CN115382315A - Rescue robot system for bag type dust collector and operation method thereof - Google Patents
Rescue robot system for bag type dust collector and operation method thereof Download PDFInfo
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- CN115382315A CN115382315A CN202211171975.1A CN202211171975A CN115382315A CN 115382315 A CN115382315 A CN 115382315A CN 202211171975 A CN202211171975 A CN 202211171975A CN 115382315 A CN115382315 A CN 115382315A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/42—Auxiliary equipment or operation thereof
- B01D46/4227—Manipulating filters or filter elements, e.g. handles or extracting tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/0084—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours provided with safety means
- B01D46/0095—Means acting upon failure of the filtering system, e.g. in case of damage of the filter elements; Failsafes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/02—Particle separators, e.g. dust precipitators, having hollow filters made of flexible material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D46/00—Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
- B01D46/88—Replacing filter elements
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Abstract
The application discloses a rescue robot system for a bag type dust collector and an operation method thereof. The system comprises a main robot and a slave robot, wherein the main robot is located outside the bag type dust collector, the slave robot can move into the bag type dust collector, and the main robot is used for controlling the slave robot to grab or pull out fault instruments located in the bag type dust collector from the bag type dust collector. Above-mentioned scheme can carry out work under the environment such as bag collector inside negative pressure, high temperature, poisonous, dusty, oxygen deficiency, has overcome the dust remover and has gone up the inside environment of box complicacy, and the succour degree of difficulty is big scheduling problem, has improved efficiency and the accuracy of carrying out the succour to the detection robot of trouble by a wide margin to show the work efficiency who promotes bag collector.
Description
Technical Field
The application belongs to the technical field of program-controlled robots, and particularly relates to a rescue robot system for a bag type dust collector and an operation method of the rescue robot system.
Background
The non-stop working time of the bag type dust collector and whether the high-efficiency dust collection and the discharge can reach the standard in real time are important performance indexes of the bag type dust collector. The inside airtight negative pressure environment that belongs to of dust remover, working medium have high temperature, poisonous, characteristics such as dust content height simultaneously, when dust remover internal plant broke down, must at first shut down the dust remover, wait that the internal environment is stable after, staff's side can get into and remove trouble equipment, makes the dust remover resume normal condition, consequently the dust collection efficiency of system will descend by a wide margin in whole maintenance process.
With the rapid development of industrial manufacturing technology, the automation degree of each industry is higher and higher, and various types such as cooperative robots, composite robots, industrial robots and the like are gradually standard-matched in intelligent factories. The intelligent mobile trolley and the cooperative mechanical arm are integrated into the composite robot, autonomous dragging and grabbing functions of other equipment can be achieved, however, when the industrial environment is too complex, a route cannot be preset, and the state of a working object is not clear, the current technical level cannot meet the autonomous rescue clearing function of the composite robot, and workers are still required to determine a rescue clearing scheme according to actual conditions.
Disclosure of Invention
In view of the above, the present application discloses a rescue robot system for a bag house and a method of operating the same to overcome or at least partially solve the above problems.
In order to achieve the purpose, the following technical scheme is adopted in the application:
this application provides a succour robot system for bag collector on the one hand, the system includes the host computer robot and follows the robot, the host computer robot is located outside the bag collector, can move to from the robot in the bag collector, the host computer robot is used for control will be located the trouble apparatus of bag collector from the robot and snatch or pull out the bag collector.
Optionally, the master robot includes a control end and a receiving end, the receiving end is configured to receive the visual information, the acting force information, and the position information transmitted from the slave robot, and the control end is configured to generate an instruction for controlling the slave robot to act according to the visual information, the acting force information, and/or the position information.
Optionally, the master robot further includes a display device, and the display device is configured to display the visual information, the acting force information, the position information, and/or the working environment information received from the slave robot, so that an operator sends an action instruction to the slave robot through the control terminal according to the visual information, the acting force information, the position information, and/or the working environment information.
Optionally, the control end includes a driving module and a rescue module, and the driving module is configured to control the slave robot to move; the rescue module comprises a cooperative robot, the structure of the cooperative robot corresponds to that of the rescue unit on the slave robot, so that the rescue module transmits the action information of the cooperative robot to the rescue unit through a wireless network to execute the same action.
Optionally, the slave robot comprises a mobile chassis, a rescue unit and a control unit; the salvation unit is arranged on the movable chassis and is used for grabbing or dragging fault instruments in the bag type dust collector; the control unit is used for realizing communication with the main robot; the moving chassis moves under the control of the control unit.
Optionally, the mobile chassis includes a crawler type walking structure, and a camera, an instant positioning and map building unit, an ultra wide band unit, a radio frequency identification unit, a laser range finder and/or an ultrasonic radar are arranged on the crawler type walking structure, and are used for acquiring environmental information of the mobile chassis;
the crawler-type walking structure comprises a driving unit arranged on the outer side of a crawler, and the driving unit comprises a motor, a motor reducer, a clutch and a transmission gear box.
Optionally, the rescue unit includes a first grabbing mechanism, a second grabbing mechanism, and a manipulator module; the first grabbing mechanism comprises a first fixed end and a first movable end, the second grabbing mechanism comprises a second fixed end and a second movable end, the first fixed end is connected with the movable chassis, the first movable end is connected with the second fixed end, and the second movable end is provided with a V-shaped block.
Optionally, the first grabbing mechanism includes a first electric push rod and a guide rod, the first electric push rod is disposed between the first fixed end and the first movable end, the guide rod is parallel to the first electric push rod, and the first movable end moves along the guide rod; the second grabbing mechanism comprises a second electric push rod and a V-shaped block, the second electric push rod is arranged between the second fixed end and the second movable end, and the second movable end is pivoted with the V-shaped block.
Optionally, the manipulator module includes a mechanical arm, a quick-change flange, and a terminal actuating mechanism; the mechanical arm is connected to the movable chassis; the tail end of the mechanical arm is connected with the tail end executing mechanism through the quick flange.
In another aspect, the present application further provides an operating method according to the system, the method including:
when detecting that a detachable instrument in the bag type dust collector breaks down, controlling the slave robot to enter the vicinity of the instrument in the bag type dust collector from a standby area through a preset channel by the master robot;
the main robot controls the first electric push rod of the slave robot to act, the second grabbing mechanism is pushed out, and the notch of the V-shaped block is located below the dragging hook;
the main robot drives a second electric push rod of the second grabbing mechanism to act, the V-shaped block is overturned and lifted, the dragging hook falls into the notch, the single side of the instrument is lifted, and the instrument enters a driven dragging state;
the main robot drives a first electric push rod of the first grabbing mechanism to act, and the second grabbing mechanism is retracted, so that the slave robot and the instrument are in a tight connection state;
and controlling the slave robot to drive away from the bag type dust collector to an overhaul area through the preset channel, and releasing the instrument.
The application has the advantages that:
the robot system disclosed by the technical scheme can work in the environment such as negative pressure, high temperature, toxicity, dustiness and oxygen deficiency in the bag type dust collector, overcomes the problems of complex internal environment, high rescue difficulty and the like in the upper box body of the dust collector, greatly improves the rescue efficiency and accuracy of the detection robot for faults, and obviously improves the working efficiency of the bag type dust collector.
Drawings
Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic diagram of a slave robot in a rescue robot system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a mobile chassis in an embodiment of the present application;
fig. 3 is a flow chart illustrating a method of operation of a rescue robot system in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application clearer, the following description of the technical solutions of the present application will be made in conjunction with specific embodiments of the present application and accompanying drawings. It should be apparent that the described embodiments are only a few embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
It is to be understood that the terms "comprises/comprising," consists of 8230- \8230- 'composition' or any other variation is intended to cover a non-exclusive inclusion, such that a product, device, process or method comprising a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product, device, process or method as may be desired. Without further limitation, an element defined by the phrases "comprising/including" \8230; "comprising 8230;" \8230; and \8230; "comprises;" does not exclude the presence of additional like elements in a product, device, process, or method comprising the element.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and encompass, for example, both fixed and removable connections or integral parts thereof; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Example 1
Referring to fig. 1, the rescue robot system for a bag filter comprises a master robot and a slave robot, wherein the master robot is located outside the bag filter, the slave robot can move into the bag filter, and the master robot is used for controlling the slave robot to grab or drag a fault instrument located in the bag filter out of the bag filter.
In a specific embodiment, the master robot comprises a control end and a receiving end, the receiving end is used for receiving the visual information, the acting force information and the position information transmitted by the slave robot, and the control end is used for generating an instruction for controlling the slave robot to act according to the visual information, the acting force information and/or the position information.
Specifically, when the maintenance robot or other equipment in the dust remover break down, can get into inside the dust remover from the robot, break away from the equipment that breaks down such as maintenance robot inside the dust remover fast, realize equipment rescue and trouble clear yard, avoid the dust remover to shut down and maintain, ensure dust pelletizing system's work efficiency and discharge and reach standard in real time. The slave robot belongs to a special robot and can work in the environment of negative pressure, high temperature, toxicity, dustiness, oxygen deficiency and the like in the dust remover, the master robot can be a fixed robot and is arranged in a control room of a dust removing system and is directly controlled by an operator or can be carried by the operator for control, the slave robot is a mobile robot and can receive the instruction of the master robot in the working environment of the dust remover for controlled movement, simultaneously sense the environmental information and transmit the visual, force and position information to the master robot, so that the operator can sense the working state of the slave robot in real time.
In one or some embodiments, the master robot further comprises a display device, and the display device is used for displaying the visual information, the acting force information, the position information and the working environment information received from the slave robot, so that an operator sends an action instruction to the slave robot through the control terminal according to the visual information, the acting force information, the position information and the working environment information.
In a preferred embodiment, the control end comprises a driving module and a rescue module, and the driving module is used for controlling the slave robot to move; the rescue module comprises a cooperative robot, and the structure of the cooperative robot corresponds to that of the rescue unit on the slave robot, so that the rescue module transmits the action information of the cooperative robot to the rescue unit through a wireless network to execute the same action.
Preferably, the slave robot 1 comprises a mobile chassis 11, a rescue unit 12 and a control unit; the rescue unit 12 is mounted on the movable chassis 11 and used for grabbing or dragging a fault instrument in the bag type dust collector; the control unit is used for realizing communication with the main robot; the moving chassis 11 moves under the control of the control unit.
Specifically, the mobile chassis 11 includes a crawler type walking structure, on which a camera, a real-time positioning and map building unit (SLAM), an ultra wide band Unit (UWB), a radio frequency identification unit (RFID), a laser range finder and/or an ultrasonic radar are arranged, and is configured to acquire environmental information of the mobile chassis;
the crawler-type walking structure comprises a driving unit 111 arranged on the outer side of a crawler, wherein the driving unit 111 comprises a motor, a motor reducer, a clutch and a transmission gear box. The rescue cleaning robot is arranged outside the movable chassis 11, the crawler belt is driven to walk, the driving part of the movable chassis can be quickly replaced, and if a fault occurs, the repair can be carried out in a short time, so that the rescue cleaning robot can be restored to a standby state or a working state.
In one embodiment, the rescue unit includes a first grasping mechanism 121, a second grasping mechanism 122, and a manipulator module 123; the first grabbing mechanism 121 comprises a first fixed end and a first movable end, the second grabbing mechanism 122 comprises a second fixed end and a second movable end, the first fixed end is connected with the movable chassis, the first movable end is connected with the second fixed end, and the second movable end is provided with a V-shaped block.
In a specific embodiment, the first grabbing mechanism 121 comprises a first electric push rod disposed between the first fixed end and the first movable end, and a guide rod parallel to the first electric push rod, along which the first movable end moves; the second grabbing mechanism 122 comprises a second electric push rod and a V-shaped block, the second electric push rod is arranged between the second fixed end and the second movable end, and the second movable end is pivoted with the V-shaped block.
In one embodiment, the robot module 123 includes a robotic arm, a quick-change flange, and an end effector; the mechanical arm is connected to the movable chassis; the tail end of the mechanical arm is connected with a tail end executing mechanism through the quick flange.
Wherein the arm is fixed on removing the chassis, possesses a plurality of degrees of freedom, can accurately arrive the peripheral spatial position of the robot that rescues the clear yard, and the arm end is equipped with terminal actuating mechanism, and the two is through quick change flange joint, and terminal actuating mechanism has the different forms according to the pattern of being rescued equipment, therefore rescues the clear yard of robot accessible change flange and realizes the rescue of different trouble equipment.
Of course, the manipulator module 123 and the first grabbing mechanism 121 and the second grabbing mechanism 122 may cooperate with each other to jointly realize grabbing and dragging operations.
Example 2
Referring to fig. 2, an operation method of a rescue robot system is shown, wherein the rescue robot system is preferably the robot system disclosed in embodiment 1 and is used in a bag filter, and the rescue operation method specifically includes the following steps:
step S1: when detecting that a detachable instrument in the bag type dust collector breaks down, controlling the slave robot to enter the vicinity of the instrument in the bag type dust collector from a standby area through a preset channel by the master robot;
step S2: the main robot controls a first electric push rod of the slave robot to act, the second grabbing mechanism is pushed out, and the notch of the V-shaped block is located below the dragging hook;
and step S3: the main robot drives a second electric push rod of the second grabbing mechanism to act, the V-shaped block is overturned and lifted, the dragging hook falls into the notch, the single side of the instrument is lifted, and the instrument enters a driven dragging state;
and step S4: the main robot drives a first electric push rod of the first grabbing mechanism to act, and the second grabbing mechanism is retracted, so that the slave robot and the instrument are in a tight connection state;
step S5: and controlling the slave robot to drive away from the bag type dust collector to an overhaul area through the preset passage, and releasing the instrument.
By embodiments 1 and 2, the following technical effects can be obtained:
the rescue robot in the scheme can complete intelligent rescue of the detection robot for the internal faults of the dust collector, realizes quick departure of the internal fault maintenance robot of the bag type dust collector, obviously improves the working efficiency of the bag type dust collector, and realizes intelligent leap-over development in the field of bag type dust collection.
Above-mentioned rescue robot that clears yard's overall structure and bag collector go up box internal space size high matching, can be at its inside accessible form, be applied to bag collector with principal and subordinate's robotechnology for the first time, realize the accurate rescue to the detection robot of trouble.
The rescue cleaning robot collects the visual, force and position information inside the dust remover by adopting a master-slave robot mode and an environment sensing system, solves the problems of complex internal environment, high rescue difficulty and the like of an upper box body of the dust remover, and greatly improves the efficiency and accuracy of rescue of the detection robot for faults.
Above-mentioned rescue robot of clearing away, because it possesses crawler-type removal chassis and remote driving function, consequently can realize the cover to whole factory, a rescue robot of clearing away promptly is responsible for accomplishing the dust remover community that has a plurality of dust remover to constitute and rescues the clear away, reduces relevant operating cost by a wide margin. When the dust removal system control center detects a fault instruction, the position information is transmitted to the rescue cleaning robot, and the functional staff drives the robot to enter a specific dust remover to complete local network butt joint so as to realize the fault cleaning inside the dust remover.
Example 3
Embodiment 3 discloses a rescue robot system for a bag-type dust collector and a corresponding rescue operation method, which are used for further explaining embodiments 1 and 2.
This embodiment 3 discloses a rescue robot of leaving a yard for bag collector, when the inside maintenance robot of dust remover or other equipment broke down, rescue robot of leaving a yard can get into inside the dust remover, breaks away from the dust remover inside equipment that breaks down such as will overhaul the robot fast, realizes that equipment rescue and trouble leave a yard clearly, avoids the dust remover to shut down and maintains, ensures dust pelletizing system's work efficiency and discharges up to standard in real time.
Furthermore, the rescue cleaning robot is a master-slave robot, belongs to a special robot, can work in the environment of negative pressure, high temperature, toxicity, dustiness, oxygen deficiency and the like in the dust remover, the master robot is a fixed robot and is arranged in a control room of a dust removing system and directly controlled by an operator or can be carried by the operator for control, the slave robot is a mobile robot, can receive the instruction of the master robot in the working environment of the dust remover for controlled movement, simultaneously senses environmental information, and transmits visual, force and position information to the master robot, so that the operator can feel the working state of the slave robot in real time.
Furthermore, the master robot comprises a control end and a receiving end, the control end is composed of a plurality of groups of control devices, and when an operator operates the control end, the control end can transmit the action information of the control devices to the slave robot through a wireless network to serve as an action control command of the slave robot.
Furthermore, the receiving end is provided with a display device and an intelligent system, the intelligent system can receive the working environment information transmitted from the robot, analyze the working environment information and display the information to an operator, and simultaneously transmit the visual, force and position information acquired from the robot to the control end and feed the information back to the operator, so that the operator can feel the actual conditions of the slave robot during the work inside the dust remover when operating the master robot.
Furthermore, when carrying the VR camera from the robot, display device still can upgrade to VR display device, shows the inside VR information of dust remover, realizes the VR control mode of rescue robot of clearing away a yard, further promotes the precision of rescue.
Furthermore, the control end of the main robot comprises a driving module and a rescue module. The operator operates the driving module, can control the robot to walk, can drive the robot from the outside of the dust remover to the inside of the upper box body of the dust remover through a specific channel by means of the position information of the robot and the environment information displayed by the display device which are transmitted back by the intelligent system, and can drive the robot to the vicinity of the detection robot of the fault to prepare for rescue based on the position information of the robot with the fault and the visual information collected by the robot.
Furthermore, the driving module can be in a control rod mode, the two control rods respectively control the tracks on the two sides of the slave robot to move forwards and backwards, and remote driving of the slave robot is achieved based on the intelligent control system.
The rescue module is a cooperative robot, the structure of the rescue module is similar to that of a rescue unit of the slave robot, the rescue module can be in an equal-scale structure of the slave robot, or in a reduced-scale structure of the slave robot, an operator can operate the rescue module to act, the rescue module can transmit action information of all parts of the rescue module to the rescue unit of the slave robot through a wireless network, and the parts corresponding to the rescue unit execute the same action.
Further, the slave robot 1 includes a mobile chassis 11 and a rescue unit 12. In order to ensure the stable flow of the airflow in the dust remover and the structural strength of the dust remover, the internal space of the upper box body is compact, and particularly the height dimension needs to be strictly controlled. Therefore, different from a conventional mobile robot, the overall shape and the module shape of the slave robot are specially and optimally designed according to the internal structure of the upper box body of the bag type dust collector, and the height of the whole robot does not exceed the clear height of the interior of the upper box body, so that the robot can operate without obstacles in the upper box body of the dust collector in the working process.
Furthermore, the salvation unit is arranged on the movable chassis 11, and can grab other robots which have faults in the dust remover, and the robots are separated from the accident site, so that the uninterrupted operation of the dust remover is guaranteed. The slave robot receives a control command from the master robot through a wireless network, performs a specific action, collects visual, force sense, position information and environment information, and transmits the information back to the master robot.
Furthermore, the moving chassis 11 of the slave robot adopts the crawler-type walking structure 112, so that a larger dragging force can be provided, and the rescue capacity of the rescue clearing robot is improved. The mobile chassis is provided with a camera, collects and transmits environment visual information to the host robot, and is also provided with auxiliary modules such as an SLAM, a UWB, an RFID, a laser range finder and an ultrasonic radar, so that various information of the environment where the mobile chassis is located can be further sensed, and an auxiliary operator can accurately drive the rescue and cleaning robot.
Furthermore, still can carry on the VR camera on the removal ground, gather the inside VR information of dust remover, realize the VR control of the robot of rescue cleaning yard.
Furthermore, the mobile floor adopts an externally-hung modular driving mode, a motor speed reducer, a clutch, a transmission gear box and other components are integrated into the driving unit 111 and are installed outside the mobile chassis to drive the crawler belt to walk, the driving part of the mobile floor can be quickly replaced in the mode, and if a fault occurs, the robot can be repaired in a short time, so that the rescue cleaning robot can be restored to a standby state or a working state.
Furthermore, a walking electric cabinet is further arranged inside the movable chassis, a walking driver, a control panel and other electric elements are arranged inside the movable chassis, a functional electric cabinet is further arranged at the top of the movable chassis, the functional electric cabinet serves as a function expansion module of the rescue clearing robot, an installation space is reserved, and functions of the rescue clearing robot can be expanded according to actual needs.
Further, the rescue unit of the slave robot includes a first grasping mechanism 121, a second grasping mechanism 122, and a manipulator module 123. First snatch mechanism and second and snatch the mechanism and all include stiff end and expansion end, and first stiff end that snatchs the mechanism is connected with the removal chassis, and first expansion end snatchs the second stiff end that the mechanism was connected with the second, and the second snatchs the second activity of mechanism and serves and install the V-arrangement piece.
Furthermore, the first grabbing mechanism is provided with a first electric push rod and a guide rod, the first electric push rod can adjust the distance between the first movable end and the first fixed end when working, so that the first movable end extends out or retracts, and the guide rod can control the action precision of the movable end.
Furthermore, the first fixed end of the first grabbing mechanism is preferably of a frame structure, is mounted at the top of the movable chassis and is connected with one end of the first electric push rod, the first movable end of the first grabbing mechanism is of the frame structure and is connected with the other end of the first electric push rod, the first movable end is close to the first fixed end when the first electric push rod works, and the first movable end can be pushed away from the first fixed end when the electric push rod works.
Furthermore, the second snatchs the mechanism, is provided with second electric putter and V-arrangement piece, and second electric putter during operation can make the second expansion end drive the upset of V-arrangement piece, forms the action that opens and shuts, accomplishes snatching the detection robot to the trouble.
Furthermore, a second fixed end of the second grabbing mechanism is fixedly connected with a first movable end of the first grabbing mechanism, so that when a first electric push rod of the first grabbing mechanism acts, the whole second grabbing mechanism is pushed away from the first grabbing mechanism.
Furthermore, the second snatchs the mechanism, is provided with second electric putter and V-arrangement piece, and second electric putter one end is connected with the second stiff end, and the other end is connected with the second expansion end, and second electric putter during operation can make the second expansion end drive the upset of V-arrangement piece, forms the action that opens and shuts of V-arrangement piece, accomplishes snatching the detection robot of trouble.
Furthermore, the electric push rods of the first grabbing mechanism and the second grabbing mechanism are provided with force sensors, when the rescue cleaning robot is in contact with the fault detection robot, force information can be transmitted to the main robot, an operator can sense the real-time working state of the slave robot, and the operator is helped to finish accurate grabbing actions.
Further, first snatch the mechanism and the second snatchs all to be equipped with laser range finder on the mechanism, auxiliary assembly such as ultrasonic radar, light can gather the environmental information who snatchs the in-process, transmits the display device for main robot, and the auxiliary operation person is accomplished and is snatched.
Furthermore, the manipulator module comprises a mechanical arm, a quick-change flange and a tail end execution mechanism. The arm is fixed on removing the chassis, possesses a plurality of degrees of freedom, can accurately arrive the peripheral spatial position of the clear robot of succour, and the arm end is equipped with terminal actuating mechanism, and the two is through quick change flange joint, and terminal actuating mechanism has the different forms according to the pattern by succour equipment, therefore the clear robot of succour accessible replacement flange realizes the clear yard of succour to different fault equipment.
Taking the detection of the fault of the robot as an example, the rescue steps of the system are as follows:
c1, when the dust remover control center detects that the maintenance robot has a fault, an operator starts to operate the main robot and is used for controlling the auxiliary robot to enter the upper box body of the dust remover from the standby area through a specific channel;
c2, an operator controls the main robot, the auxiliary robot is driven to the position near the main robot by the aid of the vehicle-mounted environment sensing module, and the pose is adjusted to enable the relative position of the auxiliary robot and the main robot to meet requirements;
c3, an operator controls the rescue module of the main robot to enable the first electric push rod of the first grabbing mechanism to act, the second grabbing mechanism is pushed out, the pushing-out distance is regulated and controlled in real time according to a sensor on the slave robot, and the notch of the V-shaped block is located below a dragging hook of the detection robot for faults;
c4, operating the rescue module to enable a second electric push rod of the second grabbing mechanism to act, overturning and lifting the V-shaped block, enabling a dragging hook of the detection robot with the fault to fall into the notch, lifting one side of the detection robot with the fault, and enabling the detection robot with the fault to enter a driven dragging state;
c5, operating the rescue module to enable the first electric push rod of the first grabbing mechanism to act and the second grabbing mechanism to be retracted, so that the fault detection robot and the rescue clearing robot are in a close connection state;
and C6, operating the main robot, controlling the auxiliary robot to drive away from the upper box body of the dust remover through a specific channel to reach an overhaul area, and then reversely executing the step C3\ C4\ C5 to release the fault detection robot.
The above description is only an embodiment of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.
Claims (10)
1. The utility model provides a succour robot system for bag collector, its characterized in that, the system includes the host computer robot and follows the robot, the host computer robot is located outside the bag collector, can move to from the robot in the bag collector, the host computer robot is used for control will be located the trouble apparatus of bag collector and snatch or pull out from the robot the bag collector.
2. The system of claim 1, wherein the master robot comprises a control end and a receiving end, the receiving end is used for receiving the visual information, the acting force information and the position information transmitted by the slave robot, and the control end is used for generating an instruction for controlling the slave robot to act according to the visual information, the acting force information and/or the position information.
3. The system of claim 2, wherein the master robot further comprises a display device for displaying the visual information, the force information, the position information and/or the working environment information received from the slave robot, so that an operator sends an action command to the slave robot through the control terminal according to the visual information, the force information, the position information and/or the working environment information.
4. The system of claim 2, wherein the control end comprises a driving module and a rescue module, and the driving module is used for controlling the slave robot to move; the rescue module comprises a cooperative robot, and the structure of the cooperative robot corresponds to that of the rescue unit on the slave robot, so that the rescue module transmits the action information of the cooperative robot to the rescue unit through a wireless network to execute the same action.
5. The system of any one of claims 1-4, wherein the slave robot comprises a mobile chassis, a rescue unit, and a control unit; the salvation unit is arranged on the movable chassis and is used for grabbing or dragging fault instruments in the bag type dust collector; the control unit is used for realizing communication with the main robot; the moving chassis moves under the control of the control unit.
6. The system according to claim 5, wherein the mobile chassis comprises a crawler-type walking structure, on which a camera, an instant positioning and map building unit, an ultra-wideband unit, a radio frequency identification unit, a laser range finder and/or an ultrasonic radar are arranged, for obtaining environmental information of the mobile chassis;
the crawler-type walking structure comprises a driving unit arranged on the outer side of a crawler, and the driving unit comprises a motor, a motor reducer, a clutch and a transmission gear box.
7. The system of claim 5, wherein the rescue unit comprises a first grasping mechanism, a second grasping mechanism, and a robot module; the first grabbing mechanism comprises a first fixed end and a first movable end, the second grabbing mechanism comprises a second fixed end and a second movable end, the first fixed end is connected with the movable chassis, the first movable end is connected with the second fixed end, and the second movable end is provided with a V-shaped block.
8. The system of claim 7, wherein the first grasping mechanism includes a first motorized push rod disposed between the first fixed end and a first movable end, and a guide bar parallel to the first motorized push rod along which the first movable end moves; the second grabbing mechanism comprises a second electric push rod and a V-shaped block, the second electric push rod is arranged between the second fixed end and the second movable end, and the second movable end is pivoted with the V-shaped block.
9. The system of claim 7, wherein the manipulator module comprises a robotic arm, a quick-change flange, and an end effector; the mechanical arm is connected to the movable chassis; the tail end of the mechanical arm is connected with a tail end executing mechanism through the quick flange.
10. A method of operating the system of claim 8, the method comprising:
when detecting that a detachable instrument in the bag type dust collector breaks down, controlling the slave robot to enter the vicinity of the instrument in the bag type dust collector from a standby area through a preset channel by the master robot;
the main robot controls the first electric push rod of the slave robot to act, the second grabbing mechanism is pushed out, and the notch of the V-shaped block is located below the dragging hook;
the main robot drives a second electric push rod of the second grabbing mechanism to act, the V-shaped block is overturned and lifted, the dragging hook falls into the notch, the single side of the instrument is lifted, and the instrument enters a driven dragging state;
the master robot drives a first electric push rod of the first grabbing mechanism to act, the second grabbing mechanism is retracted, and the slave robot and the instrument are in a tight connection state;
and controlling the slave robot to drive away from the bag type dust collector to an overhaul area through the preset channel, and releasing the instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211171975.1A CN115382315A (en) | 2022-09-26 | 2022-09-26 | Rescue robot system for bag type dust collector and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211171975.1A CN115382315A (en) | 2022-09-26 | 2022-09-26 | Rescue robot system for bag type dust collector and operation method thereof |
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