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Track type mobile robot protection system and method

A mobile robot and protection system technology, applied in the field of orbital robots, can solve problems such as poor reliability of the control device, damage to the orbital system of the robot body, damage to the robot body, etc., and achieve the effect of slowing down the damage.

Inactive Publication Date: 2020-04-03
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing protection methods generally adopt mechanical protection methods or add some simple control devices, which can limit the trajectory of the robot to a certain extent. The control system is closely integrated
[0005] Specifically, the mechanical limitation method is relatively simple, and is often suitable for robots with low speed, low degree of automation, or robots that require manual operation. For high-speed, high-level robots, this single-level mechanical protection is likely to cause damage to the robot body or track system. damage
The protection method of adding some simple control devices can avoid damage to the robot body or track system caused by impact in some occasions, but the reliability of the single-stage control device is poor. If the control device itself fails, it will also cause damage to the robot body.

Method used

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  • Track type mobile robot protection system and method
  • Track type mobile robot protection system and method

Examples

Experimental program
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Effect test

Embodiment 1

[0044] The protection method is combined with the level of the robot control system and is divided into three levels. Such as figure 1 shown.

[0045] The first level is soft protection. However, in this embodiment, the soft protection includes two parts:

[0046] The first part is RFID protection. The principle of RFID protection is to mark the RFID point at the end of the track as a protection point and input it to the upper computer software of the robot control system. When the robot automatically runs to the protection point, the protection logic is enabled.

[0047] Considering that RFID communication is easily interfered by the on-site electromagnetic environment, in this embodiment, the protection points used are preferably but not limited to 3, as long as the robot RFID card reading device can read any one of the 3 RFIDs, the protection logic will be enabled.

[0048] Of course, in other embodiments, the number of RFIDs can be changed.

[0049] and in figure 2...

Embodiment 2

[0058] The protection method is combined with the level of the robot control system and is divided into three levels.

[0059] In this embodiment, the difference from Embodiment 1 mainly includes the following aspects:

[0060] First of all, the first level is soft protection, and the soft protection has only one part.

[0061] In this embodiment, the soft protection adopts a position sensor.

[0062] Certainly, as commonness, the soft protection module of each part used in embodiment one and embodiment two, in other embodiment, can choose any soft protection module, as RFID module, photoelectric sensor, magnetic sensor, ultrasonic sensor and laser sensor etc.

[0063] Secondly, the soft protection communicates with the robot control system, and uses the program to carry out logic control. The specific communication object can be the upper computer or the lower computer. And the existing protection program / logic can be selected, and details are not repeated here.

Embodiment 3

[0064] Embodiment 3, in this embodiment, the main difference from Embodiment 1 / Embodiment 2 is:

[0065] In the hard protection level, a limit switch is used. The limit switch can be installed on the track or the robot. When the robot approaches the track, the link of the limit switch drives the contact of the switch to cause the closed contact to break or the open contact to close. The action of the circuit and mechanism is controlled by the change of the opening and closing state of the switch contact. Specifically, when the robot approaches the designated position, the contact of the travel switch acts to realize the switching of the circuit. And here the circuit can be associated with the power supply system of the robot, that is, the circuit is broken and the power supply system is disconnected.

[0066] Of course, in other embodiments, the travel switch can be replaced by other electrical protection mechanisms.

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Abstract

The invention provides a track type mobile robot protection system and method. A first area, a second area and a third area are sequentially divided in front of the tail end of a track and along the tail end of the track, so that when a robot moves to the first area, a walking mechanism of a robot body is controlled to stop moving by utilizing software; when the robot moves to the second area, a power supply system of the robot body is cut off; and when the robot moves to the third area, the moving speed of the robot can be reduced by a speed reducing device which is installed on the tail endof the track, energy generated by impact can be absorbed by an energy absorbing device, and mechanical prevention is formed to the robot body by a protection mechanism. Three stages of protection modes are combined, and soft and hard protection modes are combined, so that the safety of the robot when arriving at the tail end of the track can be guaranteed, and the robot body is prevented from falling from the track or severely impacting on the tail end of the track so as not to damage the robot.

Description

technical field [0001] The disclosure belongs to the technical field of orbital robots, and in particular relates to a protection system and method for an orbital mobile robot. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] In recent years, orbital mobile robots have developed rapidly in various industries, especially the power industry, and have been put into use in a large number of substations and cable trenches. [0004] According to the knowledge of the inventors, at present, there are few types of protection methods for rail-type mobile robots, especially for terminal protection. Existing protection methods generally adopt mechanical protection methods or add some simple control devices, which can limit the trajectory of the robot to a certain extent. The control system is tightly integrated. [0005] Specifically, the mechanica...

Claims

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Application Information

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IPC IPC(8): B25J19/06
CPCB25J19/06
Inventor 张永生李运厂李海东周大洲王贤华李斌王涛刘维栋王斌
Owner STATE GRID INTELLIGENCE TECH CO LTD