CN107239087A - A kind of intelligent control transfer robot - Google Patents
A kind of intelligent control transfer robot Download PDFInfo
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- CN107239087A CN107239087A CN201710505433.6A CN201710505433A CN107239087A CN 107239087 A CN107239087 A CN 107239087A CN 201710505433 A CN201710505433 A CN 201710505433A CN 107239087 A CN107239087 A CN 107239087A
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- solar energy
- objective table
- energy photovoltaic
- photovoltaic panel
- transfer robot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of intelligent control transfer robot, including the first objective table and can relative to first stage movement the second objective table;First objective table is provided with feed screw, and the feed screw is used to realize that the second objective table is synchronously slided relative to the first objective table;The first objective table bottom is connected with support platform, the support platform is connected with first objective table by more than one support bar, the support platform bottom is laid with vehicle wheel component, motor and controller are mounted with the support platform, the controller is by controlling the motor to start the vehicle wheel component;The robot makes full use of solar energy to be charged, and reduces the dependence for the common energy, and can be widely used in boiler fitting, rubbish, the transport operation of workshop parts.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of intelligent control transfer robot.
Background technology
Transport operation occupies highly important status in modern industry, and wherein transfer robot is mainly engaged in the position of material
Put and move or change its placement posture, widely used in most fields, the installation of such as conventional boiler is mainly used manually,
Or make some non-dedicated suspenders to carry heavy heat exchanger or boiler, waste time and energy;And heat exchanger is the pass of boiler
Key component, once the life-span of boiler may all be influenceed by falling or being collided with boiler support, it could even be possible to making carrying personnel
It is injured.If installing relatively large boiler, the plant equipment that some can also be used large-scale, such as derrick crane, truck mounted rise
Heavy-duty machine, but if when installing small-sized boiler, heat exchanger, large scale equipment will have installation blind area, and the dismounting of equipment itself
It is also very troublesome.
Simultaneously in actual life, garbage disposal problem is always people's concern, existing garbage disposal
Method is that usual manually simply sealed using polybag is packed, and temporarily stacks management, is then transported with garbage truck.This processing side
Method certainly will have problems with presence:Rubbish is unprocessed to be directly loadable into refuse bag, and rubbish is fluffy random, refuse bag utilization rate
Lowly;During garbage collection process is stacked, floor space is big, and space utilization ability is poor;Rubbish band is all simple envelope
Mouthful, rubbish is easy to shed in refuse bag, and ground health is poor;Load garbage is few in unit volume, and cost of transportation is high.
In addition to the foregoing, parts carrying, the processing of explosive perishable material of workshop, by using carrying
Robot, substantially improves the condition of work of operator, improves production efficiency;Existing transfer robot is typically directly used
Rechargable power supplies, such as battery, or directly external power supply, the working strength of robot and less efficient, and need not timing
Charged, be monitored while also needing to special messenger in most cases, automaticity is low;Meanwhile, subtract increasingly in fossil fuel
In the case of few, solar energy has turned into the mankind and has used the important component of the energy, and is constantly developed.The utilization of solar energy
There are photothermal deformation and opto-electronic conversion two ways, solar power generation is a kind of emerging regenerative resource, wherein photovoltaic board component
It is that a kind of exposure will produce the TRT of direct current in the sun, is made up of almost all with semiconductor material (such as silicon)
Solid photovoltaic cell composition.Solar energy how is effectively utilized to provide power supply to drive transfer robot operation to be current heat
Point problem.
The content of the invention
The present invention provides a kind of energy-conservation transfer robot.The present invention is realized with following technical scheme:
A kind of intelligent control transfer robot, including the first objective table and can be relative to first stage movement
Second objective table;First objective table is provided with feed screw, the feed screw be used to realizing the second objective table relative to
First objective table is synchronously slided;
The first objective table bottom is connected with support platform, and the support platform passes through more than with first objective table
One support bar is connected, and the support platform bottom is laid with vehicle wheel component, the support platform and is mounted with motor
And controller, the controller is by controlling the motor to start the vehicle wheel component.
Further, first carrier interior is accommodated with cylindrical element, is filled in the inside of the cylindrical element
The gap absorption component is equipped with equipped with the gap absorption component more than one or two, and using coupling member link
Cylindrical element and the second objective table, using the feed screw installed in first objective table and by the gap absorb
Component makes the cylindrical element slide with so that second objective table is synchronously slided.
Further, the first objective table bottom is fixed with battery, the battery and the solar energy photovoltaic panel
Group connects to store the electric energy that the solar energy photovoltaic panel group converts solar energy into;The solar energy photovoltaic panel group is by N to too
Positive energy photovoltaic panel group is constituted, and each solar energy photovoltaic panel group includes two two solar energy photovoltaic panels being oppositely arranged;
The first connecting portion of two solar energy photovoltaic panels in each solar energy photovoltaic panel group is rotated with the objective table
Connection;Two solar energy photovoltaic panels in each solar energy photovoltaic panel group are connected by a telescoping mechanism, the telescopic machine
Structure includes motor and is controlled by the expansion link of the motor, passes through the flexible of the expansion link, the solar energy photovoltaic panel
Angle change;
The beneficial effects of the invention are as follows:
The present invention provides a kind of intelligent control transfer robot, possesses following beneficial effects:
(1) mechanical structure of the first objective table and the second objective table, the feeding silk of the first objective table are devised in the present invention
Thick stick makes the second objective table synchronously slide indirectly, therefore can not only obtain excellent mobility, stationarity, and results in
Excellent installation;
(2) the intelligent control transfer robot in the present invention, makes full use of solar energy to be charged, reduces for common
The dependence of the energy, and can be widely used in boiler fitting, rubbish, the transport operation of workshop parts.
Brief description of the drawings
Fig. 1 is a kind of intelligent control transfer robot structural representation provided in an embodiment of the present invention;
Fig. 2 (a) is objective table schematic front view provided in an embodiment of the present invention;
Fig. 2 (b) is objective table sectional view provided in an embodiment of the present invention;
Fig. 3 is that solar energy photovoltaic panel group provided in an embodiment of the present invention sets schematic diagram;
Fig. 4 is electronic eyes block diagram provided in an embodiment of the present invention;
Fig. 5 is feature extraction unit block diagram provided in an embodiment of the present invention;
Fig. 6 is controller block diagram provided in an embodiment of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with accompanying drawing
It is described in detail on step ground.
A kind of intelligent control transfer robot, as shown in figure 1, the transfer robot includes the first objective table 1, it is described to carry
The bottom of thing platform 1 is fixed with battery 3, and the battery 3 is connected to store the solar energy with solar energy photovoltaic panel group 2
The electric energy that volt plate group converts solar energy into;The solar energy photovoltaic panel group 2 is made up of N to solar energy photovoltaic panel group, Mei Getai
Positive energy photovoltaic panel group includes two two solar energy photovoltaic panels being oppositely arranged;
The transfer robot also includes motion 4, and the motion 4 is connected with the battery.The motion
Mechanism includes support platform 41, motor 42 and more than one vehicle wheel component 43, and the support platform 41 is carried with described first
Thing platform 1 is connected by more than one support bar (not shown), and the motor 42 is connected with the battery 3, described
Vehicle wheel component 43 is controlled by the motor 42.The motion also includes the controller being connected with battery 3, the control
Device processed is used to control the motor, so as to drive the wheel movement.The motion also includes communication module, described
Communication module is used for and external world's communication;The communication module supports 2G, 3G, 4G, infrared, bluetooth and WIFI communication.
Specifically, such as Fig. 2 (a) and Fig. 2 (b) in Fig. 2, the transfer robot includes the first objective table 1 and along first
The second objective table 100 that the surface of objective table 1 is slided, feed screw 12 is set in the spot-facing portion 11 for being formed at the first objective table 1
And the gap absorption component 13 more than one or two, and coupling member, the coupling member and feed screw 12 are set
Feeding synchronously slide the second objective table 100.
In the possible embodiments of the present invention, as shown in figure 3, solar energy photovoltaic panel group 2 has three pairs of solar energy
Photovoltaic panel group, i.e. solar energy photovoltaic panel group 21, solar energy photovoltaic panel group 22 and solar energy photovoltaic panel group 23 are constituted.
Specifically, the first connecting portion 201-1 and second of the first solar energy photovoltaic panel in each solar energy photovoltaic panel group
The first connecting portion 202-1 of solar energy photovoltaic panel is rotated with first objective table 1 and is connected;In each solar energy photovoltaic panel group
Two solar energy photovoltaic panels between be connected by a telescoping mechanism 5, the telescoping mechanism 5 includes motor 51 and controlled
In the expansion link 52 of the motor, by the flexible of the expansion link 52, the angle of the solar energy photovoltaic panel changes,
So as to vertical with light as much as possible, so as to lift light conversion ratio;Specifically, the expansion link 52 include the first pole and
Second pole, is connected between first pole and the second pole by revolute pair;Two in each solar energy photovoltaic panel group
Solar energy photovoltaic panel is homogeneous component, and the barycenter of solar energy photovoltaic panel is provided with fixedly connected part, the first solar energy
The barycenter of photovoltaic panel is provided with the first fixedly connected part 201-2, and the barycenter of the second solar energy photovoltaic panel is provided with the second fixation company
Fitting 202-2, the first fixedly connected part 201-2 are hinged with the first pole, the second fixture 202-2 and the second pole
It is hinged.
Each solar energy photovoltaic panel group is laid with light sensitive device 6 and control device 7, specifically, the He of light sensitive device 6
The communication of control device 7 connection, can be fixed on the telescoping mechanism 5.The light sensitive device 6 and the control dress
Put 7 communications connection, the control device 7 control motor 51 in the corresponding telescoping mechanism 5 of the solar energy photovoltaic panel group from
And control the angle of the solar energy photovoltaic panel.
Specifically, photosensitive circuit and selection circuit are provided with the light sensitive device, specifically, the photosensitive circuit is divided into
First photosensitive circuit and the second photosensitive circuit, first photosensitive circuit are layed in first sun of the solar energy photovoltaic panel group
Energy photovoltaic panel, second photosensitive circuit is layed in the second solar energy photovoltaic panel of the solar energy photovoltaic panel group.Photosensitive circuit
Light intensity for perceiving the reception of solar energy photovoltaic panel group various pieces.Each photosensitive circuit includes two photosensitive branch in parallel
Road, tie point is used for the light intensity for perceiving solar energy photovoltaic panel X-direction, and the second branch road is used to perceive solar energy photovoltaic panel Y-axis
The light intensity in direction.
The selection circuit receives the electric signal that the first photosensitive circuit and the second photosensitive circuit are sent, comprehensive selection electric signal
The electric signal that stronger photosensitive circuit is sent, and the electric signal is sent to control device with enable control device according to
The currently received light conditions for receiving the solar energy photovoltaic panel of stronger signal adjust the posture of the solar energy photovoltaic panel in real time,
It is allowed to reach the posture vertical with sunray as far as possible to lift its light conversion ratio.The selection circuit, which is realized, to be oppositely arranged
Solar energy photovoltaic panel preferentially control, i.e., control can receive more solar energy solar energy photovoltaic panel posture.
Specifically, every branch road of each photosensitive circuit includes two voltage comparators and two photosensitive branches, wherein
First photo-sensitive cell group and PC1 pass through the first potentiometer RP1 and second the in series first photosensitive branches of photo-sensitive cell group PC2;
3rd photo-sensitive cell group PC3 the second potentiometer RP2 and the 4th the in series second photosensitive branches of photo-sensitive cell group PC4;Two electricity
The negative input end of pressure comparator is connected, and the positive input terminal of first voltage comparator is connected with the first potentiometer RP1, second voltage
The positive input terminal of comparator is connected with the second potentiometer RP2;Wherein, the first photo-sensitive cell group and PC1 and the 3rd photosensitive yuan
Part group PC3 is distributed along solar energy photovoltaic panel X-direction, and the second photo-sensitive cell group PC2 and the 4th photo-sensitive cell group PC4 are along too
Positive energy photovoltaic panel Y direction distribution.
In order that obtaining electric signal can be exaggerated to select electric signal in selection circuit, first potentiometer
RP1 is connected with the first amplifier, and the second potentiometer RP2 is connected with the second amplifier.Photosensitive circuit is so designed that, can be made
Proper PC1, PC2, PC3 and PC4 simultaneously by naturally light action when, RP1 and RP2 central point voltage are constant, now export
Voltage is minimum, and electric signal is most weak, and the posture of current solar energy photovoltaic panel need not change;If only PC1, PC3 are by sunshine
Irradiate, then the first amplifier output high level signal, if only PC2, PC4 are irradiated by sunshine, the output of the second amplifier
Under high level signal, both of these case, control device may be triggered to adjust the posture of current solar energy photovoltaic panel.
In order that the transfer robot can more stably loading and transport goods, the embodiment of the present invention also for
The vehicle wheel component of the transfer robot is improved, and the vehicle wheel component includes a foreign steamer and a lubrication groove, described outer
Wheel opens up first groove along its inner periphery, and the lubrication groove is fixedly arranged in first groove, and the vehicle wheel component also includes
One balance element, the balance element is slideably positioned in the excircle of the lubrication groove and is contained in first groove, described flat
The gravity of weighing apparatus part is more than the frictional force between the balance element and the lubrication groove.The length of the balance element is the lubrication groove girth
1/6th.Improvement purpose for vehicle wheel component is that the balance element in motion begins due to the gravity of its own
The lower section of lubrication groove is maintained at eventually, so that transfer robot wheel center of gravity is relatively stablized, is difficult to overturn during enforcement.
In order to lift the intelligent of the transfer robot, controller provided in an embodiment of the present invention is to be equipped with electronic eyes
Controller, the electronic eyes is the image taking and identifying device for recognizing default road sign, and the default road sign is by black
Background regular hexagon profile and multiple white features portions are constituted, and the features are filled circles.The default road sign design of black and white
It can avoid when illumination range significantly changes, the problem of recognition effect is undesirable.The design of regular hexagon profile is for road
The camera of mark and electronic eyes is in the case that posture is entirely different, and road sign can be also recognized accurately in electronic eyes, and white
Filled circles are designed to so that under depth defocus condition, can avoid in image recognition processes, image passes through binaryzation
Features produce adhesion afterwards.
Specifically, the electronic eyes as shown in figure 4, including:
Image capture unit, for shooting the default road sign occurred in the transfer robot traveling process.
Image pre-processing unit, it is default that must only include for being cut to the image comprising default road sign photographed
The target image of road sign.
Feature extraction unit, it is sub to obtain key point description for carrying out feature extraction to the target image.
Specifically, in the feature extraction unit as shown in figure 5, including:
Analyzer, multiple analysis templates for building the target image, the acquisition formula of the analysis template is M
(x, y, s)=(T (x, y, ks)-T (x, y, s)) * I (x, y), wherein I (x, y) are object region, s identification images it is smooth
Degree, T (x, y) is fuzzy son,Wherein, obscure son in use Fuzzy Template it is big
Small is m*n;
Extractor, obtains the key point based on analysis template and describes son:Taylor expansion is carried out to analysis template, and asks its pole
The gray value that value point is obtained at crucial point coordinates, key point constitutes key point description.
The controller as shown in fig. 6, including electronic eyes, in addition to:
Control instruction memory cell, describes son, according to the specification key point description is sub for storage specification key point
Key point description that the corresponding default road sign of control instruction is extracted.
Unit is sentenced at the beginning of control instruction, is stored for the key point obtained in feature extraction unit to be described into son with control instruction
Key point description in unit is compared one by one, and obtains suspected target key point description, and the suspected target key point is retouched
State son and describe closest specification key point description of sub- Euclidean distance for the key point with being obtained in the feature extraction unit.
Control instruction confirmation unit, for judging that the suspected target key point is described in the sub and feature extraction unit
Whether the Euclidean distance of obtained key point description is less than predetermined threshold value, if so, it is right that the target critical point then is described into son
The control instruction that the control instruction answered is obtained as the transfer robot, and wheel is controlled according to the obtained control instruction
Component 43 is moved.
Control device provided in an embodiment of the present invention based on electronic eyes enables to transfer robot default according to certain
Road sign and autonomous travel, so that it is intelligent to be obviously improved its.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (4)
1. a kind of intelligent control transfer robot, it is characterised in that:Including the first objective table and can relative to described first carry
Second objective table of thing platform motion;First objective table is provided with feed screw, and the feed screw is used to realize the second load
Thing platform is synchronously slided relative to the first objective table;
The first objective table bottom is connected with support platform, and the support platform passes through more than one with first objective table
Support bar is connected, and the support platform bottom is laid with vehicle wheel component, the support platform and is mounted with motor and control
Device processed, the controller is by controlling the motor to start the vehicle wheel component.
2. a kind of intelligent control transfer robot as shown in claim 1, it is characterised in that:
First carrier interior is accommodated with cylindrical element, has one or two in the mounted inside of the cylindrical element
Gap absorption component more than individual, and linked using coupling member be equipped with the cylindrical element of the gap absorption component with
Second objective table, makes the circle using the feed screw installed in first objective table and by the gap absorption component
Cylindrical component slides that second objective table is synchronously slided.
3. a kind of intelligent control transfer robot as shown in claim 1, it is characterised in that:
The first objective table bottom is fixed with battery, the battery be connected with solar energy photovoltaic panel group with described in storing too
The electric energy that positive energy photovoltaic panel group converts solar energy into;The solar energy photovoltaic panel group is made up of N to solar energy photovoltaic panel group, often
Individual solar energy photovoltaic panel group includes two two solar energy photovoltaic panels being oppositely arranged.
4. a kind of intelligent control transfer robot as shown in claim 1, it is characterised in that:
The first connecting portion of two solar energy photovoltaic panels in each solar energy photovoltaic panel group is rotated with the objective table to be connected;
Two solar energy photovoltaic panels in each solar energy photovoltaic panel group are connected by a telescoping mechanism, and the telescoping mechanism includes
Motor and the expansion link for being controlled by the motor, pass through the flexible of the expansion link, the angle of the solar energy photovoltaic panel
Change.
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CN201710505433.6A CN107239087B (en) | 2017-06-28 | 2017-06-28 | A kind of intelligent control transfer robot |
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CN201710505433.6A CN107239087B (en) | 2017-06-28 | 2017-06-28 | A kind of intelligent control transfer robot |
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CN107239087A true CN107239087A (en) | 2017-10-10 |
CN107239087B CN107239087B (en) | 2019-07-30 |
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101225936A (en) * | 2008-01-21 | 2008-07-23 | 北京格物创道科技发明有限公司 | Solar streetlight |
CN102396032A (en) * | 2010-06-02 | 2012-03-28 | 中富芳春 | Stage mechanism |
CN105774861A (en) * | 2016-05-09 | 2016-07-20 | 徐洪军 | Household carrying robot |
CN106185730A (en) * | 2016-07-20 | 2016-12-07 | 东南大学 | A kind of floor truck of all-around mobile |
CN206055512U (en) * | 2016-08-11 | 2017-03-29 | 河北智恒达塔业有限公司 | A kind of solar lighting tower with automatic light tracking function |
-
2017
- 2017-06-28 CN CN201710505433.6A patent/CN107239087B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101225936A (en) * | 2008-01-21 | 2008-07-23 | 北京格物创道科技发明有限公司 | Solar streetlight |
CN102396032A (en) * | 2010-06-02 | 2012-03-28 | 中富芳春 | Stage mechanism |
CN105774861A (en) * | 2016-05-09 | 2016-07-20 | 徐洪军 | Household carrying robot |
CN106185730A (en) * | 2016-07-20 | 2016-12-07 | 东南大学 | A kind of floor truck of all-around mobile |
CN206055512U (en) * | 2016-08-11 | 2017-03-29 | 河北智恒达塔业有限公司 | A kind of solar lighting tower with automatic light tracking function |
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