Cable retracting device, cable retracting method and mobile robot

Abstract

The present invention discloses a cable retracting device, a cable retracting method and a mobile robot, and relates to the technical field of cable retracting. The cable retracting device comprises a reel, a cable, a one-way transmission mechanism, a driving mechanism and a main controller. The driving mechanism is connected to the reel through the one-way transmission mechanism. The main controller can control the driving mechanism to rotate forward when the mobile information represents that the mobile robot is close to the power cabinet, so as to drive the reel to rotate forward through the one-way transmission mechanism, thereby reeling the cable. It can also control the driving mechanism to reverse when the mobile information represents that the mobile robot is far away from the power cabinet, so that the one-way transmission mechanism is in a free rotation state, so that the reel can reverse under the pulling action of the cable, and the main controller can also control the driving mechanism to stop rotating when the mobile information represents that the mobile robot stops moving. The cable retracting device, the cable retracting method and the mobile robot have the characteristics of being able to retract and release cables and reducing the probability of cable damage.

Description

Technical Field

[0001] The present invention relates to the technical field of cable retracting and releasing, and in particular to a cable retracting and releasing device, a cable retracting and releasing method and a mobile robot. Background Art

[0002] In the industrial field, there are some industrial mobile robots that need to be moved. Due to their own excessive power and long working time, they cannot use batteries or charging piles. Wireless power supply technology is still immature, and usually power electricity is used - three-phase electricity is used to power the equipment. These mobile industrial mobile robots have a series of problems when using power electricity. The first is the impact on the equipment itself. The power line is exposed to the environment and is easy to contact the equipment in the environment or get tangled and knotted, causing wear and damage, and even causing a short circuit of the line.

[0003] In view of this, it is particularly important to develop and design a cable retracting device, a cable retracting method and a mobile robot that can solve the above technical problems. Summary of the invention

[0004] The object of the present invention is to provide a cable retracting device, a cable retracting method and a mobile robot, which have the characteristics of being able to retract and release cables and reduce the probability of cable damage.

[0005] The present invention provides a technical solution:

[0006] In a first aspect, an embodiment of the present invention provides a cable retracting device, which includes a reel, a cable, a one-way transmission mechanism, a driving mechanism, and a main controller;

[0007] The cable is used to electrically connect the power cabinet and the mobile robot, the reel is used to reel up the cable, and the drive mechanism is connected to the reel through a one-way transmission mechanism;

[0008] The main controller is communicatively connected to the driving mechanism and is used to communicate with the mobile robot for receiving movement information of the mobile robot. When the movement information indicates that the mobile robot is approaching the power cabinet, the main controller can control the driving mechanism to rotate forward, so as to drive the winding drum to rotate forward through the one-way transmission mechanism, thereby winding up the cable. The main controller can also control the driving mechanism to reverse when the movement information indicates that the mobile robot is moving away from the power cabinet, so that the one-way transmission mechanism is in a free rotation state, so that the winding drum can reverse under the pulling action of the cable, thereby releasing the cable. The main controller can also control the driving mechanism to stop rotating when the movement information indicates that the mobile robot stops moving.

[0009] In combination with the first aspect, in another implementation of the first aspect, the cable retracting and releasing device further includes an overload protection mechanism;

[0010] The anti-overload mechanism includes an anti-overload sensor, a section of the cable close to the power cabinet is an anti-overload section, one end of the anti-overload section close to the power cabinet is connected to the power cabinet, and the anti-overload section is curved; the anti-overload sensor is used to communicate with the power cabinet and / or the mobile robot, and can detect whether the anti-overload section is stretched, so as to send an overload signal to the power cabinet and / or the mobile robot when the anti-overload section is stretched.

[0011] In combination with the first aspect and the above implementation manner, in another implementation manner of the first aspect, the overload protection mechanism further includes a sliding member, a slide rail, and an overload protection elastic member;

[0012] The end of the anti-overload section away from the power cabinet is connected to the sliding member, and the sliding member is slidably connected to the slide rail. The anti-overload elastic member is connected to the sliding member, so that when the cable is pulled outward and the anti-overload section is stretched, the sliding member can overcome the elastic force of the anti-overload elastic member and slide away from the end of the anti-overload section close to the power cabinet. The anti-overload sensor is arranged close to the slide rail and is used to detect the sliding member when the anti-overload section is stretched, and can send the overload signal when the sliding member is detected.

[0013] In combination with the first aspect and the above implementation manner, in another implementation manner of the first aspect, the cable retracting and releasing device further includes a resistance mechanism;

[0014] The resistance mechanism abuts against the winding drum to apply resistance to the winding drum when the winding drum rotates.

[0015] In a second aspect, an embodiment of the present invention further provides a mobile robot, which includes the cable retracting device. The cable retracting device includes a reel, a one-way transmission mechanism, a driving mechanism and a main controller; the cable is used to electrically connect the power cabinet and the mobile robot, the reel is used to reel the cable, and the driving mechanism is connected to the reel through a one-way transmission mechanism; the main controller is connected to the driving mechanism in communication, and is used to communicate with the mobile robot to receive movement information of the mobile robot, and the main controller can control the driving mechanism to rotate forward when the movement information indicates that the mobile robot is close to the power cabinet, so as to drive the reel to rotate forward through the one-way transmission mechanism, thereby reeling the cable; the main controller can also control the driving mechanism to reverse when the movement information indicates that the mobile robot is away from the power cabinet, so as to make the one-way transmission mechanism in a free rotation state, so that the reel can reverse under the pulling action of the cable, thereby releasing the cable, and the main controller can also control the driving mechanism to stop rotating when the movement information indicates that the mobile robot stops moving.

[0016] In a third aspect, an embodiment of the present invention further provides a cable retracting method, which is applied to the main controller of the cable retracting device, and the cable retracting method includes:

[0017] Acquire the movement information of the mobile robot; if the movement information is backward information, control the driving mechanism to rotate forward so as to drive the winding drum to reel in the cable through the one-way transmission mechanism, wherein the backward information indicates that the mobile robot is moving closer to the power cabinet; if the movement information is forward information, control the driving mechanism to reverse so that the one-way transmission mechanism can rotate freely, so that the winding drum can reverse under the pulling action of the cable, thereby releasing the cable, wherein the forward information indicates that the mobile robot is moving away from the power cabinet; if the movement information is stop information, repeat the above steps, wherein the stop information indicates that the mobile robot has stopped.

[0018] In combination with the third aspect, in a first implementation method of the third aspect, the step of controlling the driving mechanism to rotate forward so as to drive the winding drum to reel in the cable through a one-way transmission mechanism includes: controlling the driving mechanism to rotate forward; obtaining torque data of the driving mechanism; if the torque data is greater than or equal to preset torque data, controlling the driving mechanism to stop for a preset time and then repeating the above steps.

[0019] In combination with the third aspect, in another implementation of the third aspect, when the driving mechanism is controlled to rotate forward, the speed at which the driving mechanism drives the winding drum to reel in the cable is greater than the moving speed of the mobile robot represented by the movement information.

[0020] In combination with the third aspect, in another implementation of the third aspect, when the driving mechanism is rotating forward, or when the driving mechanism is stopped for the preset time, the cable retraction method also includes: acquiring the movement information of the mobile robot in real time; if the movement information is the stop information, then: controlling the driving mechanism to rotate forward; acquiring the torque data of the driving mechanism; if the torque data is greater than or equal to the preset torque data, controlling the driving mechanism to stop rotating, and executing the step of acquiring the movement information of the mobile robot.

[0021] In combination with the third aspect, in another implementation method of the third aspect, the step of controlling the driving mechanism to reverse so that the one-way transmission mechanism is in a free rotation state, so that the winding drum can reverse under the pulling action of the cable, thereby releasing the cable, also includes: acquiring the movement information of the mobile robot in real time; if the movement information is the stop information, then: controlling the driving mechanism to stop rotating; after the driving mechanism stops rotating, controlling the driving mechanism to rotate forward; acquiring the torque data of the driving mechanism; if the torque data is greater than or equal to the preset torque data, controlling the driving mechanism to stop rotating, and executing the step of acquiring the movement information of the mobile robot.

[0022] Compared with the prior art, the cable retracting device provided by the embodiment of the present invention has the following beneficial effects over the prior art:

[0023] The cable retracting device includes a reel, a cable, a one-way transmission mechanism and a driving mechanism, wherein the cable is used to electrically connect the power cabinet and the mobile robot, the reel is used to reel in the cable, and the driving mechanism is connected to the reel through the one-way transmission mechanism, and the cable retracting device may also include a main controller, which is connected to the driving mechanism in communication, and is used to communicate with the mobile robot to receive the movement information of the mobile robot. The main controller can control the driving mechanism to rotate forward when the movement information indicates that the mobile robot is close to the power cabinet, so as to drive the reel to rotate forward through the one-way transmission mechanism, thereby reeling the cable, avoiding the cable from being entangled with the equipment in the environment or itself, and reducing the wear of the cable. The main controller can also control the driving mechanism to reverse when the movement information indicates that the mobile robot is far away from the power cabinet, so that the one-way transmission mechanism is in a free rotation state, so that the reel can reverse under the pulling action of the cable, thereby releasing the cable, so as to reduce the force on the cable when releasing the cable, and further improve the service life of the cable. The main controller can also control the driving mechanism to stop rotating when the movement information indicates that the mobile robot stops moving, so as to limit the reel from releasing the cable.

[0024] The beneficial effects of the cable retracting method and the mobile robot provided by the embodiments of the present invention relative to the prior art are the same as the beneficial effects of the above-mentioned cable retracting device relative to the prior art, which will not be repeated here.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0027] Figure 1 This is a structural schematic diagram of a cable retracting and releasing device provided in the first embodiment of the present invention applied to a mobile robot.

[0028] Figure 2 A schematic diagram of the three-dimensional structure of a cable retracting device provided in the first embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the three-dimensional structure of the cable retracting device provided in the first embodiment of the present invention from another viewing angle.

[0030] Figure 4 A schematic three-dimensional structural diagram of the anti-overload mechanism of the cable retracting device provided in the first embodiment of the present invention.

[0031] Figure 5 A schematic flow chart of a cable retracting and releasing method provided in accordance with a second embodiment of the present invention.

[0032] Figure 6 This is a flowchart of the sub-steps of step S200 of the cable retracting and releasing method provided in the second embodiment of the present invention.

[0033] Figure 7 This is a flowchart diagram of another part of the sub-steps of step S200 of the cable retracting and releasing method provided in the second embodiment of the present invention.

[0034] Figure 8 This is a flowchart diagram of another part of the sub-steps of step S300 of the cable retracting and releasing method provided in the second embodiment of the present invention.

[0035] Icons: 100-mobile robot; 20-mobile body; 10-cable retracting device; 11-cable; 111-anti-overload section; 12-reel; 13-one-way transmission mechanism; 15-driving mechanism; 16-guiding mechanism; 161-guide screw; 162-guide; 17-resistance mechanism; 171-friction block; 172-pressing elastic member; 173-pressing plate; 18-conductive slip ring; 19-anti-overload mechanism; 191-anti-overload sensor; 192-sliding member; 193-slide rail; 194-anti-overload elastic member; 900-power cabinet. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. The orientation or position relationship indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship usually placed when the invention product is used, or the orientation or position relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. The terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. The terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0038] It should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings.

[0040] First embodiment:

[0041] See also Figure 1 , Figure 1 This is a schematic structural diagram of a cable retracting device 10 provided in the first embodiment of the present invention applied to a mobile robot 100.

[0042] The first embodiment of the present invention provides a cable retracting device 10, which has the characteristics of being able to retract and release cables 11 and reducing the probability of damage to the cables 11. The cable retracting device 10 can be applied to mobile power consumption scenarios such as mobile robots 100. Of course, the cable retracting device 10 can also be used independently. When the cable retracting device 10 is applied to the mobile robot 100, the cable retracting device 10 can be arranged on the mobile body 20 of the mobile robot 100, and the mobile body 20 can be electrically connected to the power cabinet 900 through the cable retracting device 10 to provide power to the mobile body 20, so that the mobile body 20 can work continuously for a long time. It should be noted that in this embodiment, the mobile body 20 is a loader. In other embodiments, the mobile body 20 can also be other mobile power consumption mechanisms. Since the mobile robot 100 adopts the cable retracting device 10 provided by the first embodiment of the present invention, the mobile robot 100 also has the characteristics of being able to retract and release cables 11 and reducing the probability of damage to the cables 11.

[0043] The structure, working principle and beneficial effects of the cable retracting device 10 provided in the first embodiment of the present invention will be specifically described below.

[0044] See also Figure 2 , Figure 2 It is a schematic diagram of the three-dimensional structure of the cable taking-up and unwinding device 10 provided in the first embodiment of the present invention.

[0045] The cable retracting device 10 includes a reel 12, a cable 11, a one-way transmission mechanism 13 and a driving mechanism 15, wherein the cable 11 is used to electrically connect the power cabinet 900 and the mobile robot 100, the reel 12 is used to reel in the cable 11, and the driving mechanism 15 is connected to the reel 12 through the one-way transmission mechanism 13. The cable retracting device 10 may also include a main controller (not shown), which is communicatively connected to the driving mechanism 15 and is used to communicate with the mobile robot 100 to receive movement information of the mobile robot. When the movement information indicates that the mobile robot 100 is close to the power cabinet 900, the main controller can control the driving mechanism 15 to rotate forward, so as to drive the reel 12 to rotate forward through the one-way transmission mechanism 13, thereby reeling in the cable 11, avoiding the cable 11 from being entangled with equipment in the environment or itself, and reducing the wear of the cable 11. The main controller can also control the driving mechanism 15 to reverse when the moving information represents that the mobile robot 100 is away from the power cabinet 900, so that the one-way transmission mechanism 13 is in a free rotation state, so that the winding drum 12 can reverse under the pulling action of the cable 11, thereby releasing the cable 11, so as to reduce the force on the cable 11 when releasing the cable 11, and further improve the service life of the cable 11. The main controller can also control the driving mechanism 15 to stop rotating when the moving information represents that the mobile robot 100 stops moving, so as to limit the winding drum 12 from releasing the cable 11.

[0046] It is understandable that the above-mentioned main controller can also be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a voice processor, and a video processor, etc.; it can also be a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, and a discrete hardware component. The disclosed logic block diagram in the embodiment of the present invention can be implemented or executed. The main controller can also be any conventional processor, such as a PLC (Programmable Logic Controller), a single-chip microcomputer, etc. Of course, the main controller can also be a relay contactor control system, which uses a combination of control electrical appliances such as switches, relays, and buttons to receive signals and perform functions such as switching, switching, and adjusting the circuit.

[0047] Please continue reading Figure 2 The cable retracting device 10 may further include a guiding mechanism 16, which is used for allowing the cable 11 to pass through, and when the reel 12 rotates, the guiding mechanism 16 can move along the axial direction of the reel 12, thereby gradually guiding the cables 11 distributed on the reel 12 along the axial direction of the reel 12 to be released or reeled, thereby improving the uniformity of winding up the cable 11 and releasing the cable 11, and also reducing the tension on the cable 11 when releasing or reeling it more stably.

[0048] It should be noted that, in this embodiment, the guiding mechanism 16 may include a guiding screw 161 and a guide 162, wherein the guide 162 is used for allowing the cable 11 to pass through, and is threadedly connected to the guiding screw 161, and the guiding screw 161 can be extended along the axial direction of the winding drum 12, and the guiding screw 161 is transmission-connected to the winding drum 12, so that when the winding drum 12 rotates, the guide 162 can be driven by the guiding screw 161 to move along the axial direction of the winding drum 12, thereby completing the function of guiding the cable 11, and its structure is relatively simple and the cost is relatively low.

[0049] Please continue reading Figure 2 , and see Figure 3 , Figure 3 This is a schematic diagram of the three-dimensional structure of the cable retracting device 10 provided in the first embodiment of the present invention from another viewing angle.

[0050] The cable retracting device 10 may further include a resistance mechanism 17, which abuts against the reel 12 to apply resistance to the reel 12 when the reel 12 rotates, thereby applying resistance to the reel 12 through the resistance mechanism 17 to limit the speed of the reel 12 when releasing the cable 11 so as not to exceed the walking speed of the mobile robot 100, thereby avoiding excessive release of the cable 11.

[0051] It should be noted that the resistance mechanism 17 may include a friction block 171 and a pressing elastic member 172 that are interconnected, wherein the pressing elastic member 172 applies an elastic force to the friction block 171 to press the friction block 171 against the winding drum 12, so that when the winding drum 12 rotates, the friction force is applied to the winding drum 12 through the friction block 171. In this way, the pressure of the pressing elastic member 172 pressing on the friction block 171 and the friction between the friction block 171 and the winding drum 12 directly determine the resistance of the friction block 171 on the winding drum 12. The installation and maintenance personnel can adjust the resistance of the friction block 171 on the winding drum 12 by adjusting the pressure of the pressing elastic member 172 pressing on the friction block 171. It is easy to adjust and the resistance applied to the winding drum 12 is relatively stable.

[0052] In addition, the resistance mechanism 17 may also include a holding plate 173, the number of holding elastic members 172 is two, the friction block 171 is installed on one side of the holding plate 173, and the two holding elastic members 172 are distributed on the other side of the holding plate 173, and the friction block 171 corresponds to the gap between the two holding elastic members 172, so that the friction block 171 is pressed together by the two holding elastic members 172 and the holding plate 173, so that the friction block 171 is stably pressed on the winding drum 12, and the resistance acting on the winding drum 12 is further kept stable. In other embodiments, the number of holding elastic members 172 can also be other numbers to further improve the stability of the friction block 171 pressing on the winding drum 12.

[0053] Furthermore, the cable retracting device 10 may also include a conductive slip ring 18, which is arranged at one end of the reel 12 and is electrically connected to the cable 11 and is used to be electrically connected to the mobile robot 100, thereby electrically connecting the power cabinet 900 and the mobile robot 100. In this way, the end of the cable 11 can be prevented from being twisted greatly due to the rotation of the reel 12, thereby further reducing the degree of wear of the cable 11.

[0054] In addition, in this embodiment, the one-way transmission mechanism 13 may include a transmission outer ring (not marked in the figure) and a transmission inner ring (not marked in the figure), the transmission outer ring is transmission-connected to the driving mechanism 15, the transmission inner ring is transmission-connected to the winding drum 12, and the transmission outer ring cooperates with the transmission inner ring, so that when the transmission outer ring is driven by the driving mechanism 15 to rotate forward, the transmission outer ring can drive the transmission inner ring to rotate forward, thereby driving the winding drum 12 to rotate forward, and when the transmission outer ring is reversed, the transmission inner ring can rotate freely, thereby enabling the winding drum 12 to rotate freely. It should be noted that the one-way transmission mechanism 13 can be a one-way bearing or a one-way clutch, etc., and this embodiment does not specifically limit it.

[0055] Please continue reading Figure 1 , and see Figure 4 , Figure 4 It is a schematic three-dimensional structural diagram of the anti-overload mechanism 19 of the cable taking-up and releasing device 10 provided in the first embodiment of the present invention.

[0056] The cable retracting device 10 may also include an anti-overload mechanism 19, wherein the anti-overload mechanism 19 includes an anti-overload sensor 191, a section of the cable 11 close to the power cabinet 900 is an anti-overload section 111, one end of the anti-overload section 111 close to the power cabinet 900 is connected to the power cabinet 900, and the anti-overload section 111 is arranged in a curved manner. The anti-overload sensor 191 is used for communication connection with the mobile robot 100, and can detect whether the anti-overload section 111 is stretched, so as to send an overload signal to the mobile robot 100 when the anti-overload section 111 is stretched. In other words, the anti-overload section 111 is a section of the cable 11 that is stored. When the overloaded cable 11 is stretched, it means that the cable 11 as a whole has been stretched. After the anti-overload sensor 191 sends an overload signal to the mobile robot 100, the mobile robot 100 can stop moving in time to avoid over-stretching the cable 11.

[0057] Furthermore, the anti-overload mechanism 19 may also include a sliding member 192, a slide rail 193, and an anti-overload elastic member 194, wherein the end of the anti-overload section 111 away from the power cabinet 900 is connected to the sliding member 192, the sliding member 192 is slidably connected to the slide rail 193, and the anti-overload elastic member 194 is connected to the sliding member 192, so that when the anti-overload section 111 is stretched, the sliding member 192 can overcome the elastic force of the anti-overload elastic member 194 and slide close to the winding drum 12, and the anti-overload sensor 191 is arranged close to the slide rail 193, and is used to detect the sliding member when the anti-overload section 111 is stretched. 192, and can send an overload signal when the sliding member 192 is detected. In other words, by setting the anti-overload elastic member 194 to hold the sliding member 192, when the cable 11 will be excessively stretched, the anti-overload section 111 is stretched, and the sliding member 192 overcomes the elastic force of the anti-overload elastic member 194 and slides close to the winding drum 12, and when the sliding member 192 corresponds to the anti-overload sensor 191, that is, when the anti-overload sensor 191 detects the sliding member 192, the anti-overload sensor 191 sends an overload signal to stop the mobile robot 100 from moving. Its structure is relatively simple and easy to set up.

[0058] The working principle of the cable retracting device 10 provided in the first embodiment of the present invention is:

[0059] The cable retracting device 10 includes a reel 12, a cable 11, a one-way transmission mechanism 13 and a driving mechanism 15, wherein the cable 11 is used to electrically connect the power cabinet 900 and the mobile robot 100, the reel 12 is used to reel in the cable 11, and the driving mechanism 15 is connected to the reel 12 through the one-way transmission mechanism 13. The cable retracting device 10 may also include a main controller, which is communicatively connected to the driving mechanism 15 and is used to communicate with the mobile robot 100 to receive movement information of the mobile robot. When the movement information indicates that the mobile robot 100 is close to the power cabinet 900, the main controller can control the driving mechanism 15 to rotate forward, so as to drive the reel 12 to rotate forward through the one-way transmission mechanism 13, thereby reeling in the cable 11, avoiding the cable 11 from being entangled with equipment in the environment or itself, and reducing the wear of the cable 11. The main controller can also control the driving mechanism 15 to reverse when the moving information represents that the mobile robot 100 is away from the power cabinet 900, so that the one-way transmission mechanism 13 is in a free rotation state, so that the winding drum 12 can reverse under the pulling action of the cable 11, thereby releasing the cable 11, so as to reduce the force on the cable 11 when releasing the cable 11, and further improve the service life of the cable 11. The main controller can also control the driving mechanism 15 to stop rotating when the moving information represents that the mobile robot 100 stops moving, so as to limit the winding drum 12 from releasing the cable 11.

[0060] In summary:

[0061] A first embodiment of the present invention provides a cable retracting device 10 , which has the characteristics of being able to retract a cable 11 and reduce the probability of damage to the cable 11 .

[0062] Second embodiment:

[0063] See also Figure 5 , Figure 5 A schematic flow chart of a cable retracting and releasing method provided in accordance with a second embodiment of the present invention.

[0064] The second embodiment of the present invention provides a cable retracting method, which has the characteristics of being able to retract the cable 11 and reducing the probability of damage to the cable 11. The cable retracting method can be applied to the main controller of the cable retracting device 10. It should be noted that the retracting provided in this embodiment has the same basic principle and technical effects as those in the above embodiment. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiment.

[0065] The cable retracting method comprises:

[0066] Step S100: obtaining movement information of the mobile robot 100;

[0067] Step S200: If the movement information is backward information, the driving mechanism 15 is controlled to rotate forward to drive the winding drum 12 to reel in the cable 11 through the one-way transmission mechanism 13, wherein the backward information indicates that the mobile robot 100 is moving close to the power cabinet 900;

[0068] Step S300: If the movement information is forward information, the driving mechanism 15 is controlled to reverse, so that the one-way transmission mechanism 13 can rotate freely, so that the winding drum 12 can reverse under the pulling action of the cable 11, thereby releasing the cable 11, wherein the forward information indicates that the mobile robot 100 is moving away from the power cabinet 900;

[0069] Step S400: If the movement information is stop information, repeat the above steps, wherein the stop information indicates that the mobile robot 100 has stopped, that is, continue to execute the steps of the movement information of the cargo mobile robot 100, and continue to determine whether the mobile robot 100 is moving away from or close to the power cabinet 900, so as to release or reel in the cable 11.

[0070] In this way, the main controller controls the driving mechanism 15 to operate so that the reel 12 can reel in or release the cable 11 in time, thereby preventing the cable 11 from being entangled with equipment in the environment or itself, and reducing the wear of the cable 11.

[0071] See also Figure 6 , Figure 6This is a flowchart of the sub-steps of step S200 of the cable retracting and releasing method provided in the second embodiment of the present invention.

[0072] Furthermore, step S200 may also include:

[0073] Step S201: Control the driving mechanism 15 to rotate forward;

[0074] Step S202: acquiring torque data of the driving mechanism 15;

[0075] Step S203: If the torque data is greater than or equal to the preset torque data, the driving mechanism 15 is controlled to stop for a preset time and then repeat the above steps.

[0076] In other words, when the driving mechanism 15 drives the winding drum 12 to wind up the cable 11, the main controller reads the real-time torque value from the driving mechanism 15 in real time, and when the torque of the cable 11 reaches a set value, the driving mechanism 15 is controlled to stop for a period of time, and then the driving mechanism 15 is controlled to rotate forward to wind up the cable 11. In this way, the cable 11 is wound up tightly and loosely to adapt to the tension change of the cable 11 during the winding process, and the cable 11 is kept within a certain range of tension to avoid excessive stretching of the cable 11.

[0077] It should be noted that the speed at which the drive mechanism 15 drives the winding drum 12 to reel in the cable 11 is greater than the moving speed of the mobile robot 100, so that during the reeling process, the cable 11 becomes tighter and tighter, and the torque data reaches the preset torque data in time to quickly adapt to the tension changes on the cable 11.

[0078] See also Figure 7 , Figure 7 This is a flowchart diagram of another part of the sub-steps of step S200 of the cable retracting and releasing method provided in the second embodiment of the present invention.

[0079] Furthermore, when the driving mechanism 15 rotates forward, or the driving mechanism 15 is stopped for a preset time, step S200 further includes:

[0080] Step S206: acquiring the movement information of the mobile robot 100 in real time;

[0081] Step S207: If the movement information is stop information, then:

[0082] Step S2071: Control the driving mechanism 15 to rotate forward;

[0083] Step S2072: acquiring torque data of the driving mechanism 15;

[0084] Step S2073: If the torque data is greater than or equal to the preset torque data, the driving mechanism 15 is controlled to stop rotating, and the step of obtaining the movement information of the mobile robot 100 is executed, that is, step S100 is executed, and step S200 is skipped. In this way, when the mobile robot 100 stops, the tension of the cable 11 can be adjusted in time, and the cable 11 can be reeled or released when the mobile robot 100 moves again.

[0085] See also Figure 8 , Figure 8 This is a flowchart diagram of another part of the sub-steps of step S300 of the cable retracting and releasing method provided in the second embodiment of the present invention.

[0086] Furthermore, step S300 may also include:

[0087] Step S301: acquiring movement information of the mobile robot 100 in real time;

[0088] Step S302: If the movement information is stop information, then:

[0089] Step S3021: Control the driving mechanism 15 to stop rotating;

[0090] Step S3022: After the driving mechanism 15 stops rotating, controlling the driving mechanism 15 to rotate forward;

[0091] Step S3023: acquiring torque data of the driving mechanism 15;

[0092] Step S3024: If the torque data is greater than or equal to the preset torque data, the driving mechanism 15 is controlled to stop rotating, and the step of obtaining the movement information of the mobile robot 100 is executed, that is, step S100 is executed, and step S200 is skipped. In this way, when the mobile robot 100 stops, the tension of the cable 11 can be adjusted in time, and the cable 11 can be reeled or released when the mobile robot 100 moves again.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the features in the above embodiments can be combined with each other without conflict, and the present invention can also have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention. In addition, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

Claims

1. A cable retracting device, characterized in that: It comprises a winding drum (12), a cable (11), a one-way transmission mechanism (13), a driving mechanism (15) and a main controller; The cable (11) is used to electrically connect the power cabinet (900) and the mobile robot (100); the reel (12) is used to reel up the cable (11); and the drive mechanism (15) is connected to the reel (12) in transmission via a one-way transmission mechanism (13); The main controller is communicatively connected to the drive mechanism (15) and is used to communicate with the mobile robot (100) so as to receive movement information of the mobile robot. When the movement information indicates that the mobile robot (100) is close to the power cabinet (900), the main controller can control the drive mechanism (15) to rotate forward, so as to drive the winding drum (12) to rotate forward through the one-way transmission mechanism (13), thereby winding up the cable (11); when the movement information indicates that the mobile robot (100) is away from the power cabinet (900), the main controller can control the drive mechanism (15) to rotate reversely, so that the one-way transmission mechanism (13) is in a free rotation state, so that the winding drum (12) can reverse under the pulling action of the cable (11), thereby releasing the cable (11); when the movement information indicates that the mobile robot (100) stops moving, the main controller can control the drive mechanism (15) to stop rotating; The cable retracting and releasing device (10) further comprises an overload protection mechanism (19); The anti-overload mechanism (19) comprises an anti-overload sensor (191); a section of the cable (11) close to the power cabinet (900) is an anti-overload section (111); one end of the anti-overload section (111) close to the power cabinet (900) is connected to the power cabinet (900); and the anti-overload section (111) is arranged in a curved manner; the anti-overload sensor (191) is used for communication connection with the power cabinet (900) and / or the mobile robot (100), and is capable of detecting whether the anti-overload section (111) is stretched, so as to send an overload signal to the power cabinet (900) and / or the mobile robot (100) when the anti-overload section (111) is stretched; The anti-overload mechanism (19) further comprises a sliding member (192), a sliding rail (193), and an anti-overload elastic member (194); One end of the anti-overload section (111) away from the power cabinet (900) is connected to the sliding member (192), and the sliding member (192) is slidably connected to the slide rail (193). The anti-overload elastic member (194) is connected to the sliding member (192), so that when the cable (11) is pulled outward and the anti-overload section (111) is stretched, the sliding member (192) can overcome the elastic force of the anti-overload elastic member (194) and slide away from the end of the anti-overload section (111) close to the power cabinet (900). The anti-overload sensor (191) is arranged close to the slide rail (193) and is used to detect the sliding member (192) when the anti-overload section (111) is stretched, and can send the overload signal when the sliding member (192) is detected.

2. The cable retracting device according to claim 1, characterized in that: The cable retracting and releasing device (10) further comprises a resistance mechanism (17); The resistance mechanism (17) abuts against the winding drum (12) so as to apply resistance to the winding drum (12) when the winding drum (12) rotates.

3. A mobile robot, characterized in that: It comprises the cable taking-up and releasing device as claimed in claim 1 or 2.

4. A cable retracting method, characterized in that: The main controller applied to the cable retracting device according to claim 1 or 2, the cable retracting method comprising: Acquiring the movement information of the mobile robot (100); If the movement information is backward information, the driving mechanism (15) is controlled to rotate forward, so as to drive the winding drum (12) to reel in the cable (11) through the one-way transmission mechanism (13), wherein the backward information indicates that the mobile robot (100) is moving close to the power cabinet (900); If the movement information is forward information, the driving mechanism (15) is controlled to reverse so that the one-way transmission mechanism (13) can rotate freely, so that the winding drum (12) can reverse under the pulling action of the cable (11), thereby releasing the cable (11), wherein the forward information indicates that the mobile robot (100) is moving away from the power cabinet (900); If the movement information is stop information, the above steps are repeated, wherein the stop information indicates that the mobile robot (100) has stopped.

5. The cable retracting method according to claim 4, characterized in that: The step of controlling the driving mechanism (15) to rotate forward so as to drive the winding drum (12) to wind up the cable (11) through the one-way transmission mechanism (13) comprises: Controlling the driving mechanism (15) to rotate forward; Acquiring torque data of the driving mechanism (15); If the torque data is greater than or equal to the preset torque data, the driving mechanism (15) is controlled to stop for a preset time and then the above steps are repeated.

6. The cable retracting method according to claim 5, characterized in that: When the driving mechanism (15) is controlled to rotate forward, the driving mechanism (15) drives the winding drum (12) to reel in the cable (11) at a speed greater than the moving speed of the mobile robot (100) represented by the moving information.

7. The cable retracting method according to claim 5, characterized in that: When the driving mechanism (15) is rotating forward, or when the driving mechanism (15) is stopped for the preset time, the cable retracting and releasing method further comprises: Acquiring the movement information of the mobile robot (100) in real time; If the movement information is stop information, then: Controlling the driving mechanism (15) to rotate forward; Acquiring torque data of the driving mechanism (15); If the torque data is greater than or equal to the preset torque data, the driving mechanism (15) is controlled to stop rotating, and the step of acquiring the movement information of the mobile robot (100) is executed.

8. The cable retracting method according to claim 4, characterized in that: The step of controlling the driving mechanism (15) to reverse so that the one-way transmission mechanism (13) is in a free rotation state, and the winding drum (12) can reverse under the pulling action of the cable (11), thereby releasing the cable (11), further includes: Acquiring movement information of the mobile robot (100) in real time; If the movement information is the stop information, then: Controlling the driving mechanism (15) to stop rotating; After the driving mechanism (15) stops rotating, controlling the driving mechanism (15) to rotate forward; Acquiring torque data of the driving mechanism (15); If the torque data is greater than or equal to the preset torque data, the driving mechanism (15) is controlled to stop rotating, and the step of acquiring the movement information of the mobile robot (100) is executed.

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