CN111230832B

CN111230832B - Intelligent box repairing system

Info

Publication number: CN111230832B
Application number: CN202010071902.XA
Authority: CN
Inventors: 陈启新; 蔡俩志; 郑双智; 陈丽萍
Original assignee: Sinotrans Fujian Co ltd
Current assignee: Sinotrans Fujian Co ltd
Priority date: 2020-01-21
Filing date: 2020-01-21
Publication date: 2021-06-11
Anticipated expiration: 2040-01-21
Also published as: CN111230832A

Abstract

The invention relates to the technical field of containers, in particular to an intelligent box repairing system which comprises a box repairing robot and a control handle for controlling the box repairing robot, wherein the control handle is in wireless communication connection with the box repairing robot, the box repairing robot comprises a driving base, a balancing device, a jacking device and a heating device, the balancing device comprises a top plate, a bottom plate and a plurality of elastic pieces, notches are formed in the top plate and the bottom plate, the elastic pieces are arranged and connected to the bottom plate along the circumferential direction of the notches, the top ends of the elastic pieces penetrate through the top plate and are in sliding connection with the top plate, the bottom plate is arranged at the top of the driving base in a sliding mode, and the jacking device is arranged inside the driving base. The driving base is arranged to directly control the bottom of the container through the control handle, then the bottom of the container is controllably heated and corrected through the heating device and can be directly carried out externally without climbing into the bottom of the container by personnel for heating and correcting.

Description

Intelligent box repairing system

Technical Field

The invention relates to the technical field of containers, in particular to an intelligent container repairing system.

Background

The container is a kind of combined tool which can be loaded with packaged or unpacked goods for transportation and is convenient for loading, unloading and carrying by mechanical equipment. The greatest success of a container lies in its standardization of products and the set of transportation systems established thereby. The standardization of a large object carrying dozens of tons can be realized, and a logistics system matched with ships, ports, routes, roads, transfer stations, bridges, tunnels and multimodal transportation in the global range is gradually realized on the basis of the standardization, which is indeed one of great curiosities created by mankind from history.

The problem that the prior art has the following lies in that the container is in various conditions often in practical in-process, need the staff often to restore the container, especially need to wholly rise the container when the bottom is crooked, then the staff bores under the container bottom and heats container bottom bending position, rectify again, and manual heating is stable controls comparatively improper, often the heating temperature can exceed standard 650 degrees, lead to the reduction of container floorbar life-span, still when the container side is restoreed, the process is loaded down with trivial details, the operation degree of difficulty increases, especially the welding workman requires has higher proficiency, except the operation in-process of welding accident, there are many industry standards, the precision requirement is often neglected in manual work.

Disclosure of Invention

Therefore, the intelligent container repairing system is required to be provided, the heating temperature can be controlled through the intelligent container repairing system, the heating temperature is more accurate, the maintenance time is short compared with manual repair, and the container can be remotely controlled without manually entering the container bottom.

In order to achieve the purpose, the invention provides an intelligent box repairing system which comprises a box repairing robot and a control handle for controlling the box repairing robot, wherein the control handle is in wireless communication connection with the box repairing robot, the box repairing robot comprises a driving base, a balancing device, a jacking device and a heating device, the balancing device comprises a top plate, a bottom plate and a plurality of elastic pieces, notches are formed in the top plate and the bottom plate, the elastic pieces are arranged and connected on the bottom plate along the circumferential direction of the notches, the top ends of the elastic pieces penetrate through the top plate and are in sliding connection with the top plate, the bottom plate is arranged at the top of the driving base in a sliding mode, the jacking device is arranged inside the driving base, an opening is formed in the position, corresponding to the bottom of the jacking device, of the driving base, the top of the jacking device protrudes out of the top of the driving base and penetrates through the notches of the bottom plate to be fixedly connected with the, the distance between the top plate and the bottom plate is the largest under the free state of the elastic piece, the bottom of the jacking device is located in the opening, the distance between the top plate and the bottom plate is the smallest under the compression state of the elastic piece, the bottom of the jacking device is attached to the ground, and the heating device is detachably mounted at the output end of the jacking device. The drive base is direct through control handle control container bottom, then carry out controllable heating and correction to the container bottom through heating device, it just can go on directly externally, need not personnel and climb into the container bottom and heat and correct, and at the jacking device when upwards certain orthopedic, the jacking device can bear very big pressure, thereby force the elastic component compression on the balancing unit, make the pressure bearing plate of jacking device can contact ground, thereby avoid the whole pressure of whole work to concentrate on the drive wheel and arouse the damage of case repair robot.

Further, the elastic component includes first guide bar, first spring and the fixed cap of first axle, first guide bar is vertical to be connected on the bottom plate, first spring housing is established at first guide bar and highly is less than the height of first guide bar, the bottom of first spring is connected with the last fixed surface of bottom plate, the position that the roof corresponds first guide bar runs through and is equipped with the guiding hole, the top of first guide bar is passed the guiding hole and is located the top of roof, the top of first spring is arranged in to the bottom of roof, the roof reciprocates along the first spring of first guide bar compression, the fixed cover of first axle fixed cap is established on the top of guide bar and is located the top of roof and forms stop gear. The top plate can vertically move up and down along the first guide rod when moving, displacement is not generated, and the first shaft end fixing cap is arranged to prevent the first spring from ejecting the top plate when rebounding.

Further, the drive base includes organism and first camera, first camera setting is served with one side of controlling the handle symmetry, the organism is equipped with fixed the knot in the position of controlling the handle, the back of controlling the handle is equipped with the buckle card and establishes at fixed the knot, the both sides face of organism symmetry all is equipped with the drive wheel, the through-hole has been seted up to the position that the organism top corresponds the jacking device, the top of organism is equipped with two slide rails along drive wheel pivoted direction, two slide rail symmetries are located the both sides that pass through, the spout has been seted up to the bottom of bottom plate, the bottom surface of locating the bottom plate is sunken along the direction of height of bottom plate to the slide rail, the bottom plate passes through spout and slide rail cooperation horizontal movement. The first camera is used for observing the condition of the driving base on the road surface, so that the driving base can be controlled by a person to move forward, the machine body is provided with a sliding groove, the position of the jacking device can be adjusted in a small range under the condition that the driving base does not move, and the alignment repairing point of the heating device on the jacking device can be accurate is guaranteed.

Furthermore, two guide devices are arranged on the bottom plate along the length direction of the sliding rail, the two guide devices are symmetrically arranged at two ends of the bottom plate, a fixing plate extends from one side of the bottom plate, which is not provided with the guide devices, and a second camera used for monitoring the heating state is arranged on the fixing plate. The arrangement of the guide device ensures that the bottom plate can horizontally move on the machine body, and the second camera not only can monitor the heating state, but also can observe whether the heating device is aligned with the correction point.

Further, the guiding device comprises a sliding guide plate, a limiting column, a second guide rod, a second spring and a second shaft end fixing cap, a fixing plate is arranged on the bottom plate, the sliding guide plate is fixedly arranged on the machine body, a hole is formed in the sliding guide plate, one end of the second guide rod is fixedly connected with the second shaft end fixing cap, the other end of the second guide rod penetrates through the hole of the sliding guide plate and penetrates through the spring to be welded on the fixing plate, the second spring is located between the sliding guide plate and the fixing plate, and the limiting column is arranged by the side edge of the sliding guide plate in an extending mode towards the position direction of the bottom plate. Therefore, the distance can be limited when the bottom plate moves, and the bottom plate is guaranteed not to be too large in a certain range, so that the heating device can move to a repairing point more accurately.

Further, the jacking device includes pressure bearing board, driving motor, power transmission mechanism, oil pump, lifting sleeve and lifter, the pressure bearing board is located in the opening, driving motor, oil pump and lifting sleeve all set up on the pressure bearing board, driving motor's output is connected with power transmission mechanism's one end, power transmission mechanism's the other end is connected with the oil pump, the limit of oil pump is equipped with into oil pipe and goes out oil pipe and be linked together with lifting sleeve, lifting sleeve's upper segment is located the through-hole and lifting sleeve's cross-sectional area is less than the cross-sectional area of through-hole, lifting sleeve's top is passed the notch of bottom plate is and extend to the notch in-connection of roof is fixed, the lifter inlays to be established in lifting sleeve, the lifter protrusion the roof sets up. Guarantee that jacking device can stably rise the decline, and the pressure bears the board and can share pressure for whole case repair robot, prevents that case repair robot from bearing too much pressure and damaging.

Furthermore, the oil pump comprises an oil tank and a piston, the oil tank is arranged on the pressure bearing plate, the rotating rod is arranged at the top of the oil tank, the piston is arranged at the top of the oil tank, the lower section of the piston is embedded in the oil tank, a push rod is arranged at the top of the piston in the extending direction of the height of the oil tank, the power transmission mechanism comprises a swinging rod, a connecting rod, a transmission rod and a fixed rod, one end of the swinging rod is fixedly connected with the output shaft of the driving motor, the other end of the swinging rod is rotatably connected with one side end of the connecting rod, the other side end of the connecting rod is rotatably connected with one end of the transmission rod, the other end of the transmission rod is rotatably connected with the top end of the fixed rod, the bottom end of the fixed rod is fixedly connected with the top of the oil tank, a channel is arranged on the top surface of the transmission, the rotating shaft is rotatably connected with the channel. The oil in the oil pump can get into in the lifting sleeve when driving motor operates, stabilizes the lifting rod.

Furthermore, go out oil pipe and be one-way flow pipe, and the circulation direction is the inside of oil pump towards lifting sleeve's inside direction, it is equipped with an bleeder valve to advance oil pipe, the interior oil of bleeder valve lifting sleeve can not flow to the oil pump under the confined state, the interior oil of bleeder valve lifting sleeve can flow to the oil pump under the state of opening for the lifter descends.

Furthermore, a pressure sensor is arranged between the pressure bearing plate and the lifting sleeve. Thereby transmit the pressure that the jacking device received and inform the staff on controlling the handle for the staff can monitor the pressure condition that the jacking device received all the time, prevent the unexpected condition.

Furthermore, heating device includes a connecting sleeve, at least one hot plate and at least one correction frame, the quantity phase-match of hot plate and correction frame, the connecting sleeve cover is established on the top of lifter, correct the frame setting at the connecting sleeve's top, connecting sleeve's outer wall connection has a support frame, the top of support frame is equipped with the threaded rod, the hot plate is equipped with a nut, the hot plate passes through the nut and rotates the connection on the threaded rod, the hot plate sets up with correction frame symmetry. Can set up a plurality of hot plates and correct the frame to heat the increase in number of position simultaneously, improve its work efficiency and practice thrift operating time.

Comprises a mechanical arm and a horizontal moving base, the mechanical arm is fixedly arranged on the horizontal moving base, the mechanical arm comprises a first mechanical arm and a second mechanical arm, one end of the first mechanical arm is rotationally connected to the driving seat, the other end of the first mechanical arm is rotationally connected with one end of a second mechanical arm, the other end of the second mechanical arm is movably connected with a fixed clamping device, the fixed clamping device is provided with a cutting head, or a welding head, or a polishing head, or a paint spraying head, the fixed clamping device comprises a connecting head, a first clamping piece and a second clamping piece, the first clamping piece and the second clamping piece are mutually connected and enclosed to form a fixed frame, the cutting head, or the welding head, or the polishing head, or the paint spraying head is positioned in the fixed frame, the cutting head, or the welding head, or the polishing head, or the paint spraying head are provided with the same connecting pieces to be correspondingly connected with the connecting head. The repair work of the side face of the container is realized one by one through the replaceable cutting head, the replaceable welding head, the replaceable polishing head and the replaceable paint spraying head, the process is simplified, the operation difficulty is reduced, the proficiency required by a welder is relatively reduced, and the problem that the precision requirement can be neglected in manual operation except the operation process of welding accidents is also prevented.

Furthermore, the fixed clamping part further comprises a connecting rod, wherein a spherical connecting piece is arranged at one end, in which the connecting rod moves, and is embedded in a stroke movable joint of the second mechanical arm, the connecting rod comprises a connecting port, the connecting port is arranged in a hollow rectangular shape with a bottom, a sliding block is arranged at the bottom end of the connecting port, a sliding way is arranged on the connecting rod along the length of the connecting rod, the sliding block is matched with the sliding way, the connecting piece comprises a connecting wire, a clamping block is arranged at one end of the connecting wire, the clamping block is embedded in the connecting port, a bolt is arranged at the other end of the connecting wire, the same screw holes are formed in the side walls of the cutting head, or the welding head, or the polishing head, or the paint spraying head. So that the cutting head, or the welding head, or the sanding head, or the painting head can be connected to the robot arm without any replacement of parts.

Furthermore, first clamping piece and second clamping piece are the arc, an arc end of first clamping piece and an arc end laminating of second clamping piece are fixed to be set up and are formed the closed end on the connecting rod, it forms the open end to have the distance between another arc end of first clamping piece and the another arc end of second clamping piece, be equipped with two locking plates on the open end, two locking plates are located on first clamping piece and the second clamping piece respectively, all be equipped with the screw on two locking plates, be equipped with the bolt on one of them locking plate, two locking plates pass through bolt fixed connection, the size between first clamping piece and the second clamping piece is followed the change of bolt pivoted number of turns. The structure can be adapted to different operation heads and is convenient to disassemble and assemble.

Furthermore, a telescopic wire is connected to the side edge of the connecting port, which faces the second mechanical arm, and the telescopic wire is connected to the second mechanical arm. The telescopic wire is arranged so that the connecting port is not restricted when moving.

Further, be equipped with a slewing mechanism on the horizontal migration base, slewing mechanism includes backup pad, control cabinet, rotates the motor and rotates the platform, be equipped with the slide on the top of horizontal migration base, the backup pad inlays to be established in the slide, the control cabinet all sets up in the backup pad with the rotation motor to control cabinet and rotation motor electric connection, it installs on the output shaft that rotates the motor to rotate the platform, it rotates with first arm rotation to set up the pivot on the rotation platform and is connected. Thereby enabling the mechanical arm to move horizontally and rotate as required.

Furthermore, the fixed frame is internally provided with an anti-skid pad. The anti-slip mat increases the friction between the anti-slip mat and the cutting head, or the welding head, or the polishing head, or the paint spraying head.

Different from the prior art, the technical scheme has the following beneficial effects:

1. the driving base is arranged to directly control the bottom of the container through the control handle, then the bottom of the container is controllably heated and corrected through the heating device and can be directly carried out externally without climbing into the bottom of the container by personnel for heating and correcting.

2. According to the box repairing robot, the balance device is arranged, when the jacking device is upwards shaped rightly, the jacking device can bear large pressure, so that the spring on the balance device is forced to be compressed, the pressure bearing plate of the jacking device can contact the ground, and the damage of the box repairing robot caused by the fact that the whole working pressure is concentrated on the driving wheel is avoided.

3. The invention is provided with the mechanical arm, the repair work of the side surface of the container is realized one by one through the replaceable cutting head, the welding head, the polishing head and the paint spraying head, the process is simplified, the operation difficulty is reduced, the proficiency required by welding workers is relatively reduced, and the problem that the precision requirement can be neglected in manual operation in the operation process except for welding accidents is also prevented.

4. The invention can replace the heating devices with different numbers of heating plates, thereby increasing the number of heating parts at the same time, improving the working efficiency and saving the working time.

Drawings

FIG. 1 is a schematic structural view of embodiment 1;

fig. 2 is a schematic structural diagram of the driving base according to embodiment 1;

FIG. 3 is a schematic structural view of the balancing apparatus according to embodiment 1;

fig. 4 is a partial structural view of the inside of the machine body according to embodiment 1;

fig. 5 is a side view of the oil pump and the power transmission mechanism according to embodiment 1;

FIG. 6 is a schematic structural view of a heating apparatus according to embodiment 1;

fig. 7 is a schematic structural diagram of an intelligent box repairing system with two heating plates according to embodiment 1;

fig. 8 is a schematic structural diagram of an intelligent box repairing system with three heating plates according to embodiment 1;

fig. 9 is a schematic structural diagram of an intelligent box repairing system according to embodiment 2;

FIG. 10 is a schematic view of the robot arm of embodiment 2;

FIG. 11 is a schematic structural view of the fixing and clamping device according to embodiment 2;

FIG. 12 is an enlarged view of embodiment 2 at the point of the fixed clamp A;

FIG. 13 is a top view of the fixed clamp of embodiment 2;

FIG. 14 is a schematic structural diagram of a welding head of the intelligent box repairing system according to embodiment 2;

fig. 15 is a schematic structural diagram of a polishing head of the intelligent box repairing system according to embodiment 2;

fig. 16 is a schematic structural diagram of an intelligent repair box system paint spray head according to embodiment 2.

Description of reference numerals:

1. a box repairing robot, 2, a control handle, 3, a driving base, 301, a machine body, 302, a first camera, 303, a second camera, 304, a slide rail, 305, a fixing buckle, 306, a driving wheel, 307, a through hole, 4, a balancing device, 401, a top plate, 402, a bottom plate, 403, an elastic piece, 404, a guiding device, 405, a first guiding rod, 406, a first spring, 407, a first shaft end fixing cap, 408, a second guiding rod, 409, a second spring, 410, a second shaft end fixing cap, 411, a sliding guiding plate, 412, a limiting column, 5, a jacking device, 501, an oil pump, 502, a driving motor, 503, a power transmission mechanism, 504, a pressure bearing plate, 505, a lifting sleeve, 506, a lifting rod, 507, an oil inlet pipe, 508, an oil outlet pipe, 509, an oil tank, 510, a piston, 511, a push rod, 512, a swinging rod, 513, a connecting rod, 514, a transmission rod, a fixed rod, 516. the device comprises a rotating shaft, 6, a heating device, 601, a connecting sleeve, 602, a heating plate, 603, an correcting frame, 7, a pressure sensor, 8, a mechanical arm, 801, a first mechanical arm, 802, a second mechanical arm, 803, a fixed clamping device, 804, a cutting head, 805, a welding head, 806, a polishing head, 807, a painting head, 808, a first clamping piece, 809, a second clamping piece, 810, a connecting head, 811 connecting pieces, 812, connecting rods, 813, a connecting port, 814, a connecting wire, 815, a clamping block, 816, a locking plate, 817, bolts, 9, a horizontal moving base, 901, a supporting plate, 902, a control table, 903, a rotating motor, 904, a rotating table, 905, a rotating shaft, 906 and a slide way.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Example 1:

referring to fig. 1-8, the intelligent box repairing system of the present embodiment includes a box repairing robot 1 and a control handle 2 for controlling the box repairing robot 1, the control handle 2 is connected with the box repairing robot 1 in a wireless communication manner, the box repairing robot 1 includes a driving base 3, a balancing device 4, a jacking device 5 and a heating device 6, the balancing device 4 includes a top plate 401, a bottom plate 402 and a plurality of elastic members 403, the top plate 401 and the bottom plate 402 are both provided with slots, specifically, the elastic members 403 include a first guide rod 405, a first spring 406 and a first axial end fixing cap 407, the first guide rod 405 is connected to the bottom plate 402 along a circumferential direction of the slot, and is perpendicular to a bottom surface of the bottom plate 402, the first spring 406 is sleeved on the first guide rod 405 and has a height smaller than that of the first guide rod 405, a bottom end of the first spring 406 is fixedly connected to an upper surface of the bottom plate 402, the top plate 401 is provided with a guide hole in a penetrating manner at a position corresponding to the first guide rod 405, the top end of the first guide rod 405 penetrates through the guide hole and is located above the top plate 401, the bottom of the top plate 401 is located at the top end of the first spring 406, the top plate 401 compresses the first spring 406 along the first guide rod 405 to move up and down, the first shaft end fixing cap 407 is fixedly sleeved at the top end of the guide rod and is located above the top plate 401 to form a limiting mechanism, so that the top plate 401 can vertically move up and down along the first guide rod 405 when moving without displacement, and the first shaft end fixing cap 407 is arranged to prevent the first spring 406 from ejecting the top plate 401 when rebounding. The bottom plate 402 slides and sets up at the top of drive base 3, jacking device 5 is located inside drive base 3, the bottom of drive base 3 is equipped with an opening with the corresponding position in jacking device 5 bottom, through-hole 307 has been seted up to the position that the corresponding jacking device 5 in organism 301 top, jacking device 5's top protrusion drive base 3's through-hole 307 and pass bottom plate 402's notch and roof 401's notch fixed connection, the spring is the biggest distance between roof 401 and the bottom plate 402 under free state to jacking device 5's bottom is located in the opening, the spring is the minimum distance between roof 401 and the bottom plate 402 under compression state, and jacking device 5's bottom and ground laminating, heating device 6 demountable installation is to jacking device 5's output. The driving base 3 directly controls the bottom of the container through the control handle 2, then the container bottom is controllably heated and corrected through the heating device 6, and the operation can be directly carried out outside without climbing into the bottom of the container, and when the jacking device 5 is upwards shaped, the jacking device 5 can bear great pressure, thereby the elastic part 403 on the balance device 4 is forced to be compressed, the pressure bearing plate 504 of the jacking device 5 can contact the ground, and the damage of the box repairing robot 1 caused by the fact that the pressure of the whole work is completely concentrated on the driving wheel 306 is avoided.

In this embodiment, the driving base 3 includes a body 301 and a first camera 302, the body 301 is rectangular and includes two opposite short sides and two opposite long sides, one short side is a right trapezoid, the first camera 302 is disposed on an inclined plane of the short side of the right trapezoid, the control handle 2 is located on the other short side, the other short side is provided with a fixing buckle 305 at the position of the control handle 2, the back of the control handle 2 is provided with a buckle that is fastened on the fixing buckle 305, the control handle 2 includes an inverted T-shaped housing, the housing is provided with a display screen, a button and a rocker, the button and the rocker are located below the display screen, the housing is further provided with a decoder for transmitting and receiving wireless chips, the through hole 307 is located at the top of the body 301, and the opening is located at the bottom of the body 301, two long side terminal surfaces of organism 301 symmetry all are equipped with drive wheel 306, the top of drive wheel 306 is equipped with connecting device and is connected with organism 301 to be equipped with motor drive wheel 306 in the connecting device and rotate, the top of organism 301 is equipped with two slide rails 304 along drive wheel 306 pivoted direction, and slide rail 304 sets up along the direction of height protrusion of organism 301, two slide rails 304 symmetric positions are in the both sides that pass through, the spout has been seted up to the bottom of bottom plate 402, slide rail 304 is along the sunken bottom surface of locating bottom plate 402 of the direction of height of bottom plate 402, one side end that bottom plate 402 was equipped with guiding device 404 one still is equipped with two and drives actuating cylinder, it drives actuating cylinder drive bottom plate 402 and passes through spout and slide rail 304 cooperation horizontal motion. First camera 302 is the condition that is used for observing the road surface that drives 3 marchs of drive base to make things convenient for personnel to control drive base 3 and move ahead, and organism 301 is equipped with the spout and can ensures under the drive base 3 motionless condition, the alignment repair point that heating device 6 on the assurance jacking device 5 can be accurate that the adjustment jacking device 5 that can the small range.

In this embodiment, two guiding devices 404 are disposed on the bottom plate 402 along the length direction of the sliding rail 304, the two guiding devices 404 are symmetrically located at two ends of the bottom plate 402, a fixing plate is disposed on the bottom plate 402 at a side where the guiding devices 404 are not disposed, and the fixing plate is provided with a second camera 303 for monitoring a heating state. The guiding means 404 is arranged to ensure that the base plate 402 can be moved horizontally on the body 301 and that the second camera 303 is not only able to monitor the heating status but also to observe whether the heating device 6 is aligned with a correction point. Specifically, guiding device 404 includes the fixed cap 410 of slide guiding board 411, spacing post 412, second guide bar 408, second spring 409 and second axle end, be equipped with the fixed plate on the bottom plate 402, the fixed organism 301 that sets up of slide guiding board 411, a hole has been seted up on the slide guiding board 411, the one end fixed connection and the fixed cap 410 fixed connection of second guide bar 408, the other end of second guide bar 408 passes the hole of slide guiding board 411 and pass the spring and weld on the fixed plate, second spring 409 is located between slide guiding board 411 and the fixed plate, spacing post 412 is extended to the position direction of bottom plate 402 by the side of slide guiding board 411 and is set up. Thus, the distance can be limited when the bottom plate 402 moves, and it is ensured that the bottom plate 402 does not have an excessive amplitude, so that the heating device 6 can move to the repairing point more accurately.

In this embodiment, the jacking device 5 includes a pressure bearing plate 504, a driving motor 502, a power transmission mechanism 503, an oil pump 501, a lifting sleeve 505 and a lifting rod 506, the pressure bearing plate 504 is located in the opening, the driving motor 502, the oil pump 501 and the lifting sleeve 505 are all disposed on the pressure bearing plate 504, a pressure sensor 7 is disposed between the pressure bearing plate 504 and the lifting sleeve 505, and the pressure bearing plate 504 is smaller than the size of the opening of the machine body 301. Thereby transmit the pressure that jacking device 5 received and inform the staff on controlling handle 2 for the staff can monitor the pressure condition that jacking device 5 received at all times, prevent the unexpected condition. The output end of the driving motor 502 is connected with one end of a power transmission mechanism 503, the other end of the power transmission mechanism 503 is connected with the oil pump 501, the oil pump 501 comprises an oil tank 509 and a piston 510, the oil tank 509 is arranged on a pressure bearing plate 504, the rotating rod is arranged at the top of the oil tank 509, the piston 510 is arranged at the top of the oil tank 509, the lower section of the piston 510 is embedded with oil in the oil tank 509 for pushing the inside of the oil tank 509, the top of the piston 510 extends along the height direction of the oil tank 509 and is provided with a push rod 511, the power transmission mechanism 503 comprises a swinging rod 512, a connecting rod 513, a transmission rod 514 and a fixed rod 515, one end of the swinging rod 512 is fixedly connected with the output shaft of the driving motor 502, the other end of the swinging rod 512 is rotatably connected with one side end of the connecting rod 513, the other side end of the connecting rod 513 is rotatably connected with, the bottom fixed connection of dead lever 515 is at the top of oil tank 509, push rod 511 is the axis, dead lever 515 is located one side of axis with the rotation link of transfer line 514, and the rotation link of transfer line 514 and connecting rod 513 is located the opposite side of axis, and this both sides are the symmetry side, the top surface of transfer line 514 runs through along the direction of height of oil tank 509 and is equipped with the channel, push rod 511 inlays to be established in the channel and push rod 511 is equipped with pivot 516 along the protruding of driving motor 502's axial length direction, pivot 516 and channel rotation are connected. The oil in the oil pump 501 can enter the lifting sleeve 505 when the driving motor 502 operates, and the lifting rod 506 is stably lifted. Oil pump 501's limit is equipped with into oil pipe 507 and goes out oil pipe 508 and be linked together with lift sleeve 505, it is one-way flow pipe to go out oil pipe 508, and the circulation direction is oil pump 501's inside direction towards lift sleeve 505 inside, it is equipped with an electromagnetic induction bleeder valve to advance oil pipe 507, and the accessible control handle 2 is controlled, the oil in bleeder valve lift sleeve 505 can not flow to oil pump 501 under the confined state, the oil in bleeder valve lift sleeve 505 can flow to oil pump 501 under the state of opening for lifter 506 descends. The upper section of the lifting sleeve 505 is located in the through hole 307, the cross-sectional area of the upper section of the lifting sleeve 505 is smaller than that of the through hole 307, the top end of the lifting sleeve 505 passes through the slot of the bottom plate 402 and extends into the slot of the top plate 401 to be fixedly connected, the cross-sectional area of the upper section of the lifting sleeve 505 is smaller than that of the slot, the slot of the top plate 401 is provided with an inner fixing ring, the top end of the lifting sleeve 505 is provided with a connecting ring along the circumference of the top of the lifting sleeve 505, the bottom of the connecting ring is fixedly connected with the top of the fixing ring, the lifting rod 506 is embedded in the lifting sleeve 505, and the lifting rod 506 is arranged. The jacking device 5 can be ensured to stably ascend and descend, and the pressure bearing plate 504 can share pressure for the whole box repairing robot 1, so that the box repairing robot 1 is prevented from bearing excessive pressure damage.

In this embodiment, the heating device 6 includes a connecting sleeve 601, a heating plate 602 and a correcting frame 603, the number of the heating plate 602 is matched with that of the correcting frame 603, the connecting sleeve 601 is sleeved on the top end of the lifting rod 506, the correcting frame 603 is disposed on the top of the connecting sleeve 601, the outer wall of the connecting sleeve 601 is connected with a support frame, the cross section of the support frame is L-shaped, the top end of the support frame is provided with a threaded rod, the heating plate 602 is provided with a nut, the heating plate 602 is rotatably connected to the threaded rod through the nut, the heating plate 602 and the correcting frame 603 are symmetrically disposed, in other embodiments, the number of the heating plate 602 is two, the number of the correcting frames 603 is two, the top end of the support frame is provided with two threaded rods, the distance between the two threaded rods is greater than the length of the heating plate 602, and the, the three-screw straightening frame is arranged on the connecting sleeve 601, the positions of the two screw rods are symmetrical to the positions of the two straightening frames 603, in other embodiments, the number of the heating plates 602 can be three, the number of the straightening frames 603 can also be three, three screw rods are arranged at the top end of the supporting frame, the distance between two adjacent screw rods is larger than the length of the heating plates 602, the distances between the three screw rods are equal, the three straightening frames 603 are connected with each other through a cross rod and are arranged on the connecting sleeve 601, and the positions of the three screw rods are symmetrical to the positions of the three straightening frames 603. A plurality of heating plates 602 and the straightening frame 603 may be provided so that the number of heating portions is increased at the same time, thereby improving the working efficiency thereof and saving the working time.

When the device is used specifically, a support is arranged at the bottom of the container, so that the bottom of the container is higher than the bottom, then the heating device 6 with one heating plate 602 and one straightening frame 603, or the heating device 6 with two heating plates 602 and two straightening frames 603, or the heating device 6 with three heating plates 602 and three straightening frames 603 is selected as required, the connecting sleeve 601 is fixed at the top end of the lifting rod 506 of the jacking device 5, the operating handle on the box repairing robot 1 is taken down, then the driving base 3 of the box repairing robot 1 is controlled, so that the driving base 3 moves to the bottom of the container, the picture transmitted to the display screen of the operating handle 2 through the first camera 302 and the second camera 303 is transmitted to the picture of the display screen of the operating handle 2, so that a worker accurately operates and drives the driving base 3 to move to the position, which needs to be straightened, at the bottom of the container through the driving cylinder, and then the driving cylinder bottom plate 402 horizontally moves along the slide rail 304 of the machine body 301 through the, calibrating the position of the heating device 6, then starting the driving motor 502 to drive the swing rod 512, so that one end of the swing rod 512 makes a circular motion around the axis of the driving motor 502, and the swing drives the connecting rod 513 to push the connecting end of the driving rod 514 and the connecting rod 513 and the connecting end of the driving rod 514 and the fixed rod 515 make an up-and-down swinging motion, so as to drive the push rod 511 in the channel to push the piston 510 to move up and down in the oil tank 509, so that the oil in the oil tank 509 enters the lifting sleeve 505 through the oil pipe 508 and then slowly pushes the lifting rod 506, so that the bottom beam of the container is located between the heating plate 602 and the straightening frame 603, then the container is heated by the heating plate 602, and then the lifting sleeve 505 bears a larger pressure when the lifting rod 506 is lifted up again for straightening, and the spring between the top plate 401 and the bottom plate 402 is compressed, therefore, the lifting sleeve 505 can drive the pressure bearing plate 504 to move downwards to contact the ground, pressure is dispersed on the pressure bearing plate 504, the situation that the whole working pressure is completely concentrated on the box repairing robot 1 to cause damage to the robot is avoided, after correction is completed, the electromagnetic induction oil drain valve on the oil inlet pipe 507 is started, oil in the lifting sleeve 505 flows back to the oil tank 509 through pressure, the lifting rod 506 descends, and the top plate 401 returns to the original position to wait for next correction.

Example 2:

referring to fig. 9-16, the intelligent box repairing system of this embodiment includes a robot 8 and a horizontal moving base 9, the robot 8 is fixedly installed on the horizontal moving base 9, the horizontal moving base 9 is rectangular and includes two opposite short side ends and two opposite long side ends, the two long side ends are symmetrically provided with driving wheels 306, the robot 8 includes a first robot 801 and a second robot 802, one end of the first robot 801 is rotatably connected to the driving seat, the other end of the first robot 801 is rotatably connected to one end of the second robot 802, the other end of the second robot 802 is movably connected to a fixing clamping device 803, the fixing clamping device 803 is provided with a cutting head 804, a welding head 805, a polishing head 806, or a painting head 807, the fixing clamping device 803 includes a connecting head 810, a welding head 805, a painting head 807, and a connecting head 810, The clamping device comprises a first clamping piece 808 and a second clamping piece 809, wherein the first clamping piece 808 and the second clamping piece 809 are both arc-shaped plates, one arc-shaped end of the first clamping piece 808 and one arc-shaped end of the second clamping piece 809 are fixedly attached to form a closed end on a connecting rod, a distance is reserved between the other arc-shaped end of the first clamping piece 808 and the other arc-shaped end of the second clamping piece 809 to form an open end, two locking plates 816 are arranged on the open end, the two locking plates 816 are respectively positioned on the first clamping piece 808 and the second clamping piece 809, screw holes are respectively formed in the two locking plates 816, a bolt 817 is arranged on one locking plate 816, the two locking plates 816 are fixedly connected through the bolt 817, the size between the first clamping piece 808 and the second clamping piece 809 is changed along with the rotating number of turns of the bolt 817, and the distance between the first clamping piece 808 and the second clamping piece 809 is smaller as the rotating number of turns of, the clamping is tighter, the number of turns of rotation of the bolt 817 is smaller, the distance between the first clamping piece 808 and the second clamping piece 809 is larger, the clamping is looser, the structure can adapt to different operating heads, and the disassembly and the assembly are convenient, so that the first clamping piece 808 and the second clamping piece 809 are connected and enclosed through the bolt 817 to form a fixed frame, a non-slip mat is arranged in the fixed frame, the cutting head 804, the welding head 805, the polishing head 806 or the painting head 807 are positioned in the fixed frame, the cutting head 804, the welding head 805, the polishing head 806 or the painting head 807 are provided with the same connecting piece 811 to be correspondingly connected with the connecting head 810, and preferably, according to the repairing step of the side surface of the container body, the cutting head 804 is firstly installed to cut off the damaged part; then, a welding head 805 is replaced to weld the iron plate at the cutting position; then the polishing head 806 is replaced to polish and flatten the welding point; finally, the paint head 807 is replaced to spray paint with the same color as the container on the repairing point. The anti-slip pad is arranged to increase friction between the anti-slip pad and the cutting head 804, or the welding head 805, or the polishing head 806, or the paint spraying head 807, specifically, the fixed clamping member further comprises a connecting rod 812, the same side of the first clamping member 808 and the second clamping member 809 is connected to one end of the connecting rod 812, the other movable end of the connecting rod 812 is provided with a spherical connecting member 811, the spherical connecting member 811 is embedded in a stroke movable joint in the second mechanical arm 802, the connecting head 810 comprises a connecting port 813, the connecting port 813 is a rectangular hollow and provided with a bottom, the connecting port 813 is connected with a telescopic line towards the side edge of the second mechanical arm 802, and the telescopic line is connected to the second mechanical arm 802. The telescopic wire is arranged to prevent the connecting port 813 from being limited when moving, a sliding block is arranged at the bottom end of the connecting port 813, a sliding way is arranged on the connecting rod 812 along the length of the connecting rod 812, the sliding block is matched with the sliding way, the connecting piece 811 comprises a connecting wire 814, a clamping block 815 is arranged at one end of the connecting wire 814, the clamping block 815 is embedded in the connecting port 813, a bolt is arranged at the other end of the connecting wire 814, the same screw holes are arranged on the side walls of the cutting head 804, the welding head 805, the polishing head 806 or the paint spraying head 807, and the bolt is matched with the screw holes. So that the cutting head 804, or the welding head 805, or the sanding head 806, or the painting head 807 can be connected to the robot arm 8 without replacing any parts. The repair work of the side face of the container is realized one by one through the replaceable cutting head 804, the welding head 805, the polishing head 806 and the paint spraying head 807, the process is simplified, the operation difficulty is reduced, the skill required by welding workers is relatively reduced, and the problem that the precision requirement can be neglected in manual operation except the operation process of welding accidents is also prevented.

In this embodiment, a rotating mechanism is arranged on the horizontal moving base, the rotating mechanism includes a supporting plate 901, a console 902, a rotating motor 903 and a rotating table 904, a slide 906 is arranged on the top of the horizontal moving base, one end of the slide 906 is a closed end, and the other end is an opening, the supporting plate 901 is embedded in the slide 906, the supporting plate 901 can slide horizontally in the slide towards the opening, the console 902 and the rotating motor 903 are both arranged in the supporting plate 901, the console 902 and the rotating motor 903 are electrically connected, the rotating table 904 is arranged on an output shaft of the rotating motor 903, and a rotating shaft 905 arranged on the rotating table 904 is rotatably connected with the first mechanical arm. Thereby enabling the mechanical arm to move horizontally and rotate as required.

When the device is used specifically, according to the process of repairing a container, the cutting head 804 is placed in a fixed frame formed by a first clamping piece 808 and a second clamping piece 809, the first clamping piece 808 and the second clamping piece 809 are locked by bolts, the position of a connecting port 813 is adjusted by sliding a sliding block in a sliding way of a connecting rod 812 according to the length of a connecting line 814 of a connecting piece 811 on the cutting head 804, a clamping block 815 connected with the connecting port is clamped in the connecting port 813 to start the cutting head 804, the horizontal moving base 9 is driven to move the mechanical arm 8 to a specified position, the rotating motor 903 is driven by the control console 902 to drive the mechanical arm 8 of the rotating platform 904 to be driven to a proper position, then the first mechanical arm 801 is driven to drive the second mechanical arm 802, the cutting head 804 on the fixed clamping piece is driven by the second mechanical wall to cut, the clamping block 815 is pulled out, then the cutting head 804 is taken out by loosening the screw, welding is carried out by replacing the welding head 805 according to the steps, then the upper polishing head 806 is replaced for polishing, and paint is sprayed by replacing the upper paint spraying head 807.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.

Although the embodiments have been described, once the basic inventive concept is obtained, other variations and modifications of these embodiments can be made by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, which are directly or indirectly applied thereto, are included in the scope of the present invention.

Claims

1. An intelligent box repairing system is characterized by comprising a box repairing robot and a control handle for controlling the box repairing robot, wherein the control handle is in wireless communication connection with the box repairing robot, the box repairing robot comprises a driving base, a balancing device, a jacking device and a heating device, the balancing device comprises a top plate, a bottom plate and a plurality of elastic pieces, notches are formed in the top plate and the bottom plate, the elastic pieces are arranged and connected on the bottom plate along the circumferential direction of the notches, the top end of each elastic piece penetrates through the top plate and is in sliding connection with the top plate, the bottom plate is arranged at the top of the driving base in a sliding mode, the jacking device is arranged inside the driving base, an opening is formed in the position, corresponding to the bottom of the jacking device, of the driving base, the top of the jacking device protrudes out of the top of the driving base and penetrates through the notches of the bottom plate to be fixedly connected with the notches of the, the distance between the top plate and the bottom plate is the largest under the free state of the elastic piece, the bottom of the jacking device is located in the opening, the distance between the top plate and the bottom plate is the smallest under the compression state of the elastic piece, the bottom of the jacking device is attached to the ground, and the heating device is detachably mounted at the output end of the jacking device.

2. The intelligent box repairing system according to claim 1, wherein the elastic member comprises a first guide rod, a first spring and a first axial end fixing cap, the first guide rod is vertically connected to the bottom plate, the first spring is sleeved on the first guide rod and has a height smaller than that of the first guide rod, the bottom end of the first spring is fixedly connected to the upper surface of the bottom plate, a guide hole is formed in the top plate corresponding to the first guide rod, the top end of the first guide rod penetrates through the guide hole and is located above the top plate, the bottom of the top plate is located at the top end of the first spring, and the first axial end fixing cap is fixedly sleeved on the top end of the guide rod and is located above the top plate to form a limiting mechanism.

3. The intelligent box repairing system according to claim 1, wherein the driving base comprises a machine body and a first camera, the first camera is arranged at one side end symmetrical to the control handle, the machine body is provided with a fixing buckle at the position of the control handle, the back of the control handle is provided with a buckle clamp arranged on the fixing buckle, two symmetrical side surfaces of the machine body are provided with driving wheels, a through hole is formed in the top of the machine body corresponding to the jacking device, the top of the machine body is provided with two sliding rails along the rotating direction of the driving wheels, the two sliding rails are symmetrically arranged at two sides of the machine body, sliding grooves are formed in the bottom of the bottom plate, the sliding rails are arranged on the bottom surface of the bottom plate in a recessed mode along the height direction of the bottom plate, and the bottom plate moves horizontally in a matched mode with.

4. The intelligent box repairing system according to claim 3, wherein two guiding devices are arranged on the bottom plate along the length direction of the sliding rail, the two guiding devices are symmetrically arranged at two ends of the bottom plate, a fixing plate extends from the side of the bottom plate where the guiding devices are not arranged, and a second camera for monitoring the heating state is arranged on the fixing plate.

5. The intelligent box repairing system according to claim 4, wherein the guiding device comprises a sliding guiding plate, a limiting column, a second guiding rod, a second spring and a second shaft end fixing cap, a fixing plate is arranged on the bottom plate, the sliding guiding plate is fixedly arranged on the machine body, a hole is formed in the sliding guiding plate, one end of the second guiding rod is fixedly connected with the second shaft end fixing cap, the other end of the second guiding rod penetrates through the hole of the sliding guiding plate and penetrates through the spring to be welded on the fixing plate, the second spring is located between the sliding guiding plate and the fixing plate, and the limiting column is arranged by extending from the side edge of the sliding guiding plate towards the position direction of the bottom plate.

6. The intelligent box repairing system according to claim 3, wherein the jacking device comprises a pressure bearing plate, a driving motor, a power transmission mechanism, an oil pump, a lifting sleeve and a lifting rod, the pressure bearing plate is located in the opening, the driving motor, the oil pump and the lifting sleeve are all arranged on the pressure bearing plate, a pressure sensor is arranged between the pressure bearing plate and the lifting sleeve, the output end of the driving motor is connected with one end of the power transmission mechanism, the other end of the power transmission mechanism is connected with the oil pump, an oil inlet pipe and an oil outlet pipe are arranged on the edge of the oil pump and communicated with the lifting sleeve, the upper section of the lifting sleeve is located in the through hole, the cross-sectional area of the lifting sleeve is smaller than that of the through hole, and the top end of the lifting sleeve penetrates through the notch of the bottom plate and extends into the notch of the top plate to be connected and fixed, the lifting rod is embedded in the lifting sleeve, and the lifting rod protrudes out of the top plate.

7. The intelligent box repairing system according to claim 6, wherein the oil pump comprises an oil tank and a piston, the oil tank is disposed on the pressure receiving plate, the rotating rod is disposed on the top of the oil tank, the piston is disposed on the top of the oil tank and the lower segment of the piston is embedded in the oil tank, the top of the piston extends along the direction of the height of the oil tank to form a push rod, the power transmission mechanism comprises a swing rod, a connecting rod, a transmission rod and a fixed rod, one end of the swing rod is fixedly connected to the output shaft of the driving motor, the other end of the swing rod is rotatably connected to one side end of the connecting rod, the other side end of the connecting rod is rotatably connected to one end of the transmission rod, the other end of the transmission rod is rotatably connected to the top end of the fixed rod, the bottom end of the fixed rod is fixedly connected to the top, the push rod is embedded in the channel, a rotating shaft is convexly arranged on the push rod along the axial length direction of the driving motor, and the rotating shaft is rotatably connected with the channel.

8. The intelligent box repairing system according to claim 6, wherein the heating device comprises a connecting sleeve, at least one heating plate and at least one correcting frame, the number of the heating plate is matched with that of the correcting frame, the connecting sleeve is sleeved on the top end of the lifting rod, the correcting frame is arranged on the top of the connecting sleeve, a supporting frame is connected to the outer wall of the connecting sleeve, a threaded rod is arranged on the top end of the supporting frame, a nut is arranged on the heating plate, the heating plate is rotatably connected to the threaded rod through the nut, and the heating plate and the correcting frame are symmetrically arranged.