CN113044370A - Automatic storing and taking intelligent tool box and method for arranging safety measures - Google Patents
Automatic storing and taking intelligent tool box and method for arranging safety measures Download PDFInfo
- Publication number
- CN113044370A CN113044370A CN202110392020.8A CN202110392020A CN113044370A CN 113044370 A CN113044370 A CN 113044370A CN 202110392020 A CN202110392020 A CN 202110392020A CN 113044370 A CN113044370 A CN 113044370A
- Authority
- CN
- China
- Prior art keywords
- tool
- telescopic joint
- telescopic
- tools
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 20
- 238000011084 recovery Methods 0.000 claims abstract description 15
- 230000005484 gravity Effects 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 238000012423 maintenance Methods 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 claims description 23
- 239000012636 effector Substances 0.000 claims description 22
- 238000010276 construction Methods 0.000 claims description 19
- 230000002457 bidirectional effect Effects 0.000 claims description 13
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000013439 planning Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 238000012163 sequencing technique Methods 0.000 claims description 2
- 206010014357 Electric shock Diseases 0.000 description 4
- 238000007726 management method Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/38—Devices for discharging contents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic intelligent tool box storing and taking and a safety measure arranging method, which comprises a box body, wherein the top of the box body is provided with an object taking opening, the top of the box body beside the object taking opening is provided with a recovery platform, a gravity sensor is arranged on the recovery platform, a plurality of rows of storage racks are arranged in the box body, the bottom of the box body is provided with a slide rail and a transport vehicle, the transport vehicle can slide on the slide rail, a manipulator system is arranged on the transport vehicle, and an angular displacement sensor is arranged at the wheel of the transport vehicle; a tool state detection module, a communication module and a main control module are also arranged in the box body; the tool detection module is used for detecting the storage state of tools on the storage rack; the main control module is respectively in circuit connection with the tool detection module and the manipulator system and is electrically connected with the upper computer through the communication module, and the main control module receives signals of the upper computer to control the manipulator system to take out tools or reset the tools. The invention can prevent electric shock and is convenient and fast to use.
Description
Technical Field
The invention relates to the technical field of power transformation operation and maintenance equipment and a method, in particular to an automatic tool box storing and taking and a method for arranging safety measures.
Background
The main work content in the field of power transformation operation and maintenance is to operate power equipment to cut off power and transmit power and arrange safety isolation measures among live equipment in a construction site. A large number of tools are used in the work, the time and labor are wasted when the tools are found, and the risk of electric shock caused by mistaken touch of the electrified equipment exists when the tools are used.
In the existing products, such as a "quick repair toolbox" in zungming, "a power first-aid repair toolbox" in liuhua, and a "smart toolbox and a control method" in high flood friend, the problems of tool storage are only solved, and the problems of difficulty in searching, electric shock risk and the like cannot be well solved.
Therefore, based on the problems, the automatic storage and taking intelligent tool box and the safety measure arrangement method which have the technical characteristics of convenience in use, electric shock prevention and the like are provided, and the method has important practical significance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic storage and taking intelligent toolbox with the technical characteristics of convenience and convenience in use, electric shock resistance and the like and a method for arranging safety measures.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
an automatic storage and taking intelligent toolbox comprises a toolbox body, wherein an object taking opening is formed in the top of the toolbox body, a recovery platform is arranged on the top of the toolbox body beside the object taking opening, a gravity sensor is mounted on the recovery platform, a plurality of rows of storage racks are mounted in the toolbox body, a sliding rail and a transport vehicle are mounted at the bottom of the toolbox body, the transport vehicle can slide on the sliding rail, a manipulator system is mounted on the transport vehicle, and an angular displacement sensor is mounted at the wheel of the transport vehicle;
a tool state detection module, a communication module and a main control module are further arranged in the box body; the tool detection module is used for detecting the storage state of tools on the storage rack; the main control module is respectively in circuit connection with the tool detection module and the manipulator system and is electrically connected with an upper computer through the communication module, the main control module receives signals of the upper computer to control the manipulator system to take out tools or reset the tools, when the tools are taken out, the manipulator system takes the tools on the storage rack and delivers the tools through the taking port, when the tools are reset, the tools are placed on the recovery platform, and the manipulator system places the tools on the storage rack through the recovery platform;
the coordinate position of the tool on the storage rack is stored in the upper computer, and the storage state of the tool is obtained through the tool detection module.
Further, the manipulator system comprises an end effector, a joint type arm and a self-locking type telescopic structure, wherein the end effector can clamp a tool, the joint type arm can realize angle transformation in space, and the self-locking type telescopic structure can realize height rising or lowering; the self-locking type telescopic structure is installed on the transport vehicle, the telescopic tail end of the self-locking type telescopic structure is fixedly connected with the joint type arm, and the tail end of the joint type arm is fixedly connected with the end effector.
Furthermore, the end effector comprises a pair of clamping jaws, a supporting plate and a first driving motor, a bidirectional screw rod is mounted on the supporting plate, the bidirectional screw rod is driven to rotate by the first driving motor, the pair of clamping jaws are mounted at two ends of the bidirectional screw rod, the pair of clamping jaws are folded or separated by rotation of the bidirectional screw rod, and a first position sensor is mounted on the opposite surface of the pair of clamping jaws.
Further, the self-locking type telescopic structure comprises a support frame, the support frame is vertically arranged on the transport vehicle, and two limiting plates are arranged on the support frame in parallel in the width direction;
the first telescopic joint and the second telescopic joint are mounted between two limiting plates in a limiting mode through sliding rails, one ends of the first telescopic joint and the second telescopic joint are limited by the transport vehicle, the first telescopic joint and the second telescopic joint are sequentially mounted in parallel compared with the supporting frame, gear belts are mounted on the first telescopic joint and the second telescopic joint on one sides facing the supporting frame, a clamping groove is formed in the bottom side of the first telescopic joint facing the second telescopic joint, and a sliding limiting mechanism is mounted on the top end of the second telescopic joint facing the first telescopic joint;
the supporting frame is provided with a driving mechanism, the driving mechanism can drive the first telescopic joint to move upwards, when the first telescopic joint moves to the position where the sliding limiting mechanism is clamped into the clamping groove, the driving mechanism is in contact with a gear belt on the second telescopic joint, and therefore the second telescopic joint is driven to move upwards.
Further, slip stop gear includes gyro wheel and mounting groove, the mounting groove bottom is fixed through the spring on the second telescopic joint, the gyro wheel rotates to be installed in the mounting groove, during the motion of first telescopic joint, the gyro wheel compare in first telescopic joint bottom surface rotates.
Furthermore, actuating mechanism includes first cylinder and third driving motor, first cylinder fixed mounting be in on the support frame, third driving motor fixed mounting the flexible end of first cylinder, the output end fixed connection gear of third driving motor, the gear can with gear belt meshing on first telescopic joint, the second telescopic joint.
Further, the commodity shelf comprises a fixed commodity shelf and a rotary commodity shelf, a plurality of tool supports are respectively arranged on the fixed commodity shelf and the rotary commodity shelf, and the tool supports can clamp and fix tools; fixed supporter is connected through the rotation axis between the rotatory supporter, the rotation axis passes through the drive of second driving motor and rotates to drive rotatory supporter 180 extremely the below of fixed supporter.
Further, the tool detection module comprises a plurality of second position sensors, and the second position sensors are respectively installed on the tool support.
Further, a camera is installed on one side of the supporting plate and is connected with the main control module through a circuit.
Furthermore, a second cylinder is further installed on the end effector, a telescopic end of the second cylinder is fixedly connected with a push rod, and the push rod can push the idler wheel out of the clamping groove, so that the self-locking telescopic structure can be conveniently retracted downwards.
The method for deploying the safety measures by utilizing the automatic storing and taking intelligent toolbox comprises the following steps:
s1, acquiring relevant three-dimensional models and position information through the construction site in the work ticket, and acquiring the real-time electrification state of peripheral equipment of the construction site;
s2, planning a construction range according to the specified safety distance and by combining the positions of peripheral electrified equipment on the construction site; determining the types and the number of safety measure appliances;
s3, sequencing safety measure appliances by taking the position of operation and maintenance personnel when the operation of the switching operation ticket is finished as a starting point and combining a construction range, and generating a safety measure ticket;
s4, the operation and maintenance personnel carry the tool box to a designated position, and the position information of the operation and maintenance personnel is uploaded to the cloud platform through the communication module;
s5, comparing the device position in the safety measure ticket with the actual position of the operation and maintenance personnel by the cloud platform, if the device position is consistent with the actual position of the operation and maintenance personnel, issuing a command for taking out the tool to the tool box, entering a manipulator system to provide a tool program, and otherwise, issuing an alarm signal;
s6, judging whether the safety measures are completely distributed, if not, repeating the steps S4-S5;
s7, after construction is finished, the operation and maintenance personnel carry the tool box to a specified position, and the position information of the operation and maintenance personnel is uploaded to the cloud platform through the communication module;
s8, comparing the device position in the safety measure ticket with the actual position of the operation and maintenance personnel by the cloud platform, if the device position is consistent with the actual position of the operation and maintenance personnel, issuing a command for withdrawing the tool to the tool box, entering a program for withdrawing the tool by the manipulator system, and otherwise, issuing an alarm signal;
s9, judging whether the tool is completely recovered, if not, repeating the steps S7-S8.
The invention has the advantages and positive effects that:
1. the invention well solves the problem of inconvenient tool searching, extends the function, breaks the limitation that the prior art only meets the storage function, and realizes the automatic access of the tool; the invention fully considers the comfort level of user experience, upgrades the tool box from a single storage space to the close-fitting tool housekeeper of the user, and ensures that the user can not take a lot of trouble for searching and storing tools and can take the tools at any time;
2. the invention combines the internet of things technology, can analyze and judge the working content and the potential risk of the operation and maintenance personnel, can timely stop once the danger sign is found, and ensures the production safety of the operation and maintenance personnel to a great extent.
Drawings
The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus do not limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.
FIG. 1 is a cross-sectional view of an embodiment of an automated access intelligent tool box;
fig. 2 is a schematic structural diagram of a robot system for automatically accessing an intelligent tool box according to an embodiment of the present invention;
FIG. 3 is a front view of an end effector for automatically accessing an intelligent tool box according to an embodiment of the present invention;
FIG. 4 is a top view of an end effector for automatically accessing an intelligent tool box according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a rack for automatically storing and taking an intelligent toolbox according to an embodiment of the present invention;
Detailed Description
First, it should be noted that the specific structures, features, advantages, etc. of the present invention will be specifically described below by way of example, but all the descriptions are for illustrative purposes only and should not be construed as limiting the present invention in any way. Furthermore, any single feature described or implicit in any embodiment or any single feature shown or implicit in any drawing may still be combined or subtracted between any of the features (or equivalents thereof) to obtain still further embodiments of the invention that may not be directly mentioned herein. In addition, for the sake of simplicity, the same or similar features may be indicated in only one place in the same drawing.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The present invention will be described in detail with reference to fig. 1 to 5.
Example 1
As shown in fig. 1-5, the automatic storage and taking intelligent toolbox provided by this embodiment includes a box body 1, the top of the box body 1 is provided with an object taking port 101, the top of the box body beside the object taking port 101 is provided with a recovery platform 2, a gravity sensor 201 can be installed on the recovery platform, a plurality of rows of storage racks 3 are installed in the box body 1, the bottom of the box body 1 is provided with a slide rail 4 and a transport vehicle 5, the transport vehicle 5 can slide on the slide rail 4, the transport vehicle 5 is provided with a manipulator system, and the wheels of the transport vehicle are provided with an angular displacement sensor;
a tool state detection module 6, a communication module 7 and a main control module 8 are also arranged in the box body 1; the tool detection module is used for detecting the storage state of tools on the storage rack; the main control module is respectively in circuit connection with the tool detection module, the manipulator system, the gravity sensor 201 and the angular displacement sensor and is electrically connected with the upper computer 9 through the communication module, the main control module receives signals of the upper computer to control the movement of the transport vehicle and feed back the moving distance of the transport vehicle through the angular displacement sensor 501, the manipulator system takes out tools or returns the tools, when the tools are taken out, the manipulator system takes the tools on the storage rack and delivers the tools through the taking port, when the tools are returned, the tools are placed on the recovery platform, and the manipulator system places the tools on the storage rack through the recovery platform;
the coordinate position of the tool on the storage rack is stored in the upper computer, and the storage state of the tool is obtained through the tool detection module.
The manipulator system comprises an end effector 10, a joint type arm 11 and a self-locking type telescopic structure 12, wherein the end effector can clamp a tool, the joint type arm can realize angle change in space, and the self-locking type telescopic structure can realize height rising or lowering; the self-locking type telescopic structure is installed on the transport vehicle, the telescopic tail end of the self-locking type telescopic structure is fixedly connected with the joint type arm, and the tail end of the joint type arm is fixedly connected with the end effector.
Specifically, the end effector 10 includes a pair of clamping jaws 1001, a supporting plate 1002, and a first driving motor 1003, a bidirectional screw 1004 is mounted on the supporting plate, the bidirectional screw is driven to rotate by the first driving motor 1003, the pair of clamping jaws 1001 is mounted at two ends of the bidirectional screw, the pair of clamping jaws can be closed or separated by the rotation of the bidirectional screw, and a first position sensor 1006 is mounted on a surface of the pair of clamping jaws opposite to each other; as shown in fig. 3, the first driving motor 1003 drives the screw shaft 1010 and the connecting gear 1011 to drive the bidirectional screw rod to move to control the pair of gripper guide grooves 1012 to open and close, and it should be noted that the first position sensor 1006 and the first driving motor 1003 are both electrically connected to the main control module 8.
The self-locking type telescopic structure comprises a support frame 1201, wherein the support frame 1201 is vertically arranged on the transport vehicle 5, and two limiting plates 1202 are arranged on the support frame 1201 in parallel in the width direction;
the telescopic device is characterized by further comprising a first telescopic joint 1203 and a second telescopic joint 1204, wherein the first telescopic joint and the second telescopic joint are limited and installed between two limiting plates through sliding rails, one ends of the first telescopic joint and the second telescopic joint are limited by the transport vehicle, the first telescopic joint and the second telescopic joint are sequentially and parallelly installed compared with the supporting frame, gear belts 1205 are installed on the first telescopic joint and the second telescopic joint on the sides facing the supporting frame, a clamping groove 1206 is formed in the bottom side of the first telescopic joint facing the second telescopic joint, and a sliding limiting mechanism is installed on the second telescopic joint on the top side facing the first telescopic joint;
the supporting frame is provided with a driving mechanism, the driving mechanism can drive the first telescopic joint to move upwards, when the first telescopic joint moves to the position where the sliding limiting mechanism is clamped into the clamping groove, the driving mechanism is in contact with a gear belt on the second telescopic joint, and therefore the second telescopic joint is driven to move upwards.
The sliding limiting mechanism comprises a roller 1207 and a mounting groove 1208, the bottom of the mounting groove 1208 is fixed on the second telescopic joint through a spring 1209, the roller 1207 is rotatably mounted in the mounting groove, and during movement of the first telescopic joint, the roller is compared with the bottom surface of the first telescopic joint to rotate.
The driving mechanism comprises a first air cylinder 1210 and a third driving motor 1211, the first air cylinder is fixedly installed on the supporting frame, the third driving motor is fixedly installed at the telescopic end of the first air cylinder, the output end of the third driving motor is fixedly connected with a gear, the gear can be meshed with gear belts on the first telescopic joint and the second telescopic joint, and the first air cylinder 1210 and the third driving motor 1211 are connected with the main control module 8 through circuits.
It should be noted that the clamping groove is of a through structure in the width direction of the first telescopic joint, so that the sliding limiting mechanism is conveniently ejected out of the clamping groove.
An angle steel 1212 is fixedly installed at the top end of the first telescopic joint, and the joint type arm 11 can be fixedly connected through the angle steel; upward extension process of the self-locking type telescopic structure: the third driving motor outputs driving force, the third driving motor drives the first telescopic joint to move upwards through the meshing of the gear and the gear belt of the first telescopic joint, when the clamping groove of the first telescopic joint moves to the sliding limiting mechanism of the second telescopic joint, the roller and the mounting groove are popped out and clamped in the clamping groove of the second telescopic joint, then the third driving motor drives the gear to be meshed with the gear belt on the surface of the second telescopic joint through controlling the extension of the first air cylinder, and the second telescopic joint is driven to continue to extend upwards through the third driving motor; when the first telescopic joint and the second telescopic joint need to be withdrawn, the third driving motor and the gear output driving force, the gear is meshed with a gear belt of the second telescopic joint, the third driving motor drives the second telescopic joint to move downwards, after the second telescopic joint contacts the surface of the transport vehicle, the third driving motor stops driving, the first air cylinder is controlled to be shortened, the third driving motor drives the gear to be separated from the gear belt on the surface of the second telescopic joint, a gap is reserved for the first telescopic joint to fall, the joint type arm 11 is controlled to rotate by the main control module, a push rod 1009 connected with the telescopic end of the second air cylinder enables a sliding limiting mechanism of the second telescopic joint to be pushed out from a clamping groove of the first telescopic joint, the first telescopic joint is also withdrawn under the gravity, in order to enable the first telescopic joint and the second telescopic joint to enter between two limiting plates in the withdrawing process, the two limiting plates form a flaring structure at one end far away from the transport vehicle, this facilitates the entry of the first and second telescopic sections.
The commodity shelf 3 comprises a fixed commodity shelf 301 and a rotary commodity shelf 302, wherein a plurality of tool supports 303 are respectively arranged on the fixed commodity shelf and the rotary commodity shelf, and can clamp and fix tools; fixed supporter is connected through rotation axis 304 with rotatory supporter between, the rotation axis passes through second driving motor 305 drive and rotates to drive rotatory supporter 180 extremely the below of fixed supporter, it needs to explain that second driving motor 305 is connected with the main control module electricity.
The tool detection module comprises a plurality of second position sensors 306, the second position sensors 306 are in circuit connection with the main control module, and the second position sensors are respectively installed on the tool support, it should be noted that the tool support above the rotating storage rack is in an inverted state after the rotating storage rack rotates to prevent the tool from falling off, the tool support can be designed into an elastic opening structure, so that the tool support can clamp the tool and prevent the tool from falling off.
A camera 1007 is installed on one side of the supporting plate 1002 and is connected with a main control module through a circuit and used for photographing tools and transmitting signals to the main control module through a communication module.
The end effector is further provided with a second cylinder 1008, a push rod 1009 is fixedly connected with the telescopic end of the second cylinder 1008, the push rod can push the roller out of the clamping groove, the self-locking telescopic structure can be conveniently retracted downwards, and the second cylinder 1008 is in circuit connection with the main control module.
It should be noted that the joint type arm can adopt a 5-degree-of-freedom mechanical arm, and the 5-degree-of-freedom mechanical arm is a conventional product and is well known to those skilled in the art.
A tool state detection module 6, a communication module 7 and a main control module 8 are also arranged in the box body 1; the tool detection module is used for detecting the storage state of tools on the storage rack; the main control module is respectively in circuit connection with the tool detection module and the manipulator system and is electrically connected with the upper computer 9 through the communication module, and the main control module receives signals of the upper computer to control the manipulator system to take out tools or reset the tools.
By way of example, in this embodiment, when a tool needs to be provided: the upper computer receives an instruction of providing a tool, transmits a signal to the main control module through the communication module, and the main control module controls the second driving motor 305 to rotate and drives the rotary storage rack to rotate 180 degrees to the lower part of the fixed storage rack; the upper computer stores the coordinate position of the tool on the storage rack, and transmits the coordinate position of the tool to be taken to the main control module, and the main control module controls the transport vehicle to move to the projection position of the tool to be taken at the bottom of the box; the main control module controls the first cylinder 1210 and the third driving motor 1211 to work, and the self-locking telescopic structure is lifted to be close to the horizontal line of the tool to be taken; the main control module controls the joint type arm and the first driving motor 1003 to work, so that the end effector 10 clamps the tool, the first position sensor 1006 is arranged on the opposite surface of the pair of clamping claws, the signal can be transmitted to the main control module, the main control module controls the transport vehicle to move to the projection position of the object taking port at the bottom of the box, and then the self-locking telescopic structure is controlled to ascend, the joint type arm rotates, and the tool is sent out of the object taking port; after the tool is taken away, the main control module controls the joint type arm to rotate, so that the end effector 10 is screwed to the locking roller of the telescopic joint, the ejector rod is extended to eject the locking roller out of the clamping groove, and the self-locking telescopic structure is retracted; when the tool needs to be retracted: the tool is placed on the recovery platform, the gravity sensor transmits a signal to the main control module, and the main control module controls the second driving motor 305 to rotate and drives the rotary shelf to rotate 180 degrees to the position below the fixed shelf; the transport vechicle of main control module control moves to the projection position of getting the thing mouth at the bottom of the case, then control rises from locking-type extending structure, joint type arm rotates, make end effector 10 press from both sides and get the instrument, camera on the end effector 10 shoots for the instrument, and give main control module with signal transmission, main control module passes to the host computer on with information, the position of this instrument of host computer analysis, and withdraw from locking-type extending structure through main control module control, and control joint type arm and rotate and put the supporter back with the instrument, then flush through the rotatory 180 to fixed supporter of main control module control rotatory supporter.
It should be noted that, in order to implement the taking or recycling function of the tool box on the tool, the main control module needs to be electrically connected with the tool state detection module 6, the communication module 7, the end effector 10, the joint type arm 11, the self-locking type telescopic structure 12, the gravity sensor 201, and the angular displacement sensor, and a specific circuit connection method is the prior art and is not described herein again.
Example 2
The method for deploying the safety measures by utilizing the automatic access intelligent tool kit in the embodiment 1 comprises a cloud platform, a database server and an application server; the database server and the application server are both connected to a cloud service platform; the cloud service platform performs data interaction with a three-dimensional data handover platform, an SCADA system and other database servers; the cloud service platform is connected with the main control module through the communication module; the application server is provided with a safety measure ticket module, a tool warehousing management module and a tool ex-warehouse management module;
the method for deploying the safety measures comprises the following steps:
s1, the operation and maintenance personnel fill in the work ticket by using the PMS and upload the work ticket to the cloud platform;
s2, connecting the safety measure ticket module with the three-dimensional data transfer platform through the cloud platform, and acquiring related three-dimensional models and position information by combining the construction site in the work ticket; the safety measure ticket module is connected with the SCADA through the cloud platform to obtain the real-time electrified state of peripheral equipment on a construction site;
s2, planning a construction range by the safety measure ticket module according to the specified safety distance and in combination with the positions of peripheral electrified equipment on the construction site; determining the types and the number of safety measure appliances;
s3, the safety measure ticket module takes the position of operation and maintenance personnel when the operation of the switching operation ticket is finished as a starting point, combines a construction range, sequences safety measure appliances and generates a safety measure ticket;
s4, the operation and maintenance personnel carry the tool box to a designated position, and the position information of the operation and maintenance personnel is uploaded to the cloud platform through the communication module;
s5, comparing the device position in the safety measure ticket with the actual position of the operation and maintenance personnel by the cloud platform, and if the device position is consistent with the actual position of the operation and maintenance personnel, issuing a command for taking out the tool to the tool box by the tool delivery management module through the cloud platform, so that the manipulator system provides the tool, otherwise, issuing an alarm signal;
s6, judging whether the safety measures are completely distributed, if not, repeating the steps S4-S5;
s7, after construction is finished, the operation and maintenance personnel carry the tool box to a specified position, and the position information of the operation and maintenance personnel is uploaded to the cloud platform through the communication module;
s8, comparing the device position in the safety measure ticket with the actual position of the operation and maintenance personnel by the cloud platform, if the device position is consistent with the actual position of the operation and maintenance personnel, issuing a command for recovering the tool to the tool box by the tool warehousing management module through the cloud platform, entering a tool recovering program of the manipulator system, and otherwise, issuing an alarm signal;
s9, judging whether the tool is completely recovered, if not, repeating the steps S7-S8.
The present invention has been described in detail with reference to the above examples, but the description is only for the preferred examples of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (10)
1. The utility model provides an automatic access intelligent toolbox which characterized in that: the device comprises a box body, wherein an object taking opening is formed in the top of the box body, a recovery platform is arranged on the top of the box body beside the object taking opening, a gravity sensor is installed on the recovery platform, a plurality of rows of storage racks are installed in the box body, a sliding rail and a transport vehicle are installed at the bottom of the box body, the transport vehicle can slide on the sliding rail, a manipulator system is installed on the transport vehicle, and an angular displacement sensor is installed at the wheel of the transport vehicle;
a tool state detection module, a communication module and a main control module are further arranged in the box body; the tool detection module is used for detecting the storage state of tools on the storage rack; the main control module is respectively in circuit connection with the tool detection module and the manipulator system and is electrically connected with an upper computer through the communication module, the main control module receives signals of the upper computer to control the manipulator system to take out tools or reset the tools, when the tools are taken out, the manipulator system takes the tools on the storage rack and delivers the tools through the taking port, when the tools are reset, the tools are placed on the recovery platform, and the manipulator system places the tools on the storage rack through the recovery platform;
the coordinate position of the tool on the storage rack is stored in the upper computer, and the storage state of the tool is obtained through the tool detection module.
2. The automatic access intelligent tool box of claim 1, wherein: the manipulator system comprises an end effector, a joint type arm and a self-locking type telescopic structure, wherein the end effector can clamp a tool, the joint type arm can realize angle change in space, and the self-locking type telescopic structure can realize height rising or lowering; the self-locking type telescopic structure is installed on the transport vehicle, the telescopic tail end of the self-locking type telescopic structure is fixedly connected with the joint type arm, and the tail end of the joint type arm is fixedly connected with the end effector.
3. The intelligent tool box of claim 2, wherein: the end effector comprises a pair of clamping jaws, a supporting plate and a first driving motor, a bidirectional screw rod is mounted on the supporting plate, the bidirectional screw rod is driven to rotate through the first driving motor, the clamping jaws are mounted at two ends of the bidirectional screw rod in a pair, the clamping jaws are folded or separated in a pair through rotation of the bidirectional screw rod, and a first position sensor is mounted on the opposite surface of each clamping jaw in a pair.
4. The intelligent tool box of claim 2, wherein: the self-locking type telescopic structure comprises a support frame, the support frame is vertically arranged on the transport vehicle, and two limiting plates are arranged on the support frame in parallel in the width direction;
the first telescopic joint and the second telescopic joint are mounted between two limiting plates in a limiting mode through sliding rails, one ends of the first telescopic joint and the second telescopic joint are limited by the transport vehicle, the first telescopic joint and the second telescopic joint are sequentially mounted in parallel compared with the supporting frame, gear belts are mounted on the first telescopic joint and the second telescopic joint on one sides facing the supporting frame, a clamping groove is formed in the bottom side of the first telescopic joint facing the second telescopic joint, and a sliding limiting mechanism is mounted on the top end of the second telescopic joint facing the first telescopic joint;
the supporting frame is provided with a driving mechanism, the driving mechanism can drive the first telescopic joint to move upwards, when the first telescopic joint moves to the position where the sliding limiting mechanism is clamped into the clamping groove, the driving mechanism is in contact with a gear belt on the second telescopic joint, and therefore the second telescopic joint is driven to move upwards.
5. The automatic access intelligent tool box of claim 4, wherein: the sliding limiting mechanism comprises a roller and a mounting groove, the bottom of the mounting groove is fixed on the second telescopic joint through a spring, the roller is rotatably mounted in the mounting groove, and when the first telescopic joint moves, the roller is compared with the bottom of the first telescopic joint to rotate.
6. The automatic access intelligent tool box of claim 4, wherein: the driving mechanism comprises a first air cylinder and a third driving motor, the first air cylinder is fixedly installed on the supporting frame, the third driving motor is fixedly installed at the telescopic end of the first air cylinder, the output end of the third driving motor is fixedly connected with a gear, and the gear can be meshed with gear belts on the first telescopic joint and the second telescopic joint.
7. The automatic access intelligent tool box of claim 1, wherein: the commodity shelf comprises a fixed commodity shelf and a rotary commodity shelf, wherein a plurality of tool supports are respectively arranged on the fixed commodity shelf and the rotary commodity shelf, and the tool supports can clamp and fix tools; fixed supporter is connected through the rotation axis between the rotatory supporter, the rotation axis passes through the drive of second driving motor and rotates to drive rotatory supporter 180 extremely the below of fixed supporter.
8. The automatic access intelligent tool box of claim 3, wherein: the camera is installed to backup pad one side, the camera is connected with main control module circuit.
9. The automatic access intelligent tool box of claim 5, wherein: the end effector is further provided with a second cylinder, the telescopic end of the second cylinder is fixedly connected with an ejector rod, and the ejector rod can eject the idler wheel out of the clamping groove, so that the self-locking telescopic structure can be conveniently withdrawn downwards.
10. The method for deploying security measures by using the automatic access intelligent tool box as claimed in any one of claims 1 to 9, wherein:
the method for deploying the safety measures comprises the following steps:
s1, acquiring relevant three-dimensional models and position information through the construction site in the work ticket, and acquiring the real-time electrification state of peripheral equipment of the construction site;
s2, planning a construction range according to the specified safety distance and by combining the positions of peripheral electrified equipment on the construction site; determining the types and the number of safety measure appliances;
s3, sequencing safety measure appliances by taking the position of operation and maintenance personnel when the operation of the switching operation ticket is finished as a starting point and combining a construction range, and generating a safety measure ticket;
s4, the operation and maintenance personnel carry the tool box to a designated position, and the position information of the operation and maintenance personnel is uploaded to the cloud platform through the communication module;
s5, comparing the device position in the safety measure ticket with the actual position of the operation and maintenance personnel by the cloud platform, if the device position is consistent with the actual position of the operation and maintenance personnel, issuing a command for taking out the tool to the tool box, entering a manipulator system to provide a tool program, and otherwise, issuing an alarm signal;
s6, judging whether the safety measures are completely distributed, if not, repeating the steps S4-S5;
s7, after construction is finished, the operation and maintenance personnel carry the tool box to a specified position, and the position information of the operation and maintenance personnel is uploaded to the cloud platform through the communication module;
s8, comparing the device position in the safety measure ticket with the actual position of the operation and maintenance personnel by the cloud platform, if the device position is consistent with the actual position of the operation and maintenance personnel, issuing a command for withdrawing the tool to the tool box, entering a program for withdrawing the tool by the manipulator system, and otherwise, issuing an alarm signal;
s9, judging whether the tool is completely recovered, if not, repeating the steps S7-S8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110392020.8A CN113044370A (en) | 2021-04-13 | 2021-04-13 | Automatic storing and taking intelligent tool box and method for arranging safety measures |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110392020.8A CN113044370A (en) | 2021-04-13 | 2021-04-13 | Automatic storing and taking intelligent tool box and method for arranging safety measures |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113044370A true CN113044370A (en) | 2021-06-29 |
Family
ID=76519151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110392020.8A Pending CN113044370A (en) | 2021-04-13 | 2021-04-13 | Automatic storing and taking intelligent tool box and method for arranging safety measures |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113044370A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113023278A (en) * | 2021-04-13 | 2021-06-25 | 国网天津市电力公司 | Automatic access intelligent tool box and switching operation method |
| CN114596973A (en) * | 2021-12-31 | 2022-06-07 | 核动力运行研究所 | Multi-station storage position structure for pressure container |
| CN114604626A (en) * | 2022-04-21 | 2022-06-10 | 广东科学技术职业学院 | Mobile bionic mechanical arm and control method |
| GB2608007A (en) * | 2021-05-21 | 2022-12-21 | Henchman Group Pty Ltd | Item inventory management apparatus, and a system and method of manufacturing thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10270528A (en) * | 1997-03-24 | 1998-10-09 | Hirata Corp | Substrate carrier and cassette used therein and substrate carrying method |
| US20040207222A1 (en) * | 2003-03-14 | 2004-10-21 | Yutaka Electronics Industry Co., Ltd. | Hand device for working robot |
| KR20120054161A (en) * | 2010-11-19 | 2012-05-30 | (주)로파 | Clamping apparatus for auto feeding and welding robots |
| CN204712062U (en) * | 2015-06-16 | 2015-10-21 | 北京物资学院 | A kind of based on monolithic processor controlled mechanical paw |
| CN110040339A (en) * | 2019-05-16 | 2019-07-23 | 四川省肿瘤医院 | A kind of medical body film access system |
| CN110539317A (en) * | 2019-08-21 | 2019-12-06 | 长春工程学院 | intelligent distribution plate truss manipulator end effector for high-speed rail train wheel set |
| CN113023278A (en) * | 2021-04-13 | 2021-06-25 | 国网天津市电力公司 | Automatic access intelligent tool box and switching operation method |
| CN215476508U (en) * | 2021-04-13 | 2022-01-11 | 国网天津市电力公司 | Automatic access intelligent toolbox |
-
2021
- 2021-04-13 CN CN202110392020.8A patent/CN113044370A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10270528A (en) * | 1997-03-24 | 1998-10-09 | Hirata Corp | Substrate carrier and cassette used therein and substrate carrying method |
| US20040207222A1 (en) * | 2003-03-14 | 2004-10-21 | Yutaka Electronics Industry Co., Ltd. | Hand device for working robot |
| KR20120054161A (en) * | 2010-11-19 | 2012-05-30 | (주)로파 | Clamping apparatus for auto feeding and welding robots |
| CN204712062U (en) * | 2015-06-16 | 2015-10-21 | 北京物资学院 | A kind of based on monolithic processor controlled mechanical paw |
| CN110040339A (en) * | 2019-05-16 | 2019-07-23 | 四川省肿瘤医院 | A kind of medical body film access system |
| CN110539317A (en) * | 2019-08-21 | 2019-12-06 | 长春工程学院 | intelligent distribution plate truss manipulator end effector for high-speed rail train wheel set |
| CN113023278A (en) * | 2021-04-13 | 2021-06-25 | 国网天津市电力公司 | Automatic access intelligent tool box and switching operation method |
| CN215476508U (en) * | 2021-04-13 | 2022-01-11 | 国网天津市电力公司 | Automatic access intelligent toolbox |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113023278A (en) * | 2021-04-13 | 2021-06-25 | 国网天津市电力公司 | Automatic access intelligent tool box and switching operation method |
| GB2608007A (en) * | 2021-05-21 | 2022-12-21 | Henchman Group Pty Ltd | Item inventory management apparatus, and a system and method of manufacturing thereof |
| CN114596973A (en) * | 2021-12-31 | 2022-06-07 | 核动力运行研究所 | Multi-station storage position structure for pressure container |
| CN114604626A (en) * | 2022-04-21 | 2022-06-10 | 广东科学技术职业学院 | Mobile bionic mechanical arm and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113044370A (en) | Automatic storing and taking intelligent tool box and method for arranging safety measures | |
| CN111331367B (en) | Intelligent assembly control system | |
| EP2868540B1 (en) | Battery replacement robot with mobile storage rack and battery replacement method | |
| CN104795868B (en) | Automatic charging system for electric vehicle | |
| CN215476508U (en) | Automatic access intelligent toolbox | |
| WO2017004944A1 (en) | Charging device of automatic cruise platform for greenhouse | |
| CN102602372B (en) | System and method for quickly replacing electric bus batteries | |
| CN107032031B (en) | Automatic shipment system in warehouse | |
| CN102491091B (en) | Method of manipulator stacking system for glass | |
| CN206393641U (en) | It is a kind of that there is the indoor rail mounted crusing robot for pressing push button function | |
| CN108584265A (en) | A kind of file accessing system and file access method | |
| CN107528370A (en) | A kind of automatic charging system and control method of intelligent security guard robot | |
| CN108011321B (en) | Convenient high-voltage line electric power inspection robot | |
| WO2012162865A1 (en) | System for rapidly changing chassis battery of electric passenger car based on rectangular coordinate robot | |
| CN202491788U (en) | Quick replacing system of batteries of electric bus | |
| CN113023278A (en) | Automatic access intelligent tool box and switching operation method | |
| CN205238050U (en) | Manipulator with four degrees of freedom | |
| CN112530228A (en) | Intelligent network automobile laser radar teaching training platform | |
| CN110663578A (en) | Intelligent non-inductive temperature measurement system and method for pig farm | |
| CN106836915A (en) | A kind of horizontal mobile three-dimensional garage control system | |
| CN211906342U (en) | Robot distribution system | |
| CN113246094A (en) | File library taking and placing device and control method thereof | |
| CN207051939U (en) | A kind of intelligent bookshelf that crawl books are positioned based on infrared distance measurement | |
| CN206459622U (en) | Gardens town road traffic survey tool | |
| CN205968985U (en) | Portable investigation robot based on intelligent Mobile Terminal control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |