purposes, the technical solution of the present invention will be further explained with reference to the embodiments and the accompanying drawings.

The invention discloses a leveling robot lifting system and a control method and strategy thereof. A leveling robot lifting system comprises a rack 1, a servo motor 2, a reduction gear set 3, a driving shaft 4, a winding reel 5, a rope 11, a leveling working mechanism 9, a pull wire sensor 10, an upper line rail sliding block set, a lower line rail sliding block set, a cross connecting rod 705 set, a remote control module and an automatic control module. The frame 1 is erected on the ceiling in the granary.

The servo motor 2 is fixedly arranged on the rack 1, the reduction gear set 3 is arranged on the rack 1 and connected with an output shaft of the servo motor 2, and the driving shaft 4 is fixedly connected with two ends of the reduction gear set 3. The servo motor 2, the reduction gear set 3 and the driving shaft 4 form a lifting driving shaft 4 assembly. The reduction gear set 3 includes a housing 305, a bearing 302 mounting seat, a bearing 302, a plug shaft, an adapter flange 301, an input gear 303, and an output gear 304. The bearing 302 mounting seats are arranged on two sides of the box body 305 and are in one-to-one correspondence with each other, the bearings 302 and the bearing 302 mounting seats are mounted in an interference fit mode, the plug-in shafts are plugged in the two opposite bearings 302 and are in transition fit with the bearings 302, the adapter flanges 301 are fixedly mounted at two ends of the plug-in shafts, and the input gear 303 and the output gear 304 are respectively sleeved in the middle of the plug-in shafts in a transition fit mode in a key connection mode.

The utility model discloses a take-up reel, including frame 1, take-up reel 5, rope 11, flat storehouse operating device 9, take-up reel 5 rotates, rope 11 is around establishing 1 both sides of frame, take-up reel 5 with through the key-type connection between the drive shaft 4, drive take-up reel 5 by drive shaft 4 and rotate, rope 11 is around establishing on take-up reel 5, flat storehouse operating device 9 passes through the solid fixed ring 8 of lifting rope and connects, sensor 10 installs act as go-between in frame 1, sensor 10 is located one side of take-up reel 5, sensor 10 act as go-between with flat storehouse operating device 9 is connected through lead-out wire 12 to through the ascending height and the decline of procedure quantitative control operating. And the winding roll 5 is provided with a limit switch group 6 which is mainly used for unexpected faults in the process of installation and debugging of equipment and ensuring the safety of the equipment. The winding roll 5, the rope 11, the leveling working mechanism 9 and the pull line sensor 10 form a lifting rope 11 assembly. A rotating shaft is welded at the center of the circle of the winding roll 5, and the rotating shaft of the winding roll 5 is connected with the driving shaft 4 through a coupler; the ratio of the reference circle diameters of the input gear 303 and the output gear 304 is 2: 3; the adapter flange 301 on the input gear 303 side is fixedly connected to the output shaft of the servo motor 2, and the adapter flange 301 on the output gear 304 side is fixedly connected to the drive shaft 4.

The upper track sliding block set, the lower track sliding block set and the cross connecting rod 705 set are matched together to form the cross connecting rod supporting mechanism 7. The cross connecting rod supporting mechanism 7 is guided by the upper and lower line rail sliding block sets, so that the mechanism is favorable for the stability of extension and contraction, plays a role in increasing the rigidity of the mechanism, and reduces the offset of the mechanism under the condition of long stroke, and in addition, the connecting parts between the rods of the mechanism are fixedly connected by the bearings 302 and the pin shafts, so that the radial and axial movement between the rods is eliminated, and the rigidity of the cross connecting rod supporting mechanism 7 is integrally ensured. The upper linear rail sliding block set and the lower linear rail sliding block set have the same structure and comprise a connecting plate 701, a hinged support 704, a sliding seat 702 and a cross connecting rod 705 set. The hinged support 704 is symmetrically fixed on one side of the connecting plate 701, the sliding seat 702 is symmetrically fixed on the other side of the connecting plate 701, and the cross connecting rod 705 group is hinged on the hinged support 704 and the sliding seat 702 in a cross manner. The cross connecting rods 705 are hinged by a plurality of connecting rods 705 in a crossed manner; a connecting rod 705 of one of the cross connecting rod 705 groups is hinged with the hinged support 704, a pin shaft is fixed at the tail end of the other connecting rod 705, a roller 703 is sleeved on the pin shaft, and the roller 703 is clamped in the sliding seat 702 and drives one end of the cross connecting rod 705 group to slide along the sliding seat 702; the centers and the ends of two adjacent connecting rods 705 are hinged to each other through pins to form linkage.

Under the structure mode, the upper end and the lower end of the cross connecting rod supporting mechanism 7 on the two sides are respectively connected with the rack 1 and the leveling working mechanism 9. The two sets of connecting rods 705 form a rigid body, so that the leveling working mechanism 9 can still work stably under the condition of bearing load, and the conditions of left-right deflection and front-back deflection are avoided.

The remote controlThe module and the automatic control module form the control module of the invention. The remote control module comprises a mobile terminal pre-installed with a preset APP, is controlled by operating personnel through remote operation of APP software, and is mainly used for scenes such as equipment fault maintenance, battery charging and equipment unloading. The remote control module adopts wireless AP, and is communicated in a reliable TCP communication mode for connection, so that height limit control is increased, equipment damage caused by manual misoperation and a specific lifting maximum value are avoided

And minimum value

The flexible configuration is realized according to the field environment of the granary. Referring to fig. 5, the interface of the mobile terminal includes information such as cart coordinates, cart speed, squeegee distance, etc. The coordinate information of the trolley is displayed by two data frames which are arranged side by side and respectively represent the X coordinate value and the Y coordinate value. The trolley speed and the scraper speed comprise a control strip with a preset length, a sliding block capable of sliding left and right is arranged on the control strip, an operator can touch the sliding block to manually change the running speed of the trolley of the current leveling equipment and the running speed of the scraper, and the speed can be fed back to one side of the control strip in real time when the operator operates, and the unit is cm/s. And the lower parts of the trolley speed control bar and the scraper speed control bar are respectively provided with an action control column, and the action control column comprises advancing, retreating, ascending and descending. The forward and backward buttons are used for controlling the forward and backward movement of the trolley, the ascending and descending buttons are used for controlling the overall ascending and descending movement of the lifting mechanism, the buttons are directly fed back to the servo motor 2, the servo motor 2 drives the driving shaft 4 to rotate, the rope 11 is driven to be wound by the winding roll 5, and then the lifting is completed under the assistance of the cross connecting rod supporting mechanism 7. The lower part of the action control column and the lower column of the whole interface are respectively provided with a start button, a stop button, a pause button, a power supply button and a charging button. The starting button is used for controlling the starting of the whole system, needs to be triggered by long pressing for three seconds, prevents mistaken touch, and can be effective only by being matched with the power supply button; stop button for controlling the wholeThe system is stopped and needs to be triggered by long pressing for three seconds, so that mistaken touch is prevented; the pause button is used to control the whole system to stop temporarily, and the power button is used to supply power to the system, which is a prior condition for all operations.

In actual work, the servo motor 2 is started, the output shaft of the servo motor 2 is decelerated through the reduction gear set 3 and increases torque, the output gear 304 of the reduction gear set 3 outputs the torque to the driving shaft 4, the driving shaft 4 drives the winding roll 5 to rotate, the rotation of the winding roll 5 in different directions can drive the rope 11 to wind or release, the rope 11 is wound to drive the leveling working mechanism 9 to pull upwards, and the rope 11 is released to drive the leveling working mechanism 9 to descend. The pull sensor 10 can sense the extension length of the lead wire 12, thereby judging the lifting amount of the lifting system in real time. When the winding roll 5 drives the rope 11 to be drawn, in order to ensure that the lifting system has certain rigidity, the bearings 302 and the high-precision axial matching shafts are used in the two cross connecting rod 705 supporting mechanisms 7, and meanwhile, the guide of the wire rail sliding blocks is introduced, so that the axial and radial play of the connecting rods 705 in the action process is greatly reduced, the rigidity of a single set of cross connecting rod 705 mechanism is ensured, in addition, the structural parts are machined, the size precision is high, the two cross connecting rod 705 mechanisms are combined into a rigid three-dimensional mechanism, and the front and back and left and right play of the connected flat bin working mechanism 9 are avoided.

A control method and strategy of a leveling robot lifting system comprise a manual control method and an automatic control method, as shown in FIG. 7: the manual control method comprises the following steps: an operator adopts a mobile terminal pre-installed with a preset APP, adopts a wireless AP, and communicates in a connection-oriented reliable TCP communication mode to artificially control the starting and stopping of the servo motor 2; the automatic control method comprises the following steps: the flat car autonomously determines the lifting height of the lifting scraper according to the position of the trolley and data such as laser radar and RFID sensing, and finishes obstacle avoidance and abnormal condition treatment. The lift height of the lifting scraper is determined by the flat car according to the position of the car, the laser radar, the RFID sensor and other data, and the obstacle avoidance and abnormal condition treatment are completed, so that the treatment is complex, and the following aspects are specifically subdivided to explain: the method comprises a local leveling lifting strategy, an overall leveling lifting strategy, an obstacle avoidance processing strategy, abnormal state processing and log alarm information uploading.

Local flat bin lifting strategy: during the experimental adjustment and measurement process of leveling the grain in the leveling bin, the falling of the grain is found to be at a given height

cm, because the grain can not be completely thrown to the low position, the grain can not reach the given height of the scraping after the scraping action is completed every time, the subsequent accumulated grain is gradually increased along with the time, the scraping load is greatly increased, the problem that the flat cabin vehicle cannot move is caused, and the scraping effect can be better in practice along with the design of the scraping scheme. Setting an initial height

cm, final leveling height

cm, reference value of blade descent

wherein the lift cable assembly is lowered by a height of

cm。

And (3) an integral leveling lifting strategy: firstly, obtaining the final height of the flat grain according to laser radar dataH cm, and average height of current area

cm, left average height

cm, average height on right side

cm; then, judging whether the sensor data receives the obstacle sign information, and turning to an obstacle avoidance processing flow; if it is

If the current state is true, the leveling vehicle is lifted and does not act to continue to move forwards; if neither of the above two conditions occurs, the covariance of the current region height is determined

Determining a reference value for the descent height

And descending the scraping plate for N times according to a local flat bin lifting strategy.

Obstacle avoidance processing strategy: and acquiring RFID information in real time according to the card reader, judging whether an obstacle avoidance area exists, and if the obstacle avoidance area exists, performing the action of lifting the scraper according to the height specified by the configuration information of the RFID ID.

Abnormal state processing and log alarm information uploading: if the lifting motor scraper plate moves up and down, the stay wire sensor 10 obtains the height value without change, immediately stops lifting, records logs and reports alarm information to a remote client; if the flat car cannot normally run, log information is recorded, the scrapers are sequentially lifted for 5 cm for at most 3 times within the height limit range, and logs are recorded; if the normal state is not recovered for three times, the moving flat wagon is immediately stopped, alarm information is reported to the remote client, the alarm state is indicated by a red indicator light, and the normal state is indicated by a green indicator light, as shown in fig. 6.

In summary, the invention fully considers the actual conditions inside the granary and the requirements to be met in the grain leveling process, and simultaneously considers the problems needing attention in the practical application scenes of equipment transportation, assembly, debugging and the like.

As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A control method and a strategy of a leveling robot lifting system are characterized in that the lifting system comprises a base assembly, a lifting driving shaft assembly, a cross connecting rod supporting mechanism and a control module; the base assembly includes a frame;

the lifting driving shaft assembly comprises a servo motor fixedly arranged at a preset position on the upper part of the rack, a reduction gear set arranged on the rack and connected with an output shaft of the servo motor, and driving shafts fixedly connected to two ends of the reduction gear set;

the lifting rope assembly comprises winding reels rotatably arranged on two sides of the rack, a rope wound on the winding reels, a leveling working mechanism connected with the rope through a lifting rope fixing ring, and a pull wire sensor which is arranged on the rack, positioned on one side of the winding reels and connected with the leveling working mechanism through a lead wire; the winding roll is concentrically connected with the driving shaft;

the cross connecting rod supporting mechanism comprises an upper line rail sliding block set, a lower line rail sliding block set and a cross connecting rod set, wherein the upper line rail sliding block set is fixed at the lower part of the rack and is positioned at two ends of the winding roll;

the control module comprises a remote control module for establishing remote communication with the lifting system and an automatic control module arranged in the lifting system;

the control method and the strategy comprise a manual control method and an automatic control method:

the automatic control method is based on the following strategies:

strategy 1, local flat cabin lifting strategy;

strategy 2, an integral leveling lifting strategy;

cm, left average height

cm, average height on right side

cm；

strategy 2.3 if

If the current state is true, the leveling vehicle is lifted and does not act to continue to move forwards; if neither of the scenarios in policy 2.2 or policy 2.3 occur, then the covariance of the current region height is taken into account

Determining a reference value for the descent height

And the number of the falling times N,lifting the scraper according to strategy 1;

strategy 3, obstacle avoidance processing strategy;

and 4, processing an abnormal state and uploading log alarm information.

2. The control method and strategy of the leveling robot lifting system according to claim 1, characterized in that: the reduction gear set comprises a box body, at least four bearing installation seats arranged on two sides of the box body, bearings arranged in the bearing installation seats in an interference fit mode, plug-in shafts in transition fit with the two opposite bearings, adapter flanges fixedly arranged at two ends of the plug-in shafts, and an input gear and an output gear which are respectively sleeved in the middle of the plug-in shafts in a key-connection transition fit mode.

3. The control method and strategy of the leveling robot lifting system according to claim 2, characterized in that: a rotating shaft is welded at the center of the winding roll and connected with the driving shaft through a coupler; the ratio of the reference circle diameters of the input gear and the output gear is 2: 3; the adapter flange on one side of the input gear is fixedly connected with an output shaft of the servo motor, and the adapter flange on one side of the output gear is fixedly connected with the driving shaft.

4. The control method and strategy of the leveling robot lifting system according to claim 1, characterized in that: the upper line rail sliding block set and the lower line rail sliding block set are identical in structure and comprise connecting plates, two hinged supports on one side of each connecting plate are symmetrically fixed, two sliding seats on the other side of each connecting plate are symmetrically fixed, and a cross connecting rod set is hinged to the hinged supports and the sliding seats in a cross mode.

5. The control method and strategy of the leveling robot lifting system according to claim 4, characterized in that: the cross connecting rod group is hinged by a plurality of connecting rods in a crossed manner; one connecting rod of the cross connecting rod group is hinged with the hinged support, the tail end of the other connecting rod is fixedly provided with a pin shaft, the pin shaft is sleeved with a roller, and the roller is clamped in the sliding seat and drives one end of the cross connecting rod group to slide along the sliding seat; the centers and the tail ends of two adjacent connecting rods are hinged with each other through pin shafts to form linkage.

6. The control method and strategy of a leveling robot hoist system of claim 1, characterized in that strategy 3 further comprises:

7. The control method and strategy of a leveling robot hoist system of claim 1, characterized in that strategy 4 further comprises: