Long-span carrying and stacking robot and working method thereof

Abstract

The invention discloses a long-span carrying and stacking robot and a working method thereof. The long-span carrying and stacking robot comprises a function head and a function head drive mechanism used for driving the function head to move. The function head drive mechanism comprises a beam type cart and a trolley. A lifting mechanism is arranged below the trolley and connected with the functionhead. The long-span carrying and stacking robot has the advantages that through noncontact height gauges and a robot function head locating module, a scene detecting and path planning module can monitor changing of the stacking height of each section in the operation area of the carrying and stacking robot in real time; the stacking height detection technology has the advantages of being high in precision and reliability and the like; and through the detection technology, automatic control of the stacking robot can be achieved.

Description

technical field [0001] The invention belongs to the field of environmental protection equipment, and in particular relates to a large-span handling and stacking robot and a working method thereof. Background technique [0002] In the prior art, large-scale waste incineration power plants are usually equipped with a garbage pool for temporary storage of garbage; the garbage in the garbage pool needs to be grabbed and transported by stacking robots; The air is dirty and the harsh working environment will pose a threat to the health of crane operators, so it is necessary to introduce an automatic control system. But there are the following problems in the automatic control system of cranes in the prior art: 1. the existing automatic control system of cranes is mostly used for loading and unloading containers and other goods with fixed shape, and the garbage is bulk material without fixed shape. The system cannot accurately locate it; 2. For goods with a fixed shape, the contro...

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Problems solved by technology

[0002] In the prior art, large-scale waste incineration power plants are usually equipped with a garbage pool for temporary storage of garbage; the garbage in the garbage pool needs to be grabbed and transported by stacking robots; The air is dirty and the harsh working environment will pose a threat to the health of crane operators, so it is necessary to introduce an automatic control system

But there are the following problems in the automatic control system of cranes in the prior art: 1. the existing automatic control system of cranes is mostly used for loading and unloading containers and other goods with fixed shape, and the garbage is bulk material without fixed shape. The system cannot accurately locate it; 2. For goods with a fixed shape, the control system can count the stacking height of each area in the yard by recording the stacking position and the number of stacked layers, so as to plan the operating route of the crane; however, the garbage is bulk material, It is impossible to accurately obtain the stacking height of each area in the garbage pool through the stacking shape, which makes it impossible for the automatic control system to accurately grab the garbage in the garbage pool

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