CN117182924B - Telescopic transfer robot for hanging basket - Google Patents
Telescopic transfer robot for hanging basket Download PDFInfo
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- CN117182924B CN117182924B CN202311383858.6A CN202311383858A CN117182924B CN 117182924 B CN117182924 B CN 117182924B CN 202311383858 A CN202311383858 A CN 202311383858A CN 117182924 B CN117182924 B CN 117182924B
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Abstract
The invention provides a control system for a telescopic platform, belonging to the technical field of equipment control; through the arrangement of an MCU microcontroller, a quick cutting module and the like, gear switching can be quickly performed by utilizing the quick cutting module under the special condition that the platform is powered off, so that the safety and the reliability and the stable equipment operation during paint spraying operation are ensured; the used horizontal transfer structure synchronously stretches by means of the mode of transmission of the screw rod, combination of a chain and the like, long-distance synchronous stretching is realized under the condition of a shorter screw rod, and the situations that the existing transfer structure is easy to be blocked and cannot stretch are greatly reduced; the distance sensor is matched with the photosensitive plate, so that the telescopic distance can be obtained in real time, a basis is provided for power supply control of the power supply controller, and the safety and reliability of equipment operation can be further ensured.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a telescopic transfer robot for a hanging basket.
Background
The storage tank is essential and important basic equipment in industries such as petroleum, chemical industry, grain and oil, food and the like, and because a plurality of raw materials need to be stored, the inner wall of the storage tank is easy to corrode, so that the storage tank leaks and fails, even products are stored in a polluted manner, and the economic benefit is influenced.
In general, there are many ways to preserve the tank, including: the use of a corrosion resistant material for the tank, spraying a corrosion resistant coating on the inner wall of the tank, etc. For the large-scale storage tank with the inner wall sprayed with the anti-corrosion coating, the traditional mode is that constructors enter the storage tank from an overhaul port, and then paint spraying operation is carried out by utilizing a crawling ladder through a mode of manually operating a spray gun. However, this kind of operation mode has a great deal of not enough, on the one hand, the removal of cat ladder is usually accomplished by constructor, and its removal is loaded down with trivial details, speed is slower, has influenced work efficiency, on the other hand, to the higher storage tank of height, the high regulation inconvenience of cat ladder, also very big influence the efficiency of construction, further, the cat ladder needs to be taken and leaned on the storage tank inner wall, causes the damage to the inner wall easily, is unfavorable for the integrality of coating, and this kind is taken and lean on by itself unsecure, and the operation that constructor climbs on the cat ladder belongs to the overhead operation, is very unsafe.
For this reason, the inventor has made long and continuous efforts to develop an intelligent robot apparatus (publication No. CN116177458A, CN 116177458A) integrating a work platform, a telescopic arm system and a paint spraying apparatus, which can achieve the purpose of feeding a constructor or a paint spraying robot into the interior of a storage tank and then moving the constructor or the paint spraying robot to different positions close to the inner wall of the storage tank by telescoping, so as to achieve a quick and efficient paint spraying operation. Above robot realizes constructor or spraying equipment's transportation adjustment through drive unit, flexible arm etc. and need not to take and lean on the storage tank inner wall, also need not to carry out the removal of cat ladder, compares in traditional "manual movement and passes the mode of cat ladder", and security and efficiency of construction have all obtained very big improvement. However, the above transfer robot still has certain drawbacks, mainly represented by: 1) The existing transfer robot stretches only through the cooperation of the screw rod and the driving unit, the stretching length is limited, if stretching is carried out for a long distance, the required screw rod is longer, because constructors or paint spraying robots are positioned on a telescopic frame above one end of the screw rod, under the condition of longer length, the telescopic frame of the transfer robot can deform to a certain extent, the transmission of the screw rod is affected, and sometimes the screw rod is blocked and cannot stretch; 2) The conventional transfer robot is also constructed by a mode that a plurality of brackets slide mutually, but a plurality of driving units are required to be arranged; 3) The existing telescopic mode cannot realize accurate regulation and control of telescopic distance, and deformation of a telescopic frame cannot be controlled in time; 4) After a power failure, the conventional transfer robot remains in its original state, which is extremely disadvantageous for the case where a constructor enters the inside of the storage tank to perform work.
In view of this, there is a need for further improvements in the art.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a telescopic transfer robot for a hanging basket, which aims to improve the safety and reliability of the inner wall of a storage tank during paint spraying operation and ensure stable operation of equipment.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
the telescopic transfer robot for basket includes power supply, power supply controller, accumulator, power switch, MCU microcontroller, current detecting unit, battery power detecting unit, fast cutting module, first sensor, second sensor, intelligent display screen and platform carrying structure,
the platform carrying structure comprises a power unit and a transfer structure, the transfer structure is provided with a platform, and the power unit is used for driving the transfer structure to perform telescopic actions so as to place the platform at different working positions;
the quick-cutting module is provided with two gears, namely a power supply gear and a storage battery gear, wherein in the power supply gear, the power unit is communicated with a circuit on one side of the power supply and disconnected with a circuit on one side of the storage battery, and in the storage battery gear, the power unit is communicated with a circuit on one side of the storage battery and disconnected with a circuit on one side of the power supply;
the quick-cutting module is controlled by the MCU microcontroller to switch gears, the MCU microcontroller is in electrical signal connection with the power supply, the quick-cutting module is initially placed in the power supply gear, when the power supply is powered off, the MCU microcontroller can acquire the power-off signal of the power supply and place the quick-cutting module in the storage battery gear, and when the quick-cutting module is placed in the storage battery gear, the power unit drives the transfer structure to shrink so as to retract the platform to a set initial position;
a power supply controller is further arranged between the power supply and the quick-cutting module and used for controlling the power supply output of the power supply to the power unit, wherein the power supply controller comprises the starting of the power supply output, the voltage stabilization of the power supply output, the voltage magnitude and the current direction of the power supply output;
a current detection unit is arranged on a circuit between the power supply controller and the quick-cutting module, and the current detection unit is in communication connection with the MCU; a battery electric quantity detection unit is arranged on a circuit between the storage battery and the quick-cutting module, and the battery electric quantity detection unit is in communication connection with the MCU; an electrifying switch is arranged between the power supply and the storage battery, the on-off of the electrifying switch is controlled by the MCU, and when the electric quantity parameter acquired by the battery electric quantity detection unit is lower than a preset value, the MCU controls the electrifying switch to be turned on;
the first sensor is used for detecting the operation parameters of the power unit, the second sensor is used for detecting the operation parameters of the transfer structure, the first sensor and the second sensor are both in communication connection with the power supply controller, and the power supply controller can control the power supply output of the power supply to the power unit according to the parameter information acquired by the first sensor and the second sensor;
the MCU microcontroller is also connected with an intelligent display screen, and the intelligent display screen is used for displaying the running conditions of the power supply and the storage battery and at least comprises the output current condition of the power supply and the battery power condition of the storage battery.
Compared with the prior art, the invention has at least the following beneficial effects:
1. the control system can utilize the quick-cutting module to quickly switch gears under the special condition of power failure during the use period of the transfer robot, thereby ensuring the safety and the reliability and the stable equipment operation during the paint spraying operation;
2. the adopted horizontal transfer structure comprises a horizontal fixed support and a telescopic support, synchronous expansion and contraction are carried out in a mode of combining transmission with a chain and the like by means of a screw rod, the screw rod is arranged below the horizontal fixed support, one end of the screw rod, which is close to a platform, does not exceed the edge of the horizontal fixed support, so that the length of the screw rod for transmission is limited, and the situation that the existing transfer structure is blocked and cannot expand is greatly reduced;
3. the distance sensor is matched with the photosensitive plate, so that the telescopic distance can be obtained in real time on the one hand, on the other hand, the distance sensor is used as the signal input of the photosensitive sensor at the photosensitive plate, a signal source is provided for judging the bending state of the horizontal transfer structure, a basis is provided for the power supply controller to carry out power supply control, and therefore the safety and reliability of equipment operation can be further ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a schematic diagram of the main body configuration of the control system of the present invention;
FIG. 2 is a schematic perspective view of a platform mounting structure according to the present invention;
FIG. 3 is a schematic view of the front view of the horizontal transfer structure of FIG. 2;
FIG. 4 is a left side partial enlarged view of the horizontal transfer structure shown in FIG. 3;
FIG. 5 is a schematic view of a distribution structure of photosensitive areas on the light barrier shown in FIG. 3;
FIG. 6 is a schematic perspective view of the horizontal transfer structure of FIG. 2;
the device comprises a 1-base, a 2-supporting column, a 3-horizontal transfer structure, a 4-vertical transfer structure, a 5-first cross beam, a 6-second cross beam, a 7-first driving unit, an 8-transmission chain, a 9-second driving unit, a 10-screw rod, an 11-first vertical plate, a 12-second vertical plate, a 13-horizontal fixed support, a 14-sliding plate, a 15-distance sensor, a 16-telescopic support, a 17-platform, a 18-photosensitive plate, a 19-safety zone, a 20-early warning zone, a 21-danger zone and a 22-sliding rail groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 6, the invention provides a telescopic transfer robot for a basket, which comprises a power supply, a power supply controller, a storage battery, an electrifying switch, an MCU microcontroller, a current detection unit, a battery power detection unit, a fast cutting module, a first sensor, a second sensor, an intelligent display screen and a platform carrying structure, wherein,
the platform carrying structure comprises a power unit and a transfer structure, the transfer structure is provided with a platform 17, and the power unit is used for driving the transfer structure to perform telescopic actions so as to place the platform 17 at different working positions;
the quick-cutting module is provided with two gears, namely a power supply gear and a storage battery gear, wherein in the power supply gear, the power unit is communicated with a circuit on one side of the power supply and disconnected with a circuit on one side of the storage battery, and in the storage battery gear, the power unit is communicated with a circuit on one side of the storage battery and disconnected with a circuit on one side of the power supply;
the quick-cutting module is controlled by the MCU microcontroller to switch gears, the MCU microcontroller is in electrical signal connection with the power supply, the quick-cutting module is initially placed in the power supply gear, when the power supply is powered off, the MCU microcontroller can acquire the power-off signal of the power supply and place the quick-cutting module in the storage battery gear, and when the quick-cutting module is placed in the storage battery gear, the power unit drives the transfer structure to shrink so as to retract the platform 17 to a set initial position;
a power supply controller is further arranged between the power supply and the quick-cutting module and used for controlling the power supply output of the power supply to the power unit, wherein the power supply controller comprises the starting of the power supply output, the voltage stabilization of the power supply output, the voltage magnitude and the current direction of the power supply output;
a current detection unit is arranged on a circuit between the power supply controller and the quick-cutting module, and the current detection unit is in communication connection with the MCU; a battery electric quantity detection unit is arranged on a circuit between the storage battery and the quick-cutting module, and the battery electric quantity detection unit is in communication connection with the MCU; an electrifying switch is arranged between the power supply and the storage battery, the on-off of the electrifying switch is controlled by the MCU, and when the electric quantity parameter acquired by the battery electric quantity detection unit is lower than a preset value, the MCU controls the electrifying switch to be turned on;
the first sensor is used for detecting the operation parameters, such as the rotating speed, of the power unit, the second sensor is used for detecting the operation parameters, such as the telescopic distance, of the transfer structure, the first sensor and the second sensor are both in communication connection with the power supply controller, and the power supply controller can control the power supply output of the power supply to the power unit according to the parameter information acquired by the first sensor and the second sensor;
the MCU microcontroller is also connected with an intelligent display screen, and the intelligent display screen is used for displaying the running conditions of the power supply and the storage battery and at least comprises the output current condition of the power supply and the battery power condition of the storage battery.
In the prior art, when the paint spraying operation is performed on the inner wall of the storage tank by using the platform, generally speaking, after a power failure, the telescopic frame of the transfer robot is generally kept motionless, and when the construction is performed, a constructor needs to enter the storage tank through the platform 17 to perform the operation of the spraying machine, at this time, if the power failure occurs, the constructor needs to come out of the storage tank with the help of other equipment or other personnel, so that the paint spraying machine is very inconvenient and has potential safety hazards. The intelligent transfer robot is formed by the telescopic control system and the existing electric control component, an operator can transfer the operator and the spraying equipment into the storage tank together by controlling and adjusting the transfer robot, the spraying point position can be adjusted in real time, the spraying equipment can be controlled, and when the power failure condition occurs, the spraying equipment can be quickly switched, the storage battery is used for supplying power, the platform 17 is returned to a set initial position, and the set initial position can be a position which is positioned outside the storage tank or in the storage tank and is close to an access port of the storage tank. In addition, the MCU microcontroller is electrically connected with the power supply at the same time of setting the current detection unit, so that the current detection unit can detect the current output by the power supply in real time, and when the current detected by the current detection unit is zero, the power supply is not necessarily in power failure (probably because the power supply controller does not start the power supply to output the power supply to the power unit), and accurate basis can be provided for judging the power failure condition of the MCU microcontroller by means of the MCU microcontroller and the current signal detected by the current detection unit, so that the gear switching accuracy of the quick-cutting module is ensured. In addition, through setting up first sensor and second sensor and carrying out the operation parameter monitoring to the power pack and the transportation structure of platform carrying structure respectively, can ensure that the operation of platform carrying structure is reliable and stable.
In order to better achieve the purpose of the invention, the power unit comprises a first driving unit 7 and a second driving unit 9, the transfer structure comprises a horizontal transfer structure 3 and a vertical transfer structure 4, one end of the horizontal transfer structure 3 is connected with the bottom end of the vertical transfer structure 4, and the top of one end of the horizontal transfer structure 3 far away from the vertical transfer structure 4 is fixedly provided with the platform 17; the platform 17 can be moved to the different working positions under the action of the horizontal transfer structure 3 and the vertical transfer structure 4; the first driving unit 7 is connected at the top end of the vertical transfer structure 4 and is used for driving the vertical transfer structure 4 to stretch out and draw back in the vertical direction and rotate in the circumferential direction (for example, the first driving unit 7 may include two driving modules respectively used for driving the vertical transfer structure 4 to stretch out and draw back and rotate), and the second driving unit 9 is arranged at one end of the horizontal transfer structure 3 connected with the vertical transfer structure 4 and is used for driving the horizontal transfer structure 3 to stretch out and draw back in the horizontal direction. By means of the arrangement, the platform 17 can be moved to any position in space, and the movement of the platform 17 is electrically driven by the power unit, so that the situation that a ladder is required to be supported on the inner wall of the storage tank in the past is avoided.
Further, the vertical transfer structure 4 includes a plurality of vertically arranged telescopic joints, the telescopic joint located at the top is rotatably and fixedly arranged on the second cross beam 6, the second cross beam 6 is bridged and slidingly arranged on two first cross beams 5 which are arranged in parallel, and the two first cross beams 5 are respectively and horizontally fixed on two rows of support columns 2. In some special cases, the bottoms of the two rows of supporting columns 2 are fixedly arranged on the base 1; of course, the support 2 may also be fixed to the tank to be sprayed or to the ground outside it. In addition, the first drive unit 7 and the vertical transfer structure 4 of the present embodiment form a whole that can slide along the second cross beam 6.
In order to better achieve the purpose of the present invention, referring to fig. 3 to 6, the horizontal transfer structure 3 used in this embodiment includes a horizontal fixing support 13, a telescopic support 16, a transmission chain 8, a screw rod 10 and a slide plate structure, where the horizontal fixing support 13 is fixedly connected with the bottom end of the vertical transfer structure 4, two horizontal slide rail grooves 22 that are horizontal and side by side and have opposite notches are provided on the horizontal fixing support 13, the telescopic support 16 is slidably disposed in the two slide rail grooves 22, the telescopic support 16 is composed of a plurality of horizontal telescopic joints, the horizontal telescopic joint that is slidably matched with the two slide rail grooves 22 in the plurality of horizontal telescopic joints is a first horizontal telescopic joint, the other horizontal telescopic joints in the plurality of horizontal telescopic joints are sequentially a second horizontal telescopic joint, … … and an nth horizontal telescopic joint, N is a positive integer greater than or equal to 2, the first horizontal expansion joint is in sliding fit with the two slide rail grooves 22 through rollers, the platform 17 is arranged on the Nth horizontal expansion joint, the bottom of the first horizontal expansion joint is fixedly connected with the slide plate structure, the middle part of the horizontal fixing support 13 is provided with a slide groove, the slide plate structure slides through the slide groove and extends to the bottom of the horizontal fixing support 13, the second driving unit 9 is a motor and is fixedly arranged at the bottom of the horizontal fixing support 13, the screw rod 10 is arranged along the extending direction of the horizontal transfer structure 3, the second driving unit 9 drives the screw rod 10 to rotate through the transmission chain 8, the screw rod 10 penetrates the slide plate structure at one end far from the transmission chain 8 and is in rotating fit with the slide plate structure so as to push the first horizontal expansion joint to slide along the two slide rail grooves 22, the rollers on the first horizontal expansion joint rotate in the sliding process of the first horizontal expansion joint along the two slide rail grooves 22, the plurality of horizontal expansion joints are mutually related through the rollers (for example, the rollers are connected through chains, ropes and the like, the prior art is numerous, and detailed description is omitted here), and the rollers of the first horizontal expansion joint drive the second horizontal expansion joint to the Nth horizontal expansion joint to synchronously perform telescopic sliding when rotating; the screw 10 is located at the bottom of the horizontal fixing bracket 13, and one end thereof close to the platform 17 does not exceed the edge of the horizontal fixing bracket 13.
In the prior art, when the screw rod is matched with the driving unit to stretch, the stretching length is limited, if the stretching is carried out for a long distance, the required screw rod is longer, because constructors or paint spraying robots are positioned on the stretching frame above one end of the screw rod, under the condition of longer length, the stretching frame is influenced by factors such as gravity, and the like, the stretching frame can deform to influence the transmission of the screw rod, the transmission efficiency is lower, and sometimes even the clamping occurs; the existing mode of sliding the brackets with each other needs to set driving units for the brackets, and the number of the driving units is increased along with the increase of the telescopic distance, so that the synchronization cannot be ensured. According to the invention, the screw rod is utilized to drive the sliding plate structure to slide, the roller on the first horizontal expansion joint of the horizontal transfer structure 3 is driven to rotate in the sliding process of the sliding plate structure, then the sliding of other expansion joints is realized through the rotation of the roller, and the expansion joints can be easily associated by means of chains, ropes and the like to realize synchronous sliding, so that a plurality of driving units are not required to be arranged, and the expansion action of the horizontal transfer structure 3 is realized more stably. Meanwhile, in the mode, one end of the screw rod 10 close to the platform 17 does not exceed the edge of the horizontal fixing support 13, so that the length of the screw rod is not required to be too long in the telescopic mode of the invention, the stability and reliability of transmission are ensured, and the risk of jamming is greatly reduced.
In order to better achieve the purpose of the invention, the sliding plate structure comprises a sliding plate 14 which is positioned at the bottom of a horizontal fixing support 13 and is in sliding fit with the horizontal fixing support 13, the top of the sliding plate 14 is also connected to the bottom of a first horizontal expansion joint through a connecting piece, the connecting piece is arranged in a sliding groove in the middle of the horizontal fixing support 13 in a sliding mode, a first vertical plate 11 and a second vertical plate 12 which are vertically arranged are arranged at intervals at the bottom of the sliding plate 14, and a screw rod 10 is in penetrating fit with the first vertical plate 11 and the second vertical plate 12. The guide of the screw rod is more accurate through the first vertical plate 11 and the second vertical plate 12 which are arranged at intervals, so that the stable and reliable transmission is ensured.
In order to better achieve the purpose of the present invention, the second sensor includes a distance sensor 15 and a photosensitive sensor, the distance sensor 15 (for example, a laser ranging sensor) is disposed on one side of the skateboard structure near the platform 17 (see fig. 3 to 4, and is preferably located at the bottom of the sliding plate 14), a vertically disposed photosensitive plate 18 is fixedly disposed at the bottom of the nth horizontal expansion joint, a plurality of photosensitive sensors are disposed on the photosensitive plate 18 in an array on one side facing the distance sensor 15, the plurality of photosensitive sensors divide one side of the photosensitive plate 18 facing the distance sensor 15 into a safety zone 19, an early warning zone 20 and a dangerous zone 21 sequentially disposed from bottom to top, the distance sensor 15 is opposite to the safety zone 19 in the first place, and the power supply controller controls the power output of the power supply to the power unit according to the expansion distance data from the distance sensor 15 and the photosensitive data from the safety zone 19, the early warning zone 20 and the dangerous zone 21.
It should be noted that, because the horizontal transfer structure 3 is horizontally disposed, during the stretching process, the horizontal transfer structure 3 cannot fully stretch in a straight line manner, in fact, due to gravity reasons (especially, in some cases, the constructor performs illegal operations, and places a large amount of construction materials on the platform 17, such as paint, etc.), there is a certain bending of the horizontal transfer structure 3, in addition, during the long-term use, the horizontal transfer structure 3 may also generate a certain deformation, if the bending is too large, a potential safety hazard will occur, in order to avoid such a phenomenon, in the prior art, it is common to increase the strength of the horizontal transfer structure 3, such as using thicker or thicker steel materials, but this intangibly increases the cost, and results in a larger quality of the horizontal transfer structure 3. According to the invention, through the arrangement of the distance sensor 15 and the photosensitive sensors, the photosensitive sensors divide one side of the photosensitive plate 18 facing the distance sensor 15 into the safety area 19, the early warning area 20 and the danger area 21 which are sequentially arranged from bottom to top, so that the running condition of the horizontal transfer structure 3 can be timely mastered in construction, the occurrence of potential safety hazards caused by bending is avoided, and when the photosensitive sensors of the early warning area 20 and the danger area 21 detect the light signals such as laser from the position of the distance sensor 15, the horizontal transfer structure 3 is illustrated to be bent and in an early warning or dangerous state, and at the moment, the power unit can be regulated and controlled by means of the power supply controller or an alarm prompt is sent out, so that the occurrence of the potential safety hazards is avoided. In addition, through limiting the end of the screw rod, which is close to the platform 17, not to exceed the edge of the horizontal fixing support 13, and simultaneously arranging the distance sensor 15 on one side of the sliding plate structure, which is close to the platform 17, when the telescopic support 16 is completely contracted, the photosensitive plate 18 can be close to shield the distance sensor 15, so that a protection effect is achieved. In addition, it should be noted that the safety zone 19, the early warning zone 20 and the hazard zone 21 of the present invention are set by extending the horizontal transfer structure 3 to the longest distance, and in many cases, the horizontal transfer structure 3 is not extended to the longest distance in actual construction, and in this case, the dynamic limits among the safety zone 19, the early warning zone 20 and the hazard zone 21 can be obtained according to the geometric relationship between the extended distance and the longest distance detected by the distance sensor 15 and the positional region relationship among the safety zone 19, the early warning zone 20 and the hazard zone 21, and the adjustment of the power unit is performed to ensure that the construction is performed under the safety condition. Such geometric scaling is determinable by those skilled in the art in equal proportional relationships and is not described in detail herein.
Preferably, the first sensor comprises a rotational speed sensor, which is preferably an orthogonal sensor with rotational speed and direction. When the power supply controller acquires the signal data acquired by the second sensor, corresponding adjustment can be made according to the rotation speed and the rotation direction acquired by the first sensor.
In addition, when the power is supplied by the power supply, the power unit of the platform carrying structure can perform extension control and contraction control; when the storage battery is used for supplying power, the power unit only drives the transfer structure to retract so as to retract the platform 17 to the set initial position.
Preferably, in order to ensure reliable and stable operation, the quick-cut module is not allowed to be switched again within a period of time (for example, 5 min-15 min) after the quick-cut module is switched to the battery gear. In the actual production process, sometimes when the power is off, the power is not off immediately, sometimes, the power is on again after a few seconds or tens of seconds of power off, and then the power is completely off after a few minutes.
It should be noted that the storage tank mentioned in the present invention may also be other containers similar to the storage tank, such as a hold, a grain bin, a synthesis tower, etc.
Finally, it is further noted that relational terms such as "first" and "second", and the like, are 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. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to the embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The telescopic transfer robot for the hanging basket comprises a power supply, a power supply controller, a storage battery, an electrifying switch, a microcontroller, a current detection unit, a battery electric quantity detection unit, a fast cutting module, a first sensor, a second sensor, an intelligent display screen and a platform carrying structure, and is characterized in that,
the platform carrying structure comprises a power unit and a transfer structure, the transfer structure is provided with a platform (17), and the power unit is used for driving the transfer structure to perform telescopic actions so as to place the platform (17) at different working positions;
the quick-cutting module is provided with two gears, namely a power supply gear and a storage battery gear, wherein in the power supply gear, the power unit is communicated with a circuit on one side of the power supply and disconnected with a circuit on one side of the storage battery, and in the storage battery gear, the power unit is communicated with a circuit on one side of the storage battery and disconnected with a circuit on one side of the power supply;
the quick-cutting module is controlled by the microcontroller to switch gears, the microcontroller is in electrical signal connection with the power supply, the quick-cutting module is initially placed in the power supply gear, when the power supply is in a power-off condition, the microcontroller can acquire a power-off signal of the power supply and place the quick-cutting module in a storage battery gear, and when the quick-cutting module is placed in the storage battery gear, the power unit drives the transfer structure to shrink so as to retract the platform (17) to a set initial position;
a power supply controller is arranged between the power supply and the quick-cutting module and is used for controlling the power supply output of the power supply to the power unit, and the power supply controller comprises the starting of the power supply output, the voltage stabilization of the power supply output, the voltage magnitude and the current direction of the power supply output;
a current detection unit is arranged on a circuit between the power supply controller and the fast cutting module, and the current detection unit is in communication connection with the microcontroller; a battery electric quantity detection unit is arranged on a circuit between the storage battery and the quick-cutting module, and the battery electric quantity detection unit is in communication connection with the microcontroller; an energizing switch is arranged between the power supply and the storage battery, the on-off of the energizing switch is controlled by the microcontroller, and when the electric quantity parameter acquired by the battery electric quantity detection unit is lower than a preset value, the microcontroller controls the energizing switch to be turned on;
the first sensor is used for detecting the operation parameters of the power unit, the second sensor is used for detecting the operation parameters of the transfer structure, the first sensor and the second sensor are both in communication connection with the power supply controller, and the power supply controller can control the power supply output of the power supply to the power unit according to the parameter information acquired by the first sensor and the second sensor;
the microcontroller is also connected with an intelligent display screen, and the intelligent display screen is used for displaying the running conditions of the power supply and the storage battery and at least comprises the output current condition of the power supply and the battery power condition of the storage battery.
2. A telescopic transfer robot for a gondola according to claim 1, characterized in that the power unit comprises a first drive unit (7) and a second drive unit (9), the transfer structure comprises a horizontal transfer structure (3) and a vertical transfer structure (4), one end of the horizontal transfer structure (3) is connected with the bottom end of the vertical transfer structure (4), and the top of the end of the horizontal transfer structure (3) far from the vertical transfer structure (4) is fixedly provided with the platform (17); the platform (17) can move to the different working positions under the action of the horizontal transfer structure (3) and the vertical transfer structure (4); the first driving unit (7) is connected to the top end of the vertical transfer structure (4) and used for driving the vertical transfer structure (4) to stretch out and draw back in the vertical direction and rotate in the circumferential direction, and the second driving unit (9) is arranged at one end of the horizontal transfer structure (3) connected with the vertical transfer structure (4) and used for driving the horizontal transfer structure (3) to stretch out and draw back in the horizontal direction.
3. A telescopic transfer robot for a hanging basket according to claim 2, wherein the horizontal transfer structure (3) comprises a horizontal fixing support (13), a telescopic support (16), a transmission chain (8), a screw rod (10) and a slide plate structure, wherein the horizontal fixing support (13) is fixedly connected with the bottom end of the vertical transfer structure (4), two sliding rail grooves (22) which are horizontal and are arranged side by side and are opposite in notch are arranged on the horizontal fixing support (13), the telescopic support (16) is slidably arranged in the two sliding rail grooves (22), the telescopic support (16) is composed of a plurality of horizontal telescopic joints, the horizontal telescopic joint which is slidably matched with the two sliding rail grooves (22) in the plurality of horizontal telescopic joints is a first horizontal telescopic joint, the other horizontal telescopic joints in the plurality of horizontal telescopic joints are sequentially a second horizontal telescopic joint, … … and an nth horizontal telescopic joint, N is a positive integer larger than or equal to 2, the first horizontal telescopic joint is slidably matched with the two sliding rail grooves (22) through a roller, the platform (17) is arranged on the nth horizontal telescopic joint, the first horizontal telescopic joint is slidably arranged in the sliding rail groove (13), the first horizontal telescopic joint is slidably arranged on the sliding plate (13) along the sliding plate structure, the sliding plate structure is fixedly arranged at the bottom of the sliding plate (13) along the sliding plate (13), the sliding plate structure is fixedly arranged at the bottom part of the sliding plate (13), the second driving unit (9) drives the screw rod (10) to rotate through the transmission chain (8), the screw rod (10) penetrates through the sliding plate structure at one end far away from the transmission chain (8), the screw rod is in rotating fit with the sliding plate structure so as to push the first horizontal expansion joint to slide along the two sliding rail grooves (22), and in the process that the first horizontal expansion joint slides along the two sliding rail grooves (22), the roller on the first horizontal expansion joint rotates to drive the second horizontal expansion joint to the Nth horizontal expansion joint to synchronously slide in a telescopic manner; the screw rod (10) is positioned at the bottom of the horizontal fixing support (13), and one end of the screw rod, which is close to the platform (17), does not exceed the edge of the horizontal fixing support (13).
4. A telescopic transfer robot for a hanging basket according to claim 3, characterized in that the sliding plate structure comprises a sliding plate (14) which is arranged at the bottom of the horizontal fixing support (13) and is in sliding fit with the horizontal fixing support (13), the top of the sliding plate (14) is further connected to the bottom of the first horizontal telescopic joint through a connecting piece, the connecting piece is arranged in a sliding groove in the middle of the horizontal fixing support (13) in a sliding mode, a first vertical plate (11) and a second vertical plate (12) which are vertically arranged are arranged at intervals at the bottom of the sliding plate (14), and a screw rod (10) is in penetrating fit with the first vertical plate (11) and the second vertical plate (12).
5. A telescopic transfer robot for a basket according to claim 3, wherein the second sensor comprises a distance sensor (15) and a photosensitive sensor, the distance sensor (15) is arranged on one side of the skateboard structure close to the platform (17), a vertically arranged photosensitive plate (18) is fixedly arranged at the bottom of the nth horizontal telescopic joint, a plurality of photosensitive sensors are arranged on the photosensitive plate (18) in an array on one side facing the distance sensor (15), one side of the photosensitive plate (18) facing the distance sensor (15) is divided into a safety area (19), an early warning area (20) and a dangerous area (21) which are sequentially arranged from bottom to top, the distance sensor (15) is opposite to the safety area (19) initially, and the power supply controller controls the power supply output of a power supply to the power unit according to telescopic distance data from the distance sensor (15) and photosensitive data from the safety area (19), the early warning area (20) and the dangerous area (21).
6. A telescopic transfer robot for a gondola as claimed in claim 5, wherein the first sensor comprises a rotational speed sensor which is an orthogonal sensor with rotational speed and direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311383858.6A CN117182924B (en) | 2023-10-24 | 2023-10-24 | Telescopic transfer robot for hanging basket |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311383858.6A CN117182924B (en) | 2023-10-24 | 2023-10-24 | Telescopic transfer robot for hanging basket |
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| CN117182924A CN117182924A (en) | 2023-12-08 |
| CN117182924B true CN117182924B (en) | 2024-01-26 |
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| CA2029431A1 (en) * | 1990-11-07 | 1992-05-08 | Kazuyoshi Honma | Manipulator device |
| WO1995032078A1 (en) * | 1994-05-19 | 1995-11-30 | Brien Brian Jonathan O | Shape variable structure |
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|---|---|
| CN117182924A (en) | 2023-12-08 |
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